WO2022225059A1 - 走行車 - Google Patents
走行車 Download PDFInfo
- Publication number
- WO2022225059A1 WO2022225059A1 PCT/JP2022/018615 JP2022018615W WO2022225059A1 WO 2022225059 A1 WO2022225059 A1 WO 2022225059A1 JP 2022018615 W JP2022018615 W JP 2022018615W WO 2022225059 A1 WO2022225059 A1 WO 2022225059A1
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- WIPO (PCT)
- Prior art keywords
- drive
- vehicle body
- driving
- traveling vehicle
- drive mechanism
- Prior art date
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- 230000007246 mechanism Effects 0.000 claims abstract description 124
- 230000005540 biological transmission Effects 0.000 claims abstract description 11
- 239000000725 suspension Substances 0.000 claims description 44
- 239000003638 chemical reducing agent Substances 0.000 claims description 14
- 230000008859 change Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 230000002093 peripheral effect Effects 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000012636 effector Substances 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
- B60G11/14—Resilient suspensions characterised by arrangement, location or kind of springs having helical, spiral or coil springs only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/02—Resilient suspensions for a single wheel with a single pivoted arm
- B60G3/12—Resilient suspensions for a single wheel with a single pivoted arm the arm being essentially parallel to the longitudinal axis of the vehicle
- B60G3/14—Resilient suspensions for a single wheel with a single pivoted arm the arm being essentially parallel to the longitudinal axis of the vehicle the arm being rigid
- B60G3/145—Resilient suspensions for a single wheel with a single pivoted arm the arm being essentially parallel to the longitudinal axis of the vehicle the arm being rigid the arm forming the axle housing
Definitions
- the technology disclosed here relates to traveling vehicles.
- Patent Literature 1 discloses a traveling vehicle that includes a motor, drive wheels, and a belt that transmits the rotation of the motor to the drive wheels.
- the motor and drive wheels are attached to the mounting plate.
- the mounting plate is rotatably supported on the bottom of the vehicle about a horizontally extending axis.
- the mounting plate is elastically connected to the bottom of the vehicle via a suspension. The elastic force of the suspension ensures that the drive wheels are in contact with the road surface. Even if the road surface is uneven, the elasticity of the suspension absorbs the unevenness of the road surface and keeps the drive wheels in contact with the road surface.
- the driving wheels move up and down according to the unevenness of the road surface during driving.
- the mounting plate to which the drive wheels are mounted moves up and down. Since the motor is also attached to the mounting plate, the motor also moves up and down. That is, substantially the same vibration as that of the drive wheels is transmitted to the motor.
- the technology disclosed here has been made in view of this point, and its purpose is to reduce the vibration of the driving wheels that is transmitted to the motor while ensuring the grounding of the driving wheels.
- the traveling vehicle disclosed herein includes a vehicle body and a drive mechanism for causing the vehicle body to travel.
- the drive mechanism is attached to the vehicle body and includes a drive source for outputting a rotational driving force, drive wheels, and the drive mechanism. It has a support mechanism that supports a wheel and a transmission mechanism that transmits the rotational driving force to the drive wheel.
- the transmission mechanism includes a holder rotatably mounted on the vehicle body, wherein the transmission mechanism includes an output pulley connected to the drive source and arranged on the vehicle body, and an input connected to the drive wheel and arranged on the holder. It has a pulley and a belt wound around the output pulley and the input pulley, and the rotating shaft is arranged coaxially with the output pulley.
- the traveling vehicle it is possible to reduce the vibration of the drive wheels, which is transmitted to the motor, while ensuring that the drive wheels are grounded.
- FIG. 1 is a perspective view of a traveling vehicle seen obliquely from above.
- FIG. 2 is a perspective view of the bottom plate of the traveling vehicle.
- FIG. 3 is a bottom view of the traveling vehicle.
- FIG. 4 is a side view of the lower portion of the traveling vehicle as seen from the left side.
- FIG. 5 is a schematic diagram of drive wheels, holders, and the like that rotate as the suspension expands and contracts.
- FIG. 1 is a perspective view of a traveling vehicle 100 viewed obliquely from above.
- FIG. 2 is a perspective view of the bottom plate 12 of the traveling vehicle 100.
