JPH0239426B2 - - Google Patents
Info
- Publication number
- JPH0239426B2 JPH0239426B2 JP58155271A JP15527183A JPH0239426B2 JP H0239426 B2 JPH0239426 B2 JP H0239426B2 JP 58155271 A JP58155271 A JP 58155271A JP 15527183 A JP15527183 A JP 15527183A JP H0239426 B2 JPH0239426 B2 JP H0239426B2
- Authority
- JP
- Japan
- Prior art keywords
- wheels
- drive wheels
- transport vehicle
- rotating members
- floor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
- B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Controls (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Platform Screen Doors And Railroad Systems (AREA)
Description
【発明の詳細な説明】
〔発明の技術分野〕
この発明は、搬送台車の走行特性の向上に関す
るものである。DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to improving the running characteristics of a transport vehicle.
従来、この種の装置として第１図及び第２図に
示すものがあつた。第１図は搬送台車の底面図、
第２図は正面図を示している。図において、１は
台車本体、２は車輪、３は台車本体１に固定さ
れ、車輪２の回転軸を支持するブロツク、４はモ
ータである。また、５はモータ４の動力を車輪２
に伝達する機構部、６は台車本体１に固定された
補助車輪、７は荷台である。動作は、２個のモー
タ４の回転を、動力伝達機構部５を介し、車輪２
に伝えることにより台車本体１を移動させるもの
である。この時、補助車輪６は、台車本体１を、
走行に支障をきたさないように支持する役割を果
たしている。この搬送台車の走行は、搬送台車の
向きと同じ直線上を前後進する直進走行と、カー
ブ走行や定点旋回といつた、２個の車輪２の回転
軸の延長上にある点を中心とした走行を行なう曲
進走行の２つに大別される。第３図は直進走行
を、第４図、第５図は曲進走行を示すものであ
る。図中、矢印は搬送台車の進行方向を示す。こ
のうち、直進走行は、２個のモータ４を駆動し、
動力伝達機構部５を介して、２個の車輪２を同回
転速度で同方向に同期して回転させることにより
実行することができる。又、曲進走行は、搬送台
車の走行軌跡の曲率中心と２個の車輪２との距離
と、２個の車輪２の各々の回転速度の比を、一定
の関係になるように２個のモータ４の回転数を制
御することにより実行することができる。
Conventionally, there have been devices of this type as shown in FIGS. 1 and 2. Figure 1 is a bottom view of the transport vehicle.
FIG. 2 shows a front view. In the figure, 1 is a truck body, 2 is a wheel, 3 is a block fixed to the truck body 1 and supports the rotating shaft of the wheel 2, and 4 is a motor. In addition, 5 transfers the power of the motor 4 to the wheels 2.
6 is an auxiliary wheel fixed to the truck body 1, and 7 is a loading platform. In operation, the rotation of the two motors 4 is transmitted to the wheels 2 via the power transmission mechanism 5.
The trolley body 1 is moved by transmitting the following information to the user. At this time, the auxiliary wheels 6 move the truck body 1,
It plays a supporting role so that it does not interfere with driving. The traveling of this transport vehicle is centered on a point on the extension of the rotation axis of the two wheels 2, such as straight travel that goes back and forth on the same straight line as the transport vehicle, and curve travel and fixed point turning. It can be roughly divided into two types: curved driving. FIG. 3 shows straight traveling, and FIGS. 4 and 5 show curved traveling. In the figure, arrows indicate the direction of movement of the transport vehicle. Among these, for straight traveling, two motors 4 are driven,
This can be carried out by synchronously rotating the two wheels 2 at the same rotational speed and in the same direction via the power transmission mechanism 5. In addition, in curved traveling, the distance between the center of curvature of the traveling trajectory of the transport vehicle and the two wheels 2 and the ratio of the rotational speed of each of the two wheels 2 are adjusted so that the ratio of the rotational speed of each of the two wheels 2 is in a constant relationship. This can be executed by controlling the rotation speed of the motor 4.
