KR19990033054A - Guided carriage - Google Patents

Abstract

The present invention is an induction type vehicle that is guided and driven by an induction signal generated by a derivative placed on the floor.

The wheels at the four corners of the bogie are freely changeable capsters that can be fixed freely. In the center of the underbody part of a trolley | bogie, one steering drive unit is independently independently mounted before and behind a traveling direction. Sensors for detecting guidance signals are provided in the front and rear of the steering drive unit. The steering drive unit switches the capster in the forward direction to the free wheel and the rear capster to the fixed wheel independently of the chassis according to the forward driving and the retreat driving of the guided vehicle.

Description

Guided carriage

1 is a front view showing the forward driving of the guided vehicle according to the present invention.

Figure 2 is a front view showing the guided vehicle according to the present invention.

Figure 3 is a front view showing the retraction run of the guided carriage according to the invention.

4 is an explanatory diagram showing a free / fixed switching mechanism of a capster of an induction transport vehicle according to the present invention.

5 is an explanatory diagram showing a free / fixed switching mechanism of a capster of an induction transport vehicle according to the present invention.

6 is an explanatory diagram showing a free / fixed switching mechanism of a capster of an induction carriage according to the present invention.

7 is an explanatory view illustrating a slide mechanism and a switching mechanism of an induction transport vehicle according to the present invention.

8 is an explanatory view illustrating a switching mechanism of an induction transport vehicle according to the present invention.

9 is a front view showing the prior art.

Fig. 10 is a front view showing the prior art.

<Description of Symbols for Main Parts of Drawings>

3: Steering Drive Unit 4: Capster

5: switching plate 6: chassis

8a, 8b: Magnetic sensor 10: Slide base

13: Switching mechanism 14: Lock plate

[Purpose of invention]

[Technical field to which the invention belongs and the prior art in that field]

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an induction transport vehicle that carries various items unattended by traveling along an induction path by a derivative such as magnetic tape attached to the floor of a factory, a warehouse, or the like.

Background Art Conventionally, guided carriages for driving various kinds of articles unattended by traveling along a preset taxiway have been developed and supplied in various ways in Korea and abroad. The present applicant has also developed a self-guided transport vehicle of Japanese Patent Utility Model No. 3013716 and an eight-year patent application No. 196618 for practical use.

As shown in Fig. 9, one magnetic induction steering drive unit 3 is located in front of the center of the lower surface of the undercarriage 6 of the trolley. It is attached to and detached from a close position (close to the front wheel 4).

This magnetic induction type steering drive unit (3) is provided with a magnetic sensor (8) at the front part for detecting the magnetic force (magnetic line) generated by the magnetic tape of the induction furnace, and has one driving wheel (1) and a motor (2) for driving the same. In addition, it consists of an automatic steering device of the same driving wheel (1). Wheels 4 and 4 'are mounted at four corners of the lower surface of the trolley 6. The front wheel 4 is a capster freely steering, and the rear wheel 4 'is a fixed wheel. In addition, the battery 31 is installed at the rear of the chassis 6, and the control device 32 which mainly controls the automatic control of the magnetic induction steering drive unit 3 is the rear lower surface of the magnetic induction steering drive unit 3. Installed in

On the other hand, the self-guided transport vehicle related to the seaman invention has two self-guided steering drive units (3, 3) as shown in Fig. 10, and one is located near the front of the underbody of the bogie (on the front wheels). Close to the rear side (position close to the rear wheel) is arranged approximately symmetrically in the front-rear direction of each chassis 6, detachable to the lower surface of the same chassis 6 is mounted have. The two magnetic induction steering drive units 3 and 3 are provided with magnetic sensors 8a and 8b, respectively, for detecting magnetism (magnetic lines) generated in the magnetic tape of the induction furnace at the rear and the rear of each of them. The configuration and function of the two self-guided steering drive units 3 and 3 are the same as those described in the above registered utility model, but in the case of this self-guided transport vehicle, the two self-guided steering drive units 3 and 3 ) Is used in combination with the magnetic sensor located in front of the driving direction to detect the induction path and drive forward or retreat.