- FIG. 3 is a bottom view of the traveling vehicle 100.
- FIG. FIG. 4 is a side view of the lower portion of traveling vehicle 100 as viewed from the left.
- the traveling vehicle 100 is a self-propelled traveling device.
- the traveling vehicle 100 is an automated guided vehicle (AGV).
- the traveling vehicle 100 includes a vehicle body 1 and a driving mechanism for driving the vehicle body 1 .
- the drive mechanism includes a first drive mechanism 10A and a second drive mechanism 10B.
- the traveling vehicle 100 is controlled by the control device 9 .
- the traveling vehicle 100 is used to convey a plurality of works sequentially conveyed by a conveyor to a shelf.
- the vehicle body 1 is formed in a substantially rectangular parallelepiped shape.
- the vehicle body 1 has a top plate 11 , a bottom plate 12 and four side plates 13 .
- the top plate 11 and the bottom plate 12 are arranged vertically.
- the four side plates are arranged so as to face the front, rear, left, and right directions.
- Each of the top plate 11, the bottom plate 12 and the four side plates 13 has a substantially rectangular shape.
- the first drive mechanism 10A and the second drive mechanism 10B are provided on the bottom surface of the bottom plate 12 .
- the traveling vehicle 100 further includes a plurality of driven wheels 32.
- the traveling vehicle 100 includes four driven wheels 32 .
- Each driven wheel 32 is rotatable around a horizontally extending axis.
- the four driven wheels 32 are provided at the four corners of the bottom plate 12 on the bottom surface of the bottom plate 12 .
- Each driven wheel 32 is attached to the bottom plate 12 so as to be rotatable around an axis extending in the vertical direction. That is, each driven wheel 32 can change the running direction by 360 degrees in the horizontal direction.
- the traveling vehicle 100 further includes a robot arm 7 mounted on the vehicle body 1 .
- the robot arm 7 is provided on the top plate 11 .
- the robot arm 7 has multiple links 71 .
- the multiple links 71 are rotatably connected via joints. Each joint is driven by a servomotor.
- An end effector is connected to the tip of the robot arm 7 .
- first drive mechanism 10A and the second drive mechanism 10B are arranged differently with respect to the vehicle body 1, they have the same configuration. Therefore, the basic configuration of the first driving mechanism 10A will be described, and redundant description of the second driving mechanism 10B will be omitted.
- the first drive mechanism 10A is attached to the vehicle body 1, and includes a motor 2 that outputs a rotational driving force, a drive wheel 3, a support mechanism 4 that supports the drive wheel 3, and a rotational drive mechanism. and a transmission mechanism 5 for transmitting force to the drive wheels 3 .
- the first drive mechanism 10A may further include a speed reducer 6 that is connected to the motor 2 and reduces the rotational driving force.
- the motor 2 is an example of a drive source.
- the traveling direction of the traveling vehicle 100 that is, the rolling direction of the driving wheels 3 will be referred to as the front-rear direction.
- a horizontal direction orthogonal to the front-rear direction is referred to as a left-right direction or a vehicle width direction.
- the support mechanism 4 rotatably supports the drive wheel 3 and has a holder 41 attached to the vehicle body 1 rotatably around a rotation axis M extending in the horizontal direction.
- the support mechanism 4 further has a suspension 42 that elastically supports the holder 41 rotatably with respect to the vehicle body 1 around the rotation axis M. As shown in FIG.
- the holder 41 includes two plates 43.
- the plate 43 extends in the front-rear direction.
- the two plates 43 face each other in the left-right direction with a gap therebetween.
- a driving wheel 3 is arranged between two plates 43 .
- the two plates 43 support the drive wheel 3 rotatably around a rotation axis L extending in the horizontal direction.
- the holder 41 has a fixed end 41a as one end in the front-rear direction and a movable end 41b as the other end in the front-rear direction.
- the fixed end portion 41a is rotatably attached to the pillar 14 extending from the vehicle body 1 (specifically, the bottom plate 12) around the rotation axis M.
- the pillars 14 are fixed to the bottom plate 12 .
- the movable end portion 41b is attached to the lower end portion of the suspension 42 so as to be rotatable around the rotation axis N.
- the rotation axis L, the rotation axis M, and the rotation axis N are parallel to each other and extend in the vehicle width direction.