従来の搬送台車は以上のように構成されている
ので、台車を横や斜め方向にわずかな距離だけ移
動させたいという場合でも、曲進走行や直進走行
を組み合わすというような複雑なシーケンスを実
行する必要があり、これに伴ない、搬送台車の向
きが複数回変わるため、元の方向に必らずしも合
わせられないといつた欠点があつた。又、移動の
ためのスペースも、単に、横に平行にずらせるだ
けを想定したよりも余分に必要であつた。 Conventional transport carts are configured as described above, so even if you want to move the cart a small distance laterally or diagonally, you can execute a complex sequence that combines curved and straight movement. As a result, the direction of the transport vehicle changed several times, resulting in the disadvantage that it was not always possible to align it with the original direction. Further, more space was required for movement than was assumed for simply shifting horizontally and in parallel.
この発明は、上記のような従来のものの欠点を
除去するためになされたもので、台車本体に支持
され、床面に平行な平面内で回転自在な複数の回
転部材、この回転部材のそれぞれに床面に平行な
同一直線上の回転軸で回転自在で、それぞれ独立
して回転が制御可能な２個の駆動車輪、及び回転
部材のそれぞれに取り付けられ、駆動車輪の回転
軸に直角でかつ床面に平行な軸心のまわりに回動
するように駆動車輪を支持する支持機構を備える
ことにより、横や斜め方向にも容易に移動でき、
走行方向および搬送台車の向きを連続的にかつ自
在に制御して安定して走行する搬送台車を提供す
ることを目的としている。
This invention was made in order to eliminate the drawbacks of the conventional ones as described above, and includes a plurality of rotating members supported by a trolley body and rotatable in a plane parallel to the floor surface, and each of the rotating members Two drive wheels that are rotatable on colinear rotation axes that are parallel to the floor surface and whose rotations can be controlled independently; Equipped with a support mechanism that supports the drive wheel so that it rotates around an axis parallel to the plane, it can be easily moved laterally or diagonally.
It is an object of the present invention to provide a transport vehicle that runs stably by continuously and freely controlling the traveling direction and the orientation of the transport vehicle.
以下、この発明の一実施例を図について説明す
る。第６図、第７図、第８図において、８１，８
２は台車本体１に支持される複数の回転部材であ
り、例えば台車本体１の線対称軸上に中心から等
しい距離離れて２個備えている。９１，９２は、
内輪側を回転部材８１，８２に、外輪側を台車本
体１にはめ合わされた軸受であり、回転部材８
１，８２は床面に平行な平面内で回転自在であ
る。２Ａ，２Ｂ，２Ｃ，２Ｄは駆動車輪で、駆動
車輪２Ａの回転軸１２Ａと駆動車輪２Ｂの回転軸
１２Ｂとは同一直線上に配置され、同様にして、
駆動車輪２Ｃの回転軸１２Ｃと駆動車輪２Ｄの回
転軸１２Ｄとは同一直線上に配置されている。４
Ａ〜４Ｄは各々駆動車輪２Ａ〜２Ｄ専用のモータ
であり、このモータ４Ａ〜４Ｄを制御装置（図示
せず）によつて制御することにより、駆動車輪２
Ａ〜２Ｄの回転を独立して制御可能な構成になつ
ている。駆動車輪２Ａ，２Ｂは支持機構によつて
回転部材８１に支持され、駆動車輪２Ｃ，２Ｄは
同じく支持機構によつて回転部材８２に支持され
ている。支持機構は例えば軸心１０１，１０２と
ホルダー１１１，１１２で構成され、軸心１０１
は回転軸１２Ａ，１２Ｂに直角でかつ床面に平行
であり、駆動車輪２Ａ，２Ｂは、軸心１０１のま
わりに回動可能なホルダー１１１に取り付けられ
ている。同じく軸心１０２は回転軸１２Ｃ，１２
Ｄに直角でかつ床面に平行であり、駆動車輪２
Ｃ，２Ｄは軸心１０２のまわりに回動可能なホル
ダー１１２に取り付けられている。駆動車輪２
Ａ，２Ｂは上記のように支持されているので、そ
の回転軸１２Ａ，１２Ｂは回転部材８１の回転に
従つて床面に平行な面内で回転する。回転軸１２
Ｃ，１２Ｄに関しても同様である。
An embodiment of the present invention will be described below with reference to the drawings. In Figures 6, 7, and 8, 81, 8
