JP6467124B2 - Wheel support structure for traveling cart - Google Patents

Description

  The present invention relates to a traveling carriage that travels on a predetermined course, for example, a magnetic marker attached to a road surface, such as a traveling carriage that transports cargo in an airport or a golf cart, for example. The present invention relates to a wheel support structure for a traveling carriage that travels on a certain course.

  FIG. 4 shows a wheel support structure for a conventional traveling carriage of this type. 4 (a) and 4 (b) includes a pair of left and right front wheels 81 and 82 provided in front of the vehicle, and a pair of left and right drive wheels 83 provided on the rear side of the front wheels 81 and 82. 84 and a pair of left and right rear wheels 85, 86 provided on the rear side of the drive wheels 83, 84. The front wheels 81 and 82 and the rear wheels 85 and 86 are all caster wheels.

  In the wheel support structure of the traveling carriage 80, the front wheels 81 and 82 are supported by springs 81a and 82a so as to be movable up and down, and the rear wheels 85 and 86 are supported by springs 85a and 86a so as to be movable up and down. 83 and 84 are fixed at substantially the center position in the longitudinal direction of the vehicle. In this wheel support structure, there is a problem that the vehicle swings back and forth when the traveling carriage 80 travels. Further, this wheel support structure has a problem that the vehicle tilts in a stationary state when the center of gravity is not at the center position.

  4 (c) and 4 (d) show a traveling cart 87 of a type different from the above. The same components as those of the traveling carriage 80 described above are denoted by the same reference numerals, and redundant description is omitted. In the wheel support structure of the traveling carriage 87, the drive wheels 83, 84 are supported by springs 83a, 84a so as to be movable up and down, and the front wheels 81, 82 and the rear wheels 85, 86 are fixed to the vehicle. In this wheel support structure, it is necessary to increase the spring constants of the springs 83a and 84a to some extent so that the driving force from the driving wheels is reliably transmitted to the ground when carrying the load of the maximum weight. However, when the spring constant is increased, this time, when carrying a light load, the amount of spring contraction is small, and there is a problem that the drive wheels 83 and 84 float the front wheels 81 and 82 or the rear wheels 85 and 86 from the ground. .

  As a wheel support structure that attempts to improve the above-described problem, the traveling vehicle 80 shown in FIGS. 4A and 4B includes one drive wheel instead of the drive wheels 83 and 84, and the drive wheel and the rear wheel. There are those in which 85 and 86 are attached to a T-shaped plate. The portion of the plate that connects the driving wheel and the rear wheel is pivotally attached to the vehicle body by a support pin in a direction perpendicular to the traveling direction at a position near the rear wheel (see, for example, Patent Document 1). .

JP 7-33027 A

  In the wheel support structure of the traveling carriage described in Patent Document 1, there are no problems such as forward / backward swaying during traveling, tilting at rest, and problems when a light load is placed. However, in this wheel support structure, unevenness on a flat road or a slope cannot be absorbed, and the driving wheel may float and the driving force may not be transmitted to the ground.

  The present invention was made in order to improve the problem of the wheel support structure of the conventional traveling carriage described above. Regardless of the weight of the load, all of the front wheels, drive wheels, and rear wheels are on uneven roads or slopes. An object of the present invention is to provide a wheel support structure in which a wheel is always in contact with the ground and a traveling carriage is stably driven.

To achieve the above object, the present invention comprises a pair of left and right front wheels provided in front of a vehicle, a pair of left and right drive wheels provided on the rear side of each of the pair of left and right front wheels, and the drive wheels. A front wheel and a drive wheel on the left side of the vehicle, and a front wheel and a drive wheel on the right side of the vehicle. Are respectively attached to two support plates arranged in parallel along the traveling direction of the vehicle, and the two support plates are rotated with respect to the vehicle body frame by support pins in a direction perpendicular to the traveling direction. The position of the support pin on the support plate is closer to the drive wheel than the intermediate point between the front wheel and the drive wheel, and the position of the support pin relative to the vehicle body frame is It is arranged so that the center of gravity of the carriage is located between the support pin and the rear wheel in the front-rear direction of the vehicle, and the support pin is used when the traveling carriage climbs up and down a flat road and a predetermined slope. the front wheel and the drive wheel is disposed in a position in which it is possible to follow the ground by the support plate is rotated on the support pin around the body frame includes a flat plate-shaped body frame, or the body frame a wheel connecting portion after the shape protruding to Luo downwardly, wherein said has a support plate for connecting the portion of the body frame or we shape protruding downward, the.