- the suspension 42 has a spring 42a that expands and contracts in the longitudinal direction of the suspension 42.
- the suspension 42 is rotatably attached to the vehicle body 1 at least around a rotation axis Q parallel to the rotation axis M.
- the suspension 42 is attached to the vehicle body 1 via a spherical plain bearing 15 .
- the spherical plain bearing 15 is attached to the bottom plate 12 .
- the upper end of suspension 42 is supported by spherical plain bearing 15 .
- the suspension 42 is supported by the spherical plain bearing 15 with its longitudinal direction oriented in the vertical direction. Since the suspension 42 is rotatably supported in any direction by the spherical plain bearing 15, it is rotatable around the rotation axis Q as well.
- the suspension 42 expands and contracts in the longitudinal direction, the movable end 41 b of the holder 41 moves along with the lower end of the suspension 42 . As a result, the holder 41 rotates about the rotation axis M. As shown in FIG. Here, since the suspension 42 is attached to the vehicle body 1 so as to be rotatable around the rotation axis Q parallel to the rotation axis M, the suspension 42 rotates around the rotation axis M as the holder 41 rotates. It rotates around the rotation axis Q with respect to the vehicle body 1 .
- the driving wheel 3 also rotates as the holder 41 rotates. Strictly speaking, the trajectory of the drive wheel 3 is arc-shaped with the rotation axis M as the center. However, since the longitudinal direction of the suspension 42 is vertical and the expansion and contraction of the suspension 42 is very small, the trajectory of the driving wheel 3 becomes a substantially straight line extending substantially vertically.
- the lower end of the drive wheel 3 is positioned below the lower end of the driven wheel 32 . That is, in a state in which the four driven wheels 32 are in contact with the road surface, the driving wheels 3 are pressed against the road surface by the elastic force of the suspensions 42 .
- the support mechanism 4 is arranged on the side edge of the bottom plate 12 in the vehicle width direction.
- Two driven wheels 32 are arranged side by side in the running direction on the side edges of the bottom plate 12 in the vehicle width direction.
- the support mechanism 4 is arranged between the two driven wheels 32 in the running direction. That is, the drive wheel 3 is arranged between the two driven wheels 32 in the running direction and substantially in the center of the bottom plate 12 in the running direction.
- the motor 2 is arranged inside the support mechanism 4 in the vehicle width direction on the bottom plate 12 .
- a speed reducer 6 is integrally attached to the motor 2 .
- a speed reducer 6 is connected to the output shaft of the motor 2 .
- An output shaft 61 of the speed reducer 6 extends in the vehicle width direction.
- the speed reducer 6 is attached to a mounting plate 16 extending from the bottom plate 12 . That is, the motor 2 is attached to the lower surface of the bottom plate 12 via the attachment plate 16 and the speed reducer 6 .
- the motor 2 and the speed reducer 6 are arranged substantially in the center of the bottom plate 12 in the vehicle width direction.
- Motor 2 is a servo motor. Motor 2 is controlled by controller 9 .
- the transmission mechanism 5 has an output pulley 51 connected to the motor 2, an input pulley 52 connected to the drive wheel 3, and a belt 53 wound around the output pulley 51 and the input pulley 52.
- the output pulley 51 is arranged on the vehicle body 1 . That is, the position of the output pulley 51 with respect to the vehicle body 1 does not change.
- the input pulley 52 is arranged on the holder 41 . That is, the input pulley 52 does not change its position with respect to the holder 41 .
- the output pulley 51 is provided on the output shaft 61 of the reduction gear 6.
- a rotation axis P of the output pulley 51 is coaxial with the rotation axis of the output shaft 61 . That is, the output pulley 51 is indirectly connected to the motor 2 via the speed reducer 6 so as to rotate together with the motor 2 .
- the output pulley 51 is a toothed pulley in which a plurality of teeth parallel to the rotation axis P are arranged in the circumferential direction on the outer peripheral surface.
- the input pulley 52 is non-rotatably connected to the drive wheel 3 .
- the input pulley 52 rotates integrally with the driving wheel 3 .
- the input pulley 52 is directly connected to the driving wheels 3 so as to rotate together with the driving wheels 3 .
- the input pulley 52 is provided coaxially with the rotation axis L of the drive wheel 3 .