Reference numeral 2 denotes a plurality of rotating members supported by the truck body 1. For example, two rotary members are provided on the axis of line symmetry of the truck body 1 at equal distances from the center. 91 and 92 are
It is a bearing whose inner ring side is fitted to rotating members 81 and 82 and whose outer ring side is fitted to the trolley body 1, and the rotating member 8
1 and 82 are rotatable within a plane parallel to the floor. 2A, 2B, 2C, and 2D are driving wheels, and the rotating shaft 12A of the driving wheel 2A and the rotating shaft 12B of the driving wheel 2B are arranged on the same straight line, and similarly,
The rotating shaft 12C of the driving wheel 2C and the rotating shaft 12D of the driving wheel 2D are arranged on the same straight line. 4
A to 4D are motors dedicated to the driving wheels 2A to 2D, respectively, and by controlling these motors 4A to 4D by a control device (not shown), the driving wheels 2
The configuration allows the rotations of A to 2D to be independently controlled. Drive wheels 2A, 2B are supported by a rotating member 81 by a support mechanism, and drive wheels 2C, 2D are supported by a rotating member 82 by a support mechanism. The support mechanism includes, for example, axes 101 and 102 and holders 111 and 112.
are perpendicular to the rotating shafts 12A, 12B and parallel to the floor surface, and the drive wheels 2A, 2B are attached to a holder 111 that is rotatable around the axis 101. Similarly, the axis 102 is the rotating shaft 12C, 12
perpendicular to D and parallel to the floor surface, driving wheel 2
C and 2D are attached to a holder 112 that is rotatable around the axis 102. Drive wheel 2
Since A and 2B are supported as described above, their rotation axes 12A and 12B rotate in a plane parallel to the floor as the rotation member 81 rotates. Rotating shaft 12
The same applies to C and 12D.
以下、動作について説明する。駆動車輪２Ａと
駆動車輪２Ｂが取り付けられた回転部材８１は、
駆動車輪２Ａと駆動車輪２Ｂを、たがいに逆方向
に同速度で同期して回転させることにより搬送台
車本体１に対し、何ら外力を加えることなく軸受
９１内で回転することができる。これに伴ない、
回転部材８１と方向性が対応している駆動車輪２
Ａと駆動車輪２Ｂの方向も、台車本体１に対し変
化する。この動作時に、床面に凹凸があつたとし
てもそれに対応して、ホルダー１１１が軸心１０
１まわりに回転し、駆動車輪２Ａと駆動車輪２Ｂ
は、床面に常に接触するようになつている。同様
にして、駆動車輪２Ｃと駆動車輪２Ｄの方向も、
台車本体１に対し変化させることができる。こう
した動作を基に、直進走行の実行について述べ
る。駆動車輪２Ａと駆動車輪２Ｂ、駆動車輪２Ｃ
と駆動車輪２Ｄは、各組内では互いに平行である
が、更に、各駆動車輪２Ａ〜２Ｄの回転を制御
し、回転部材８１と回転部材８２の方向を合わせ
る。つまり、４個の駆動車輪２Ａ〜２Ｄ全てを同
一方向に合わせる。次に、４個のモータ４Ａ〜４
Ｄを駆動し、４個の駆動車輪２Ａ〜２Ｄを、同方
向に同速度で同期して回転させると、第９図に示
すように、駆動車輪２Ａ〜２Ｄの方向（矢印の方
向）に台車本体１が直進走行を行なう。この場
合、直進の方向は台車本体１の方向に何らかかわ
りなく設定することができる。次に、曲進走行の
実行について述べる。駆動車輪２Ａと駆動車輪２
Ｂ、駆動車輪２Ｃと駆動車輪２Ｄの各々の回転軸
１２Ａ〜１２Ｄの延長線が、曲進走行の曲率中心
で交わるように、各駆動車輪２Ａ〜２Ｄの回転を
制御し、回転部材８１と回転部材８２の方向を変
え、回転軸１２Ａ〜１２Ｄの方向を変えるという
操舵制御を行う。そして、曲率中心と各駆動車輪
２Ａ〜２Ｄまでの距離に応じた、各駆動車輪２Ａ
〜２Ｄの回転制御を行なうという走行制御を実施
することにより、第１０図に示すように、矢印方
向へ曲進走行が実行できる。この場合、曲率中心
の設定については台車本体の方向、位置等から受
ける制約条件か全くない。このように希望の方向
に搬送台車を移動させることができ、さらに駆動
車輪を回転可能に支持しているため、全車輪が常
に床面に確実に接触し、各車輪の回転による駆動