  According to the present invention, the two support plates constituting the wheel support structure absorb the unevenness of the ground by rotating independently around the support pins, and the drive wheels are also used when climbing up and down the hill. It can be made to follow the ground firmly, and the driving force can be reliably transmitted to the ground. In addition, since the wheel support structure does not support the wheel by a spring, it does not easily cause problems such as swinging in the front-rear direction when traveling, tilting when stationary, or the front and rear wheels floating when a light load is placed.

(A) is a top view of the traveling trolley | bogie which concerns on embodiment of this invention, (b) is an AA 'arrow directional view of (a), (c) is a BB' arrow directional view of (a). FIG. 4D is a right side view of the traveling vehicle. (A) is a top view which shows the wheel support structure of the driving | running | working trolley, (b) is C-C 'sectional view taken on the line of (a), (c) is a perspective view of the vehicle body frame with which the driving | running | working trolley is equipped. (A) thru | or (e) is a side view which shows the state change of a support frame when the driving | running | working trolley descends a slope. (A) is a top view which shows the wheel support structure of the conventional traveling trolley, (b) is the same side view, (c) is a top view which shows the wheel support structure of the conventional traveling trolley different from (a), (d ) Is the same side view.

  In the wheel support structure of the traveling carriage of the present invention, in the traveling carriage provided with a pair of left and right front wheels and driving wheels and one rear wheel, the front wheels and driving wheels on the left side in the traveling direction of the vehicle, and the right front wheels and driving wheels. The wheels are respectively attached to two rectangular support plates arranged in parallel. The two support plates are rotatably supported with respect to the vehicle body frame by support pins in a direction orthogonal to the traveling direction. The support pin on the support plate is disposed at a position closer to the drive wheel than an intermediate point between the front wheel and the drive wheel. The position of the support pin with respect to the vehicle body frame is set so that the center of gravity of the carriage is located between the support pin and the rear wheel in the front-rear direction of the vehicle body frame. In the wheel support structure having such a configuration, since the wheels are not supported by the springs, there are no problems such as swinging in the front-rear direction when traveling, tilting when stationary, or floating the front and rear wheels when a light load is placed. Further, since the two support plates rotate around the support pins, the drive wheels can be made to follow the ground firmly even when going up and down the slope, and the driving force can be reliably transmitted to the ground. Further, the unevenness of the ground can be absorbed by the two support plates rotating independently around the support pins and the action of one rear wheel that allows the vehicle to tilt on the front wheel side.

  Fig.1 (a) thru | or (d) show the traveling cart 1 provided with the wheel support structure which concerns on this embodiment. The traveling carriage 1 includes a loading platform 3 in which a rubber sheet is attached to an upper portion of a vehicle body 2, a fence 4 surrounding the loading platform 3, a control panel 5, and a laminated rotating lamp 6. A part of the fence 4a is opened horizontally in order to load or unload luggage on the loading platform 3. The control panel 5 includes buttons, levers, and the like necessary for starting, traveling and stopping the traveling carriage 1, and operating the route. The laminated revolving light 6 indicates a traveling state of the traveling carriage 1 and the like.

  Inside the vehicle main body 2 are provided a wheel support structure 7 to which front wheels, drive wheels and rear wheels are attached, and a drive battery 8 which is attached in a replaceable manner. The configuration other than the wheel indicating structure 7 of the traveling carriage 1 is the same as that of a known traveling carriage, and detailed description thereof is omitted here.

  2A to 2C show a detailed configuration of the wheel support structure 7. In this figure, for the convenience of explanation, the direction from left to right is the traveling direction.