- the rotation axis L is also the rotation axis of the input pulley 52 .
- the input pulley 52 is arranged outside the holder 41 and inside the holder 41 in the vehicle width direction.
- the input pulley 52 is arranged side by side with the output pulley 51 in the traveling direction.
- the output pulley 51 and the input pulley 52 are arranged at the same position in the vehicle width direction.
- the input pulley 52 is a toothed pulley in which a plurality of teeth parallel to the rotation axis L are arranged in the circumferential direction on the outer peripheral surface.
- the belt 53 is an endless belt wound around the output pulley 51 and the input pulley 52 .
- the belt 53 is a toothed belt in which a plurality of teeth parallel to each other are arranged in the circumferential direction on the inner peripheral surface.
- Belt 53 transmits the rotation of output pulley 51 to input pulley 52 .
- the diameter of the output pulley 51 is substantially the same as the diameter of the input pulley 52 . Therefore, the rotation of the output pulley 51 is transmitted to the input pulley 52 at the same rotational speed.
- the diameter of the output pulley 51 may be different from the diameter of the input pulley 52 .
- the second drive mechanism 10B is also configured similarly to the first drive mechanism 10A. However, the first drive mechanism 10A and the second drive mechanism 10B are arranged point-symmetrically with respect to the center of the bottom plate 12 .
- the support mechanism 4 of the first drive mechanism 10A is arranged on the left side edge of the bottom plate 12, while the support mechanism 4 of the second drive mechanism 10B is arranged on the right side edge of the bottom plate 12. are placed in
- the drive wheels 3 of the first drive mechanism 10A and the drive wheels 3 of the second drive mechanism 10B have different positions in the vehicle width direction, but substantially the same position in the running direction. That is, the drive wheels 3 of the first drive mechanism 10A and the drive wheels 3 of the second drive mechanism 10B are arranged side by side in the vehicle width direction, that is, in the left-right direction.
- the suspension 42 is positioned in front of the drive wheels 3 in the running direction, and the fixed end portion 41a of the holder 41 is positioned behind the drive wheels 3 in the running direction.
- the suspension 42 is positioned behind the driving wheels 3 in the running direction, and the fixed end portion 41a of the holder 41 is positioned ahead of the driving wheels 3 in the running direction.
- the motor 2 of the first drive mechanism 10A moves toward one side (specifically, the rear side) in the running direction with respect to the drive wheels 3 of the first drive mechanism 10A and the drive wheels 3 of the second drive mechanism 10B.
- the second motor 2B is arranged on the other side (specifically, the front side) in the running direction with respect to the drive wheels 3 of the first drive mechanism 10A and the drive wheels 3 of the second drive mechanism 10B.
- the fact that the motor is arranged on one side or the other side in the traveling direction with respect to the drive wheels 3 of the first drive mechanism 10A and the drive wheels 3 of the second drive mechanism 10B means that the motor 2 and the first drive mechanism 10A and the driving wheels 3 of the second driving mechanism 10B are aligned in the running direction, that is, the driving wheels 3 of the motor 2 and the driving wheels 3 of the first driving mechanism 10A and the driving wheels 3 of the second driving mechanism 10B It does not mean that the positions in the width direction are the same.
- the motor 2 and the drive wheels 3 of the first drive mechanism 10A and the drive wheels 3 of the second drive mechanism 10B may or may not be arranged in the running direction. In this example, the motor 2 and the drive wheels 3 of the first drive mechanism 10A and the drive wheels 3 of the second drive mechanism 10B are not aligned in the running direction.
- the motor 2 of the first drive mechanism 10A and the second drive wheel 3 of the second drive mechanism 10A are arranged in the running direction.
- the space under the vehicle body 1 can be effectively used to arrange the motor 2 and the drive wheels 3.
- the weight of the motor 2 and the drive wheels 3 in the vehicle body 1 can be balanced.
- the driving wheels 3 of the first driving mechanism 10A and the driving wheels 3 of the second driving mechanism 10B are Independently driven. That is, the motor 2 of the first drive mechanism 10A and the motor 2 of the second drive mechanism 10B drive the drive wheels 3 independently. Therefore, by rotating the two drive wheels 3 in the same direction at the same rotational speed, the vehicle body 1 can be run straight forward or backward in the running direction. In addition, the vehicle body 1 can be turned by making the two drive wheels 3 rotate at different speeds and/or rotate in different directions.