力が確実に得られ、凹凸のある床面でも安定して
走行できる。 The operation will be explained below. The rotating member 81 to which the driving wheels 2A and 2B are attached is
By rotating the driving wheels 2A and 2B synchronously in opposite directions at the same speed, the transport vehicle main body 1 can rotate within the bearing 91 without applying any external force. Along with this,
Drive wheel 2 whose directionality corresponds to that of the rotating member 81
A and the direction of the driving wheels 2B also change with respect to the truck body 1. During this operation, even if there are irregularities on the floor, the holder 111 is moved to the axis 10.
1, and the driving wheels 2A and 2B
is in constant contact with the floor. Similarly, the directions of the drive wheels 2C and 2D are
It can be changed with respect to the truck body 1. Based on these actions, we will discuss how to run straight ahead. Drive wheel 2A, drive wheel 2B, drive wheel 2C
Although the driving wheels 2D and 2D are parallel to each other within each set, the rotation of each of the driving wheels 2A to 2D is further controlled to align the directions of the rotating members 81 and 82. In other words, all four drive wheels 2A to 2D are aligned in the same direction. Next, four motors 4A to 4
When D is driven and the four driving wheels 2A to 2D are rotated in the same direction and at the same speed synchronously, as shown in FIG. The main body 1 travels straight ahead. In this case, the straight direction can be set regardless of the direction of the truck body 1. Next, the execution of curved driving will be described. Drive wheel 2A and drive wheel 2
B. The rotation of each of the drive wheels 2A to 2D is controlled so that the extension lines of the rotation axes 12A to 12D of each of the drive wheels 2C and 2D intersect at the center of curvature during curved travel, and the rotation with the rotation member 81 is controlled. Steering control is performed by changing the direction of the member 82 and changing the directions of the rotating shafts 12A to 12D. Then, each drive wheel 2A corresponds to the distance between the center of curvature and each drive wheel 2A to 2D.
By implementing travel control that performs rotation control of ~2D, it is possible to perform curved travel in the direction of the arrow, as shown in FIG. In this case, there are no constraints on setting the center of curvature due to the direction, position, etc. of the truck body. In this way, the transport vehicle can be moved in the desired direction, and since the drive wheels are rotatably supported, all wheels are always in reliable contact with the floor, and the driving force generated by the rotation of each wheel is ensured. This allows for stable driving even on uneven floors.