  The vehicle body 2 includes a pair of left and right front wheels 9 and 10 provided in front of the vehicle, a pair of left and right drive wheels 11 and 12 provided on the rear side of the front wheels 9 and 10, and drive wheels 11 and 12. And a rear wheel 13 provided behind the rear vehicle. The front wheels 9 and 10 are caster type wheels. The rear wheel 13 is a caster wheel or a steered wheel that can be operated in the traveling direction in accordance with the operation of the control panel 5. Each wheel is, for example, a urethane or rubber wheel.

  The front wheel 9 and the drive wheel 11 on the left side (upper side of the drawing) viewed from the traveling direction of the traveling carriage 1 and the front wheel 10 and the drive wheel 12 on the right side (lower side of the drawing) viewed from the traveling direction are along the traveling direction. Are attached to two support plates 14 and 15 arranged in parallel. The two support plates 14 and 15 are rotatably supported with respect to the vehicle body frame 18 by support pins 16 and 17 in a direction orthogonal to the traveling direction.

  The body frame 18 includes a substantially flat plate-like main body frame 18a, a connecting portion 18b for the rear wheel 13 protruding downward from the main body frame 18a, and support plates 14 and 15 protruding downward from the main body frame 18a. Connecting portions 18c and 18d.

  The positions of the support pins 16 and 17 on the support plates 14 and 15 are closer to the drive wheels 11 and 12 than the midpoint between the front wheels 9 and 10 and the drive wheels 11 and 12. This ensures good grounding of the drive wheels 11 and 12 so that the driving force is transmitted to the ground.

  The positions of the support pins 16 and 17 with respect to the vehicle body frame 18 are arranged such that the center of gravity of the traveling carriage 1 is positioned between the support pins 16 and 17 and the rear wheel 13 in the rear direction of the vehicle body frame 18. This enables stable grounding of the front wheels 9 and 10, the drive wheels 11 and 12, and the rear wheel 13.

  The two support plates 14 and 15 rotate around the support pins 16 and 17 so that the drive wheels 11 and 12 can follow the ground firmly even when climbing up and down the hill. Can be surely communicated. Further, the unevenness of the ground is caused by the fact that the two support plates 14 and 15 rotate independently around the support pins 16 and 17 and the action of the one rear wheel 13 that allows the vehicle to tilt on the front wheel side. Absorbing allows stable grounding of the front wheels 9, 10, drive wheel 11 and rear wheel 13.

  FIGS. 3 (a) to 3 (e) show support when the traveling carriage 1 descends from the flat road 20 in the predetermined course to the steep slope 21 in the course and travels on the flat road 22 again. It is a figure which shows the mode of the plates 14 and 15. FIG.

  FIG. 3 (a) shows the state of the support plates 14 and 15 when the front wheels 9 and 10 of the traveling carriage 1 are at the position 21 a at the start of descending on the slope 21. In this case, the support plates 14 and 15 are kept parallel to the flat path 20, that is, in a horizontal state.

  FIG. 3 (b) shows the state of the support plates 14 and 15 when the drive wheels 11 and 12 of the traveling carriage 1 are at the position 21 a at which the slope 21 starts to descend. In this case, the support plates 14 and 15 are rotated at the largest angle in the clockwise direction. Retraction amount of the drive wheels 11 and 12 hidden inside the vehicle body 2 determined based on the distance L from the mounting position of the drive wheels 11 and 12 to the support plates 14 and 15 to the support pins 16 and 17 and the rotation angle α. L × sin α). The diameters of the drive wheels 11 and 12 are such that the amount of protrusion of the drive wheels 11 and 12 from the bottom surface of the traveling carriage 1 when the support plates 14 and 15 are in a horizontal state is larger than the amount of retraction, and as a result, in the case of this figure , The driving wheels 11 and 12 are set to values that protrude from the bottom surface of the traveling carriage 1 to the ground side.

  FIG. 3C shows the state of the support plates 14 and 15 when the front wheels 9 and 10 of the traveling carriage 1 are at the end position 21 b of the slope 21. In this case, the support plates 14 and 15 are kept parallel to the ground of the slope 21.