- the control device 9 controls the motion of the robot arm 7.
- the control device 9 controls an end effector connected to the tip of the robot arm 7 as an external axis.
- the control device 9 controls the motor 2 as an external shaft.
- the control device 9 moves the traveling vehicle 100 to a desired position and causes the robot arm 7 to perform predetermined operations and processes.
- the control device 9 has a control section, a storage section, a memory, and the like.
- the control unit performs various kinds of arithmetic processing and controls the control device 9 as a whole.
- the control unit is formed by a processor such as a CPU (Central Processing Unit).
- the control unit may be formed of MCU (Micro Controller Unit), MPU (Micro Processor Unit), FPGA (Field Programmable Gate Array), PLC (Programmable Logic Controller), or the like.
- the storage unit stores programs and various data to be executed by the control unit.
- the storage unit is formed of a non-volatile memory, HDD (Hard Disc Drive), SSD (Solid State Drive), or the like.
- the memory temporarily stores data and the like.
- the memory is formed of volatile memory.
- the drive wheels 3 are rotatably (that is, swingably) held with respect to the vehicle body 1 by the holders 41 and the suspensions 42 .
- the elasticity of the suspension 42 presses the drive wheels 3 against the road surface while absorbing the unevenness of the road surface. Therefore, the drive wheels 3 are kept in contact with the road surface.
- the motor 2 is attached to the vehicle body 1. Rotational driving force of the motor 2 is transmitted to the driving wheels 3 via the belt 53 . Since the motor 2 does not rotate together with the holder 41, the vibration of the driving wheel 3 transmitted to the motor 2 is reduced.
- the rotation axis M of the holder 41 is arranged coaxially with the rotation axis P of the output pulley 51 .
- the fixed end portion 41a of the holder 41 is aligned with the output pulley 51 in the vehicle width direction, more specifically, in the direction of the rotation axis M, while being separated from the output pulley 51 .
- the holder 41 rotates (that is, swings) around the rotation axis M as the suspension 42 expands and contracts, as described above.
- FIG. 5 is a schematic diagram of the drive wheel 3, the holder 41, and the like that rotate as the suspension 42 expands and contracts.
- FIG. 5 is a schematic diagram of the drive wheel 3, the holder 41, and the like that rotate as the suspension 42 expands and contracts.
- the holder 41 is rotated more than it actually is, in order to clearly show the displacement of the driving wheel 3 and the holder 41 .
- the drive wheel 3 and the input pulley 52 also rotate about the rotation axis M.
- the rotation axis M and the rotation axis P are coaxial, even if the input pulley 52 rotates about the rotation axis M, the distance between the rotation axis L and the rotation axis P of the input pulley 52 is constant. That is, the distance between the shafts of the output pulley 51 and the input pulley 52 does not change.
- the tension of the belt 53 wound around the output pulley 51 and the input pulley 52 is kept constant.
- the rotational driving force of the motor 2 is appropriately transmitted to the driving wheels 3 without lowering the tension of the belt 53 .
- the traveling vehicle 100 includes a vehicle body 1 and a driving mechanism for driving the vehicle body 1.
- the driving mechanism is attached to the vehicle body 1 and includes a motor 2 (driving source) that outputs a rotational driving force and a driving force. It has a wheel 3, a support mechanism 4 that supports the drive wheel 3, and a transmission mechanism 5 that transmits the rotational driving force to the drive wheel 3.
- the support mechanism 4 rotatably supports the drive wheel 3 and horizontally supports the drive wheel 3.
- the transmission mechanism 5 has a holder 41 attached to the vehicle body 1 so as to be elastically rotatable about a rotation axis M extending in the direction of rotation. 3 and has an input pulley 52 arranged on a holder 41, a belt 53 wound around the output pulley 51 and the input pulley 52, and a rotating shaft M arranged coaxially with the output pulley 51.
- the holder 41 that supports the drive wheel 3 is attached to the vehicle body 1 so as to be elastically rotatable around the rotation axis M.