また、駆動車輪２Ａ，２Ｂ，２Ｃ，２Ｄは、そ
れぞれが上述の操舵制御を行なう機能と走行制御
を行なう機能とを有しているので、それぞれの駆
動車輪が操舵制御と走行制御とを同時に実施する
ことにより、例えば第９図に示されたような直進
走行から第１０図に示されたような曲進走行へ移
行し、さらにその後直進走行へ移行するというよ
うな走行が各駆動車輪に対しほぼ同様の制御を施
すことで連続的に実現できる。したがつて、走行
制御と操舵制御とを別個にかつ不連続的に行なう
搬送台車に比べて、不必要な制御を抑制すること
ができる。 Further, each of the drive wheels 2A, 2B, 2C, and 2D has the function of performing the above-mentioned steering control and the function of performing travel control, so each drive wheel simultaneously performs steering control and travel control. By doing so, for example, each drive wheel can move from straight running as shown in Fig. 9 to curved running as shown in Fig. 10, and then to straight running. This can be achieved continuously by applying almost the same control. Therefore, unnecessary control can be suppressed compared to a transport vehicle that performs travel control and steering control separately and discontinuously.
なお、上記実施例では、回転部材から駆動車輪
に到る組み合わせを２組としたが、それ以上であ
つても、駆動車輪の回転を適切に制御することに
より上記実施例と同等の効果を奏する。また、補
助車輪６は必ずしも必要ではない。さらに、回転
部材の台車本体への取り付け位置は上記実施例に
限るものではなく、駆動車輪の回転部材への支持
機構も上記実施例に限るものではない。 In the above embodiment, the number of combinations from the rotating member to the drive wheel is two, but even if there are more combinations, the same effect as in the above embodiment can be achieved by appropriately controlling the rotation of the drive wheel. . Further, the auxiliary wheels 6 are not necessarily required. Further, the attachment position of the rotating member to the truck body is not limited to the above embodiment, and the support mechanism for the drive wheel to the rotating member is not limited to the above embodiment.
以上述べたように、この発明によれば、台車本
体に支持され、床面に平行な平面内で回転自在な
複数の回転部材、この回転部材のそれぞれに床面
に平行な同一直線上の回転軸で回転自在で、それ
ぞれ独立して回転が制御可能な２個の駆動車輪、
及び回転部材のそれぞれに取り付けられ、駆動車
輪の回転軸に直角でかつ床面に平行な軸心のまわ
りに回動するように駆動車輪を支持する支持機構
を備えることにより、走行方向と同時に搬送台車
の向きを連続的にかつ自在に制御して走行できる
と共に、上記支持機構の働きにより、全車輪が常
に床面に確実に接触し、各車輪の回転による駆動
力が確実に得られ、凹凸のある床面でも安定して
走行できる搬送台車を得ることができる。
As described above, according to the present invention, a plurality of rotating members are supported by the trolley body and are rotatable in a plane parallel to the floor, and each of the rotating members is rotated on the same straight line parallel to the floor. Two drive wheels that can rotate freely on a shaft and whose rotation can be controlled independently,
By providing a support mechanism that is attached to each of the rotating members and supports the drive wheels so as to rotate around an axis that is perpendicular to the rotation axis of the drive wheels and parallel to the floor surface, conveyance can be performed simultaneously in the traveling direction. The direction of the cart can be controlled continuously and freely, and the support mechanism mentioned above ensures that all wheels are always in constant contact with the floor surface, and the driving force generated by the rotation of each wheel is reliably obtained. It is possible to obtain a transport vehicle that can run stably even on a certain floor surface.