For this reason, all the wheels 4 of the four corner positions of the lower surface part of the undercarriage 6 are capsters which are freely steerable.

[Technical problem to be achieved]

The self-guided transport vehicle (FIG. 9) related to the above-described registered utility model is configured to drive and steer the driving wheel 1 in a form in which the driving wheel 1 located near the front side of the chassis 6 is towed to the vehicle chassis. When reversing and reversing, the direction of the driving force of the drive wheel 1 and the center position of the bogie and the direction of the running resistance of the same bogie are acted in combination, so that steering of the magnetically guided vehicle with the drive wheel 1 alone is practically possible. impossible.

Therefore, the use of the magnetically guided carriage is limited to the usage of driving in one direction on a closed loop guideway, and cannot be applied to the usage of driving a complex taxiway that requires retreat driving.

The self-guided transport vehicle (Fig. 10) according to the above-described source invention is carried out by using two self-guided steering drive units 3 and 3 together in both forward travel and backward travel. Thus, the two magnetic induction steering drive units 3 and 3 are magnetic sensors located in the front of each travel direction and detect the induction path and force the steering while performing the forward driving or the retraction direction under the same conditions. Drive at a constant vehicle width without causing the rear part to vibrate.

Thus, there is no problem with the use of complex taxiways that require a combination of forward and backward driving.

However, since the magnetic induction type transportation vehicle of FIG. 10 uses two magnetic induction type steering drive units 3 and 3 together, the production cost is increased by two times or more than in the case of one magnetic induction type steering drive unit. Furthermore, the control device is complicated because the two front and rear self-guided steering drive units 3 and 3 are used together in forward and backward travels and synchronously run. In addition, in order to mount two magnetic induction steering drive units 3 and 3 before and after the chassis, a long chassis in the front and rear direction is required, and the entire magnetic induction vehicle is large (long) and large in size. In addition, even when the front and rear two self-guided steering drive units 3 and 3 are synchronized with each other when the corner portion of the induction road is driven, the vehicle is cornered at the time of induction. Since it is impossible to avoid the maximum of the travel width required at least for running the wealth, there is a problem in use in a narrow place.

Accordingly, an object of the present invention is to provide an induction type carriage that has one steering drive unit and is improved to perform forward driving and backward driving without any inconsistency.

[Means for solving the problem]

The guided vehicle according to the present invention has a steering drive unit mounted to the underbody of the undercarriage having a wheel at at least four corner positions, and is guided by a guide signal generated by a derivative placed along the driving route of the floor. do.

The wheels of the four corner positions of the said trolley are all free and the capster which can be switched freely is freely. In the center of the lower part of the trolley | bogie of the said trolley | bogie, one steering drive unit is independent of the front and rear of a propagation direction, and is detachably attached to a chassis. Sensors are provided in the front part and the rear part of the steering drive unit to detect the guidance signal of each derivative.

In the steering drive unit, the forward driving and the retracting driving of the guided vehicle are frequently moved forward with respect to the trolley alone according to the switching operation, and the driving position thereof is changed.

The capster switches the capster in the forward direction to the free wheel and the rear capster to the fixed wheel according to the switching between the forward driving and the backward driving of the guided vehicle.

The slide base that moves in line with the steering drive unit is provided with a switching plate approaching or falling toward the capster at the four corner positions of the bogie. Each capster is provided with a lock plate for restraining or releasing the turning of the capster by using the operation of the switching plate approaching or falling away.

A magnet is mounted on the underbody of the trolley to the restraining position of the front end or the rear end of the steering drive unit. The magnet of the magnet is released from the magnet in the forward direction in accordance with the switching operation of the forward driving and the backward driving under the guided transport, and the operation position of the steering drive unit is fixed as the magnetic force of the front magnet.

A switching mechanism is provided for switching the drive wheel of the steering drive unit to the grounded state and the floating state.

Embodiments and Examples of the Invention

The guided vehicle shown in Figs. 1 and 2 is provided with a capster 4 freely and freely switching at four corner positions of the lower surface portion of the undercarriage 6 of the bogie 6, which is not shown in the upper structure. have.