- the elastic rotation of the holder 41 around the rotation axis M absorbs the unevenness of the road surface and maintains the contact between the drive wheels 3 and the road surface.
- the drive wheels 3 may vibrate due to the unevenness of the road surface.
- the motor 2 since the motor 2 is not attached to the holder 41 but is attached to the vehicle body 1, the vibration of the drive wheels 3 transmitted to the motor 2 is reduced.
- the rotational driving force of the motor 2 is transmitted to the drive wheels 3 via a belt 53 wound around an output pulley 51 connected to the motor 2 and an input pulley 52 connected to the drive wheels 3 .
- the output pulley 51 is arranged on the vehicle body 1, even if the holder 41 rotates around the rotation axis M, it is not displaced.
- the input pulley 52 is arranged on the holder 41 , the input pulley 52 also rotates about the rotation axis M as the holder 41 rotates about the rotation axis M.
- the rotating shaft M is arranged coaxially with the output pulley 51 , the input pulley 52 rotates around the output pulley 51 . Since the axial distance between the output pulley 51 and the input pulley 52 does not change, the tension of the belt 53 wound around the output pulley 51 and the input pulley 52 is kept constant. As a result, the rotational driving force of the motor 2 is appropriately transmitted to the driving wheels 3 without reducing the tension of the belt 53 .
- the support mechanism 4 further has a suspension 42 that elastically supports the holder 41 rotatably around the rotation axis M with respect to the vehicle body.
- the holder 41 is elastically rotatable around the rotation axis M by the suspension 42 .
- the suspension 42 grounds the drive wheels 3 on the road surface while absorbing the unevenness of the road surface.
- the suspension 42 is attached to the vehicle body 1 so as to be rotatable at least around an axis parallel to the rotation axis M.
- the holder 41 can smoothly rotate around the rotation axis M by rotating the suspension 42 around the axis parallel to the rotation axis M at the attachment portion to the vehicle body 1 .
- the suspension 42 is attached to the vehicle body 1 via a spherical plain bearing 15 .
- the traveling vehicle 100 further includes a driven wheel 32 that is attached to the vehicle body 1 and rotatable around a horizontally extending axis.
- the traveling vehicle 100 includes the drive wheels 3 and the driven wheels 32 .
- At least the drive wheel 3 is elastically rotatably held around a rotation axis M extending in the horizontal direction by the holder 41 and the suspension. Therefore, the contact of the drive wheels 3 and the driven wheels 32 to the road surface can be stably maintained.
- the traveling vehicle 100 further includes a speed reducer 6 that is connected to the motor 2 and reduces the rotational driving force.
- the output pulley 51 is indirectly connected to the motor 2 via the speed reducer 6 . Even with such a configuration, the rotational driving force of the motor 2 can be appropriately transmitted to the drive wheels 3 .
- the drive mechanism includes a first drive mechanism 10A and a second drive mechanism 10B, and the drive wheels 3 of the first drive mechanism 10A and the drive wheels 3 of the second drive mechanism 10B are driven independently.
- the vehicle body 1 by rotating the two drive wheels 3 in the same direction at the same rotational speed, the vehicle body 1 can be run straight forward or backward in the running direction.
- the vehicle body 1 can be turned by making the two drive wheels 3 rotate at different speeds and/or rotate in different directions.
- the drive wheels 3 of the first drive mechanism 10A and the drive wheels 3 of the second drive mechanism 10B are arranged side by side in the left-right direction when the running direction of the first drive mechanism 10A and the second drive mechanism 10B is the front-rear direction.
- the motor 2 of the first drive mechanism 10A is arranged on one side in the traveling direction with respect to the drive wheels 3 of the first drive mechanism 10A and the drive wheels 3 of the second drive mechanism 10B. 2 is arranged on the other side in the running direction with respect to the drive wheels 3 of the first drive mechanism 10A and the drive wheels 3 of the second drive mechanism 10B.
- the motor 2 of the first drive mechanism 10A and the motor 2 of the second drive mechanism 10B move in the running direction with respect to the drive wheels 3 of the first drive mechanism 10A and the drive wheels 3 of the second drive mechanism 10B. are arranged separately on one side and the other side of the . Thereby, the weight of the vehicle body 1 is balanced.
- the traveling vehicle 100 further includes a robot arm 7 mounted on the vehicle body 1 .