第１図、第２図は、従来の搬送台車を示す底面
図、及び正面図、第３図は、従来の搬送台車の直
進軌跡を示す説明図、第４図、第５図は、従来の
搬送台車の曲進軌跡を示す説明図である。第６
図、第７図は、この発明の一実施例による搬送台
車の部分断面図及び第６図の−線断面図であ
る。また、第８図は第７図の−線断面図でさ
り、第９図、第１０図はこの発明の一実施例によ
る搬送台車の直進軌跡と曲進軌跡を示す説明図で
ある。
１……台車本体、２Ａ，２Ｂ，２Ｃ，２Ｄ……
駆動車輪、１２Ａ，１２Ｂ，１２Ｃ，１２Ｄ……
回転軸、８１，８２……回転部材、１０１，１０
２……軸心、１１１，１１２……ホルダー。な
お、図中、同一符号は同一、又は相当部分を示
す。
FIGS. 1 and 2 are a bottom view and a front view of a conventional transport vehicle, FIG. 3 is an explanatory diagram showing a straight trajectory of a conventional transport vehicle, and FIGS. 4 and 5 are a diagram of a conventional transport vehicle. FIG. 2 is an explanatory diagram showing a curved locus of the transport vehicle. 6th
FIG. 7 is a partial cross-sectional view of a transport vehicle according to an embodiment of the present invention, and a cross-sectional view taken along the - line in FIG. 6. Further, FIG. 8 is a sectional view taken along the line -- in FIG. 7, and FIGS. 9 and 10 are explanatory diagrams showing a straight locus and a curved locus of a conveying cart according to an embodiment of the present invention. 1...Truck body, 2A, 2B, 2C, 2D...
Drive wheels, 12A, 12B, 12C, 12D...
Rotating shaft, 81, 82...Rotating member, 101, 10
2... Axis center, 111, 112... Holder. In addition, in the figures, the same reference numerals indicate the same or equivalent parts.
Claims (1)
回転自在な複数の回転部材、この回転部材のそれ
ぞれに床面に平行な同一直線上の回転軸に回転自
在に取り付けられそれぞれ独立して回転が制御可
能な２個の駆動車輪、及び上記回転部材のそれぞ
れに取り付けられ、上記駆動車輪の回転軸に直角
でかつ床面に平行な軸心のまわりに回動するよう
に上記駆動車輪を支持する支持機構を備えた搬送
台車。 ２ 回転部材を、台車平面の対称軸上に中心から
等しい距離離れて２個設けたことを特徴とする特
許請求の範囲第１項記載の搬送台車。[Scope of Claims] 1. A plurality of rotating members supported by the trolley body and rotatable in a plane parallel to the floor, each of the rotating members being rotatable about a rotation axis on the same straight line parallel to the floor. two drive wheels that are attached and whose rotations can be controlled independently; and two drive wheels that are attached to each of the rotating members and rotate about an axis that is perpendicular to the rotation axis of the drive wheels and parallel to the floor surface; A transport vehicle equipped with a support mechanism for supporting the drive wheels. 2. The conveying cart according to claim 1, wherein two rotating members are provided on the axis of symmetry of the plane of the cart at equal distances from the center.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58155271A JPS6047761A (en) | 1983-08-25 | 1983-08-25 | Conveying carriage |
| US06/643,930 US4529052A (en) | 1983-08-25 | 1984-08-24 | Conveyor truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58155271A JPS6047761A (en) | 1983-08-25 | 1983-08-25 | Conveying carriage |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6047761A JPS6047761A (en) | 1985-03-15 |
| JPH0239426B2 true JPH0239426B2 (en) | 1990-09-05 |
Family
ID=15602252
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP58155271A Granted JPS6047761A (en) | 1983-08-25 | 1983-08-25 | Conveying carriage |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6047761A (en) |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5436267U (en) * | 1977-08-15 | 1979-03-09 | ||
| JPS5632375U (en) * | 1979-08-22 | 1981-03-30 | ||
| DE3125612A1 (en) * | 1981-06-30 | 1983-01-13 | Volkswagenwerk Ag, 3180 Wolfsburg | Manual shift transmission for a motor vehicle with permanent all-wheel drive |
| JPS594325U (en) * | 1982-06-30 | 1984-01-12 | 株式会社クボタ | Vehicle front wheel drive |
-
1983
- 1983-08-25 JP JP58155271A patent/JPS6047761A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6047761A (en) | 1985-03-15 |
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