The chassis 6 shown in Figs. 1 and 2 is shown in the form of a flat plate for the convenience of drawing. Thing is used. Each free capster 4 is as shown in detail in FIGS. 4 and 5, and the bracket 40 supporting the wheels 42 with respect to the mounting plate 18 fixed to the lower surface of the chassis 6. Horizontal rotation is freely mounted by the bearing 45 to the vertical rotation shaft 44 installed at the upper end of the), and has the function of the capster freely provided.

The lock plate 14 for switching the capster 4 freely to the side of the mounting plate 18, more specifically, the inner side in the left and right direction in FIG. Up and down rotation is provided freely. The lock plate 14 has a shape in a downward direction when viewed in the direction of FIG. 4 (see FIG. 4).

On the other hand, the same side part of the mounting board 18 is provided with the protrusion part 142 accommodated in the said shape of the said lock board 14 inside.

As shown by solid lines in Figs. 4 and 5, the locking plate 14 is rotated downward until it becomes approximately horizontal by the self-weighting action (or the action of the screw coil spring not shown), and the lock plate ( The protrusion 142 is accommodated inside the shape of 14, and the horizontal rotation of the bracket 40 of the free capster 4 is restrained to be in the state of the fixed wheel. On the contrary, when the lock plate 14 is rotated upward to the position shown by the ruled line, the restraint of the protrusion 142 becomes the free wheel.

One steering drive unit 3 is detachably mounted via the unit mounting plate 20 at approximately the center of the lower surface portion of the chassis 6 (FIG. 2). The unit mounting plate 20 is detachably attached to the lower surface of the chassis 6 by a plurality of bolts 21 as shown in FIG. The steering drive unit 3 mechanically drives the slide mechanism 9 (FIG. 7) provided on the lower surface of the unit mounting plate 20 independently (relatively) in the front-rear direction of the traveling direction of the guided vehicle. It is attached freely.

The configuration and function of the steering drive unit 3 are substantially the same as those disclosed in the seafarer invention described in the section (prior art). In other words, the steering drive unit 3 is composed of an automatic steering mechanism including a drive wheel 1 and a motor 2 for driving forward and backward for driving the same, and a steering motor 11 of the same drive wheel 1. .

The slide mechanism 9 has a structure in which a plurality of balls are fitted so as to circulate sequentially between two track members facing each other in parallel, as described in, for example, Unexamined Patent Publication No. 62-8429. to be. In FIG. 7, a plurality of balls are provided between one slide rail 9a fixed to the bottom surface of the unit mounting plate 20 as a bolt 9c and a slider 9b sliding along the same slide rail 9a. The configuration is such that 9d is circulated sequentially. The lower slider 9b is fixed to the mounting plate 19, and the left and right two mounting plates 19 and 19 are mounted on the common plate 22, so that the common plate 22 of the slide base 10 Steering sun gear 23 is fixed to the lower surface (Fig. 1, Fig. 3, Fig. 6), and drive wheel 1 under the vertical pivot axis (not shown) which is located at the center of the sun gear 23. Of the holder base 7 is rotatably supported.

The traveling motor 2 is provided on the lower surface of the holder base 7.

Moreover, the steering gear 24 of the steering motor 11 attached to one side part of the holder base 7 is comprised with the said sun gear 23, and is comprised so that automatic steering is possible. Magnetic sensors 8a and 8b are installed at the front and rear ends of the holder base 7 and are inductive signals in which magnetic tapes (not shown in the drawings) are generated by derivatives laid along the running path of the bottom surface 25. Is detected by the magnetic sensor 8a or 8b. Therefore, the control apparatus 12 is attached to a part of the holder base 7.

However, the derivative attached to the bottom surface may be implemented in such a manner that a wire, a magnetic body, an optical guide tape, or the like is placed on the other side of the magnetic tape to detect magnetic or optical induction signals generated by the sensor as a sensor.

In this configuration, the driving wheel 1 is driven to rotate in the forward direction or the retraction direction by the start switch, and the steering drive unit 3 is stopped by the driving mechanism 3 together with the slide base 10 of the lower part by the driving force. Independently (or relatively) with respect to the trolley 6 which is maintained as shown in Figs. 1 or 3, the position of the driving wheel 1 is the same as that of the guided vehicle. The guided transport vehicle is towed by the position close to the front of the forward or retreat) and arranged in proper driving conditions.