- traveling vehicle 100 does not have to be equipped with the robot arm 7.
- traveling vehicle 100 is not limited to an AGV, and any configuration can be adopted as long as it includes a vehicle body and a drive mechanism.
- traveling vehicle 100 only needs to have at least one drive mechanism.
- traveling vehicle 100 may include one drive mechanism and a plurality of driven wheels.
- some driven wheels may have a steering function.
- the number of driven wheels 32 is not limited to four, and may be three or less or five or more.
- the number of driven wheels 32 may be the number that can support the traveling vehicle 100 by only the driven wheels 32 without including the drive wheels 3 .
- the traveling vehicle 100 may have three driven wheels 32 arranged at the vertices of a triangle.
- the holder 41 is not limited to being supported by the suspension 42 as long as it is attached to the vehicle body 1 so as to be elastically rotatable around the rotating shaft extending in the horizontal direction.
- the holder 41 may be elastically held by the vehicle body 1 via an elastic member such as anti-vibration rubber.
- the attachment of the suspension 42 to the vehicle body 1 is not limited to the spherical plain bearing 15.
- the vehicle body 1 may be provided with a shaft parallel to the rotation axis M of the holder 41, and the suspension 42 may be rotatably attached to the shaft.
- the suspension 42 may be fixedly (that is, non-rotatably) attached to the vehicle body 1 .
- the holder 41 can be rotated around the rotation axis M by elastic bending deformation of the suspension 42 .
- the output pulley 51 may be provided directly on the motor 2 instead of the speed reducer 6 .
- the rotational driving force from the motor 2 may be reduced between the input pulley 52 and the driving wheels 3 .
- the diameter of the input pulley 52 may be larger than the diameter of the output pulley 51 .
Abstract
Description
以上のように、本出願において開示する技術の例示として、前記実施形態を説明した。しかしながら、本開示における技術は、これに限定されず、適宜、変更、置き換え、付加、省略などを行った実施の形態にも適用可能である。また、前記実施形態で説明した各構成要素を組み合わせて、新たな実施の形態とすることも可能である。また、添付図面および詳細な説明に記載された構成要素の中には、課題解決のために必須な構成要素だけでなく、前記技術を例示するために、課題解決のためには必須でない構成要素も含まれ得る。そのため、それらの必須ではない構成要素が添付図面や詳細な説明に記載されていることをもって、直ちに、それらの必須ではない構成要素が必須であるとの認定をするべきではない。
Claims (9)
- 車体と、
前記車体を走行させる駆動機構とを備え、
前記駆動機構は、前記車体に取り付けられ、回転駆動力を出力する駆動源と、駆動輪と、前記駆動輪を支持する支持機構と、前記回転駆動力を前記駆動輪に伝達する伝達機構とを有し、
前記支持機構は、前記駆動輪を回転可能に支持すると共に、水平方向に延びる回転軸回りに弾性的に回転可能に前記車体に取り付けられたホルダを有し、
前記伝達機構は、前記駆動源に連結され、前記車体に配置された出力プーリと、前記駆動輪に連結され、前記ホルダに配置された入力プーリと、前記出力プーリと前記入力プーリとに巻回されたベルトとを有し、
前記回転軸は、前記出力プーリと同軸に配置されている走行車。 - 請求項1に記載の走行車において、
前記支持機構は、前記ホルダを前記回転軸を中心に回転可能に前記車体に対して弾性的に支持するサスペンションをさらに有する走行車。 - 請求項2に記載の走行車において、
前記サスペンションは、前記車体に対して、少なくとも前記回転軸と平行な軸回りに回転可能に取り付けられている走行車。 - 請求項3に記載の走行車において、
前記サスペンションは、前記車体に対して、球面すべり軸受を介して取り付けられている走行車。 - 請求項1乃至4の何れか1つに記載の走行車において、
前記車体に取り付けられ、水平方向に延びる軸回りに回転可能な従動輪をさらに備えた走行車。 - 請求項1乃至5の何れか1つに記載の走行車において、