  FIG. 3D shows the state of the support plates 14 and 15 when the driving wheels 11 and 12 of the traveling carriage 1 are at the end position 21 b of the slope 21 and the front wheels 9 and 10 are on the flat road 22. Show. In this case, the bottom surface of the traveling carriage 1 and the ground are farthest from each other at the position 21b, and the support plates 14 and 15 are rotated at the largest angle counterclockwise. An additional protrusion in which the drive wheels 11 and 12 further protrude from the vehicle body 2 is obtained based on the distance L from the mounting position of the drive wheels 11 and 12 to the support plates 14 and 15 to the support pins 16 and 17 and the rotation angle β. Consider the quantity (L × sin β). The distance L is determined by the total protrusion amount obtained by adding the additional protrusion amount to the protrusion amount of the driving wheels 11 and 12 from the bottom surface of the traveling carriage 1 when the support plates 14 and 15 are in the horizontal state. A value equal to the distance from the bottom surface of the carriage 1 to the ground is set.

  FIG. 3 (e) shows the support plate 14 when the rear wheel 13 of the traveling carriage 1 is at the end position 21b of the slope 21 and the front wheels 9, 10 and the drive wheels 11, 12 are on the flat road 22, 15 is shown. The support plates 14 and 15 are kept parallel to the flat path 22, that is, in a horizontal state.

  The diameters of the drive wheels 11 and 12 and the distances from the mounting positions of the drive wheels 11 and 12 to the support plates 14 and 15 to the support pins 16 and 17 are set so as to satisfy the conditions described above. Thereby, the traveling cart 1 can climb up and down all the slopes in a predetermined course with a stable posture. The two support plates 14 and 15 rotate independently according to the unevenness of the ground, and one rear wheel 13 allows the vehicle to tilt on the front wheel side as the support plates 14 and 15 rotate. Therefore, the high grounding property of the front wheels 9 and 10 and the drive wheels 11 and 12 can be maintained. In addition, since the wheel support structure 7 does not use a spring, it is difficult for the traveling carriage 1 to swing back and forth during traveling, tilt when stationary, or the front and rear wheels float when a light load is placed on the wheel supporting structure 7. It becomes.

  In addition, this invention is not restricted to the structure of the said various embodiment, A various deformation | transformation is possible in the range which does not change the meaning of invention. For example, the vehicle body frame 18 and the support plates 14 and 15 may be connected via a universal joint. In this case, it is possible to maintain good ground contact with the ground even when the slope is inclined to the left or right. The front wheels 9 and 10 may be trail wheels or steering wheels in addition to caster wheels. Each wheel may be an iron wheel for railroad in addition to a urethane or rubber wheel.

  The present invention can be used for all vehicles traveling on a predetermined course, and can be used in various industries.

DESCRIPTION OF SYMBOLS 1 Traveling trolley 2 Vehicle main body 3 Loading platform 7 Wheel support structure 9, 10 Front wheel 11, 12 Driving wheel 13 Rear wheel 14, 15 Support plate 16, 17 Support pin 18 Body frame

Claims (1)

A pair of left and right front wheels provided in front of the vehicle, a pair of left and right drive wheels provided on the rear side of each of the pair of left and right front wheels, and 1 provided on the rear of the vehicle behind the drive wheels. In a wheel support structure of a traveling carriage provided with two rear wheels,
The front wheel and the drive wheel on the left side of the vehicle and the front wheel and the drive wheel on the right side of the vehicle are respectively attached to two support plates arranged in parallel along the traveling direction of the vehicle,
The two support plates are rotatably supported with respect to the vehicle body frame by support pins in a direction orthogonal to the traveling direction,
The position of the support pin on the support plate is closer to the drive wheel than the intermediate point between the front wheel and the drive wheel, and the position of the support pin relative to the vehicle body frame is the position of the support pin and the rear wheel in the longitudinal direction of the vehicle body frame. It is arranged so that the center of gravity of the carriage is located between
The support pin can follow the ground and the front wheels by driving the support plate around the support pin when the traveling carriage climbs and descends a flat road and a predetermined slope. Placed in position,
The body frame includes a flat plate-shaped body frame, said body frame or al wheel connecting portion after the protruding shape downward and the support plate for connecting portion having a shape protruding to the body frame or al downward And a wheel support structure for a traveling carriage, characterized by comprising:

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