According to the independence of the start of the steering drive unit 3, the rear wheel is used as a free wheel with which the front wheel is easily steered by using the slide base 10 and the movement. Switch to fixed wheel with high driving stability. The switching plate 5 is attached to the slide base 10 by the means.

This switching plate 5 is a cap which has its front end or rear end freely within the limits of the moving stroke allowed for the steering drive unit 3 and the slide base 10, as is apparent from the contrast of Figs. The cam follower 141 of the lock plate 14 attached to the stirrer 4 is provided with a length sufficient to reach the necessary. In addition, the front and rear ends of the switching plate 5, the lock plate 14 through the cam flower 141, as shown by the broken line in Figure 5, the high off the protrusion 142 of the bracket 40 completely The inclined surface 5a of the angle pushing up to a position is formed.

Therefore, the free capster 4 in front of the traveling direction approached by the switching plate 5 due to the frequent operation of the steering drive unit 3 is the inclined surface 5a as shown in Fig. 5 or 6. ) Rotates the lock plate 14 upward through the cam flower 141, and is switched from the protrusion 142 to the state of the free wheel. On the contrary, the same switch plate 5 is freely located on the rear side of the long distance, the capster 4 loses the control force by the switch plate 5 and the lock plate 14 is rotated downward by its own weight action or the like. 142) to switch to the state of the fixed wheel.

The position where the switching plate 5 completed the switching operation of the lock plate 14 by the front end or the rear end of the slide base 10 approaching the lower surface of the chassis 6 as a means for determining the operating conditions as described above (papermaking position). The electromagnets 15 and 15 to which the front end or the rear end of the precision slide base 10 abut are fixed (FIG. 2 FIG. 2). That is, at the beginning of starting or resuming the operation of the guided carriage, the forward and backward switching operation (switching operation) is performed, and the driving motor 20 of the steering drive unit 3 is started to drive the driving wheel 1. This rotation and the self-drive of the steering drive unit 3 starts.

At the same time, by the switching operation (switching operation), the magnetism of the electromagnet 15, in which the slide base 10 is first contacted with a part of the steering drive unit 3, is released, and the steering drive unit 3 frequently It is easy for the slide base 10 to be separated from the electromagnet 15 at the time.

Therefore, only the steering drive unit 3 continues to move independently with respect to the relatively stopped bogie, the slide base 10 is positioned in the forward direction, and one electromagnet 15 is brought into contact with the magnetic attraction force. In the step of joining, the steering drive unit 3 and the trolley 6 are connected again with the integral relationship of the degree which does not fall even if some external force or a vibration etc. act, and starts driving by an inductive type conveyance vehicle. Therefore, the slide base 10 is manufactured as an excellent magnetic material. Thus, the position change of the steering drive unit 3 in accordance with the change of the traveling direction of the guided carriage is shown in Figs.

At the same time as the steering drive unit 3, the slide base 10 is brought into contact with the electromagnet 15 at the front, and the inclined surface 5a of the switching plate 5 mounted on the same slide base 10 is approached. 5 is inserted into the lower side of the cam flower 141 of the lock plate 14 of the free captor 4 as shown in FIG. 5, and, of course, the locking plate 14 is rotated upward as well as moving forward. To 14 completely away from the protrusion 142. As a result, the capster 4, which becomes the front wheel in the traveling direction of the guided carriage, becomes a free wheel freely turning, and the steering function by the driving wheel 1 is easily configured.

On the contrary, with the movement of the slide base 10, the switching plate 5 falls, and the free capster 4, which becomes the rear wheel in the traveling direction of the guided vehicle, immediately moves the lock plate 14 to its own weight or the like. It rotates downward and restrains the protrusion part 142, and the capster (rear wheel) becomes the state of the non-swivel fixed wheel. Therefore, the rear part is prevented from vibrating when the guided vehicle runs.