前記駆動源に連結され、前記回転駆動力を減速させる減速機をさらに備え、
前記出力プーリは、前記減速機の出力シャフトに設けられている走行車。 - 請求項1乃至6の何れか1つに記載の走行車において、
前記駆動機構は、第1駆動機構と第2駆動機構とを含み、
前記第1駆動機構の前記駆動輪と前記第2駆動機構の前記駆動輪とは、独立に駆動される走行車。 - 請求項7に記載の走行車において、
前記第1駆動機構の前記駆動輪及び前記第2駆動機構の前記駆動輪は、前記第1駆動機構及び前記第2駆動機構による走行方向を前後方向とした場合の左右方向に並んで配置され、
前記第1駆動機構の前記駆動源は、前記第1駆動機構の前記駆動輪及び前記第2駆動機構の前記駆動輪に対して前記走行方向の一方側に配置され、
前記第2駆動機構の前記駆動源は、前記第1駆動機構の前記駆動輪及び前記第2駆動機構の前記駆動輪に対して前記走行方向の他方側に配置されている走行車。 - 請求項1乃至8の何れか1つに記載の走行車において、
前記車体に載置されたロボットアームをさらに備える走行車。
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CN202280029291.XA CN117177892A (zh) | 2021-04-23 | 2022-04-22 | 行走车 |
EP22791830.7A EP4328107A1 (en) | 2021-04-23 | 2022-04-22 | Traveling car |
KR1020237038552A KR20230169237A (ko) | 2021-04-23 | 2022-04-22 | 주행차 |
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JP2021-073542 | 2021-04-23 | ||
JP2021073542A JP2022167620A (ja) | 2021-04-23 | 2021-04-23 | 走行車 |
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WO2022225059A1 true WO2022225059A1 (ja) | 2022-10-27 |
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PCT/JP2022/018615 WO2022225059A1 (ja) | 2021-04-23 | 2022-04-22 | 走行車 |
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EP (1) | EP4328107A1 (ja) |
JP (1) | JP2022167620A (ja) |
KR (1) | KR20230169237A (ja) |
CN (1) | CN117177892A (ja) |
WO (1) | WO2022225059A1 (ja) |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS57171927U (ja) * | 1981-04-25 | 1982-10-29 | ||
JPS6016666U (ja) * | 1983-07-12 | 1985-02-04 | 新明工業株式会社 | 運搬台車 |
JPH02182539A (ja) * | 1988-11-23 | 1990-07-17 | Hurth Verwalt Gmbh | 無人運搬システムにおける車両用の駆動ユニット |
JPH0740355U (ja) * | 1993-12-28 | 1995-07-18 | 株式会社佐野車輛製作所 | 自走式運搬車 |
JP2008238959A (ja) | 2007-03-27 | 2008-10-09 | Isuzu Motors Ltd | 無人搬送車体 |
JP6808884B1 (ja) * | 2020-07-27 | 2021-01-06 | Dmg森精機株式会社 | 無人搬送車 |
-
2021
- 2021-04-23 JP JP2021073542A patent/JP2022167620A/ja active Pending
-
2022
- 2022-04-22 KR KR1020237038552A patent/KR20230169237A/ko unknown
- 2022-04-22 WO PCT/JP2022/018615 patent/WO2022225059A1/ja active Application Filing
- 2022-04-22 CN CN202280029291.XA patent/CN117177892A/zh active Pending
- 2022-04-22 EP EP22791830.7A patent/EP4328107A1/en active Pending
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS57171927U (ja) * | 1981-04-25 | 1982-10-29 | ||
JPS6016666U (ja) * | 1983-07-12 | 1985-02-04 | 新明工業株式会社 | 運搬台車 |
JPH02182539A (ja) * | 1988-11-23 | 1990-07-17 | Hurth Verwalt Gmbh | 無人運搬システムにおける車両用の駆動ユニット |
JPH0740355U (ja) * | 1993-12-28 | 1995-07-18 | 株式会社佐野車輛製作所 | 自走式運搬車 |
JP2008238959A (ja) | 2007-03-27 | 2008-10-09 | Isuzu Motors Ltd | 無人搬送車体 |
JP6808884B1 (ja) * | 2020-07-27 | 2021-01-06 | Dmg森精機株式会社 | 無人搬送車 |
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CN117177892A (zh) | 2023-12-05 |
EP4328107A1 (en) | 2024-02-28 |
JP2022167620A (ja) | 2022-11-04 |
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