Each free capster 4 considering the switching between the free wheel and the fixed wheel in accordance with the switching between the forward driving and the backward driving of the guided vehicle as described above. As shown in detail in FIG. 6, the shaft hole 43 of the bracket 40 is formed as a horizontal long hole of an appropriate length in the front-rear direction about the position of the vertical pivot axis, and the axle shaft of the wheel 42 ( 41 is movable in the center of the shaft hole 43. As a result, as described above, the traveling direction of the guided carriage is switched between forward and backward, and at the same time as the start of the guided carriage starts, the wheels 42 of the free captors 4 have their axles 41. The center of the shaft hole 43 is activated to travel in the state located at the rear end (see the change in Figs. 1 and 3). As a result, the axle 41 of the wheel 42 is located behind the center of the turning axis with respect to the free capster 4 on the front wheel, which is a free wheel, and the steering can be carried out more sensitively. .

Next, the configuration of the switching mechanism 13 for switching the drive wheel 1 of the steering drive unit 3 to the ground state necessary for driving and the floating state completely away from the drawing is mainly based on FIGS. 7 and 8. It demonstrates as follows. The importance of the switching mechanism 13 is derived from induction to the desired place by hand pressing and operating for the purpose of charging the battery mounted on the induction vehicle or repairing the mechanical and electrical failure in the induction vehicle. Make it easy to move the carriage.

The switching mechanism 13 is formed by first fitting the upper case 101 and the lower case 102 fitted up and down in a flat box structure as shown in FIG. On the premise. Both cases 101 and 102 are fitted so as to be relatively movable in the vertical direction along the plurality of vertical guide pins 103. The guide pin 103 is provided with a coil spring 104 for compression, and both ends of the same spring abut on the upper case 101 and the lower case 102. Therefore, both cases 101 and 102 are always open in the vertical direction and are subjected to spring force, and the lower case 102 is pushed down.

The lower half of the above-described slide mechanism 9 is fixed to the upper surface of the upper case 101 via the common plate 22, and the lower sun case 23 for steering the sun gear 23 of the steering drive unit 3 ) Is fixed. Therefore, the steering drive unit 3 below the vertical pivot axis without the drawing is attached to the lower surface of the lower case 102.

As shown in Figs. 1 and 3, the slide base 10 as a position on a horizontal center line orthogonal to the center line P (see Fig. 8) of the vertical pivot axis (not shown) of the steering drive unit 3 is omitted. In particular, the shaft 132 is provided at a high position penetrating both side walls of the upper case 101 in the horizontal direction. The upper angular position of the proximal end of the flat cam plate 131 having the cam-shaped line 133 shown in FIG. 8 can be rotated by the support shaft 132 on both right and left sides of the slide base 10. It is mounted. The two cam plates 131 on both sides have a configuration in which the support shaft 132 is intermediated and fixed in a symmetrical arrangement.

The cam flower 135 rotates about the cam shaft 132 of the cam plate 131 at a position vertically downward of the support shaft 132 at the lower surface of the lower case 102. It protrudes so that interference may occur in the range. Thus, the manual handle 16 for rotating the left and right two cam plates 131 and 131 together into one is disposed symmetrically to be positioned near the free end of each cam plate 131, and further protrudes in the horizontal and horizontal direction. It is installed.

As shown in Fig. 8, the cam-shaped line 133 is positioned with the support shaft 132 and the cam flower 135 separated up and down the vertical center line P, and the driving wheel 1 is in contact with the bottom surface. When the distance from the center of the support shaft 132 to the lower end of the cam flower 135 is "A" in the ground state in which the propulsion force is exerted, it is sufficiently larger than the "A" dimension around the support shaft 132. It has a straight part 133a based on "r" of a radius having a margin. Thus, the cam plate 131 of FIG. 8 has a rotation range of about 90 ° in the counterclockwise rotation direction, and the ascending distance " h " The cam plate 131 is cut out to have a circular arc portion 133b which is changed next to the radius "r" subtracted from the dimension and a straight portion (tangential portion) 133c based on the radius "r". The cam shape line 133 is formed as a judgment edge.

Accordingly, when the worker rotates in the clockwise direction E to push down the left and right handwheel 16 from the position shown in FIG. 8, the cam plate 131 rotates about the support shaft 132.

In the process, the circular arc portion 133b of the cam-shaped line 133 first comes into contact with the lower surface of the cam flower 135, and then lifts up the cam flower 135 as the cam plate 131 rotates. The amount is increased. In the stage where the rotation of the cam plate 131 advances about 90 ° and the straight portion 133c having a radius "r" contacts the camflower 135, the camflower 135 moves the predetermined upward stroke "h". To achieve. Therefore, it becomes a stable support state which preserves the balance of force which is not reversed in the position of the state. That is, the driving wheel 1 of the steering drive unit 3 attached to the lower case 102 together with the cam flower 135 ascends by the "h" dimension and is completely lifted from the bottom surface to be in a state of revolving. Therefore, the objective of the induction type carriage is achieved by using the free capster 4 of the bogie without receiving the magnetoresistance of the driving motor 2 acting on the driving wheel 1 and the mechanical resistance of the electric vehicle or the like integrally. You can move lightly to the place.

On the contrary, when the guided vehicle is driven to an induction furnace in which a derivative is installed, and the guided vehicle is started, the employee eventually moves the manual steering wheel 16 on either side of the guided vehicle to the counterclockwise rotation direction F of FIG. Rotate to raise. Then, the cam flower 135 descends in response to the change of the cam shape line 133, and returns to the state of FIG. . Moreover, in order to confirm this driving state, the cam plate 131 is fixed by the bolt means 134 for positioning the position of FIG.

Reference numeral 17 in the figure denotes a bumper mounted before and after the guided vehicle.

[Effects of the Invention]

Induction vehicle according to the present invention, one steering drive unit at the beginning of the operation via the slide mechanism frequently biased forward of the driving direction of the guided vehicle, driving wheels when moving forward and retreat together It is located in front of the planar center position of the guided vehicle, and exhibits driving force in the form of towing the guided vehicle. By moving along the taxiway under the same conditions with both forward and backward movements, it is complicated to drive the closed loop taxiway in one direction, that is, the reciprocating operation that repeats forward and backward, forward and backward. It can be applied without any problem to the driving of the combined driving.

That is, the induction furnace is not limited to the closed loop, and thus contributes to excellent unloading operation with a wide range of applications.

In addition, since there is only one steering driving unit, the manufacturing cost can be suppressed at a relatively low cost, the front and rear direction length of the chassis can be designed as small as necessary, and the control device can be easily configured. The vehicle width space of the taxiway required for driving the guided vehicle can be finished to the minimum required.

Claims (4)

A steering drive unit is mounted to a lower portion of a chassis of a trolley having wheels at least four corner positions, and is guided by a guide signal generated by a derivative placed along a driving path of a floor. The wheels at the four corners of the trolley are all free and fixed capsters, and one steering drive unit is approximately independently centered in the center of the underside of the trolley, independently of the traveling direction. And a sensor detachably attached to the chassis, a sensor for detecting an induction signal of a derivative at each of the front and rear portions of the steering drive unit, and the steering drive unit is provided with an induction vehicle. In accordance with the switching operation of the forward driving and the retreating driving, the driving position is frequently changed in the forward direction alone with respect to the chassis, and the capster Inductively guided vehicle for carrying the primary inductive stirrer cap at the front of the advancing direction in accordance with the switching of the forward travel and retraction of the running respectively characterized in that the rear side of the cab the master switch on a free-wheel with a fixed wheel. The switch base according to claim 1, wherein a switching plate approaching or moving away toward the capster at the four corner positions of the trolley is installed on the slide base which moves in unison with the steering driving unit. An induction carriage characterized in that a lock plate is installed to restrain or release the turning of the capster. The method according to claim 1 or 2, wherein the magnet is mounted to the restraining position at the front end or the rear end of the steering drive unit at the undercarriage portion of the bogie, and the magnet is switched between forward driving and retracting driving of the guided vehicle. An induction-type transport vehicle characterized in that the magnetism of the magnet in the rear direction of travel is released according to the operation, and the operation position of the steering drive unit is fixed by the magnetic force of the magnet in the front direction. The guided vehicle according to claim 1 or 2 or 3, wherein a switching mechanism is provided for switching the drive wheel of the steering drive unit to a ground state and a floating state.