JPH0377101B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention is an electric vehicle used for transporting goods in various fields such as the textile industry, distribution centers, machinery industry, and electrical industry. The present invention relates to an electric mobile vehicle that can be selectively used in a state in which the vehicle is operated in a guided manner, and in a state in which a following line such as a towpath wire laid on the floor is detected and the vehicle is automatically guided.

As this type of electric mobile vehicle, the applicant of the present application has previously developed one having the configuration described in the following [] and [].

[] Of the steering/running wheels and driven wheels arranged at appropriate intervals in the direction of vehicle movement, an operating tool for manually operating the steering/running wheels while a passenger is on board, and a guiding operation tool. A device for automatically steering the steering and running wheels based on a control signal is configured to be selectively usable.

[] An electromagnetic brake is provided that operates based on the above-mentioned guidance operation control signal and human operation signal.

In this case, the following problems occurred because one brake was used for both boarding operation and guidance operation.

In other words, during guidance operation, the maximum traveling speed of the moving vehicle is limited to a low speed that does not cause problems such as derailment, so even if the brakes are applied rapidly, it will not cause any safety problems. On the contrary, since the stopping accuracy of the moving vehicle can be improved, work on the station etc. can be ensured. However, when the brakes are configured to act quickly in this way, when driving,
Since the mobile vehicle is configured to be able to run at high speeds without danger to the operator, there is a problem in which there is a high risk of sudden braking being applied against the operator's intention when driving at high speeds. There is.

On the other hand, if the brakes are configured to operate at a slow speed, the safety of the operator during boarding operation can be ensured, but there is a problem in that the stopping accuracy during guidance operation is reduced.

An object of the present invention is to rationally improve the above-mentioned trade-off problems.

The electric mobile vehicle of the present invention is provided with a variable-speed travel drive device that drives the travel wheels and a steering operation device that steers the steering wheels. An automatic driving state in which the traveling drive device and the steering operating device are automatically controlled; and a manual driving state in which the traveling driving device is operated by a gear shift operating tool and the steering wheels are steered by a steering operating tool. The system is configured such that it can be switched between the two states, and its characteristic configuration includes a first braking device that performs a braking operation based on a control signal for guidance driving in the automatic driving state, and a brake operating device that performs a braking operation in the manual driving state. A second braking device is provided, which is operated by a second braking device, and the second braking device is configured such that the braking force increases as the brake operating tool is operated toward a braking action side.

The effects of the above characteristic configuration are as follows.

In the automatic driving state by guidance, the electric mobile vehicle is stopped at a predetermined stop position by operating the first braking device in accordance with the guidance driving control signal. On the other hand, when the vehicle is being operated manually by the rider, the rider can stop the electric mobile vehicle at any position by operating the brake control tool, and the braking force is controlled by the brake control tool. Since it can be adjusted by adjusting the speed, the rider can stop the electric vehicle appropriately even when driving at high or low speeds while obtaining the braking force to ensure safety. Summer.

Hereinafter, embodiments of the configuration of the present invention will be described based on the ground.

As shown in FIGS. 1 to 4, a single steering/running wheel 2 is provided at the center or approximately the center in the vehicle width direction at the front of the vehicle body frame 1, and An electric mobile vehicle A is provided with driven wheels 3, 3 that can roll freely on both sides of the direction, and a hollow steering frame that rotatably supports the steering and running wheels 2. 4 is attached to the vehicle body frame 1 so as to be freely rotatable around the vertical axis P, and within this steering frame 4 is a wheel that is interlocked with the axle 2A of the steering and running wheel 2 via a gear transmission mechanism 5. A traveling motor 6 as a speed-changeable traveling drive device and an electromagnetic brake 7 as a first braking device capable of applying a braking force to the output shaft 6A of this traveling motor 6 are provided, and the driven wheels 3, 3 Axle 3A, 3
The cases 8, 8 supporting the A are equipped with hydraulic pressure as a second braking device that applies braking force to the axles 3A, 3A of the driven wheels 3, 3 in conjunction with the depression operation of the brake pedal 9, which is a braking operating tool. formula brake 1
0 and 10 are provided.

The vehicle body frame 1 includes the steering frame 4.
Gears 12 and 14 are provided which are constantly engaged and interlocked with a large-diameter gear 11 that is fixed to the gear 12, and a steering lever 13 as a steering operation tool is connected to the gear 12 via an electromagnetic clutch 16. A steering motor 15 as a steering actuating device is connected.

A towpath wire (an example of a guide wire) 18 is laid on the floor at the front of the vehicle body frame 1.
A tracking sensor 19 consisting of a pair of pick-up coils that detects the amount of lateral displacement of the vehicle body relative to the left and right voltage difference, a sensor 20 that detects the stopped position of the vehicle body, and a receiver 21 that inputs information such as destination data. Installing both these sensors 1
Based on the detection signals 9 and 20 and the input signal of the receiver 21, the motors 6 and 15 and the electromagnetic brake 7 are guided to automatically move along the tow path wire 18 to the destination. A microcomputer-based control device 22 is provided that outputs control signals for use.

The control device 22 includes an operating state changeover switch 2
3 is operated to the guiding operation state, the electromagnetic clutch 16 is disengaged and the steering wheel 2 is automatically steered based on the detection result of the tracking sensor 19. Further, when the driving state changeover switch 23 is operated to switch to the passenger driving state, the electromagnetic clutch 16 is engaged and operated, thereby freely steering the steering wheel 2 with the steering operation lever 13. becomes possible.

The control unit including the steering lever 13 is provided with a speed change operation pedal 24 as a speed change operation tool for the traveling motor 6, the brake pedal 9, and a driver's seat 25.

The brake pedal 9 is biased toward the brake release side by a spring 26, and a master cylinder 27 pivotally connected to the brake pedal 9 and the brakes 10, 10 are connected to the piping 2.
8.

In addition, B in the figure is a towed vehicle.

FIG. 5 shows an example of the use of the electric mobile vehicle A configured as described above, in which a large number of continuous processing machines C are arranged in parallel.
A towpath wire 18 is laid across the first induction operation line R ₁ in order to transport _the products processed by the continuous processing machine C... A certain second guidance operation line _R2 is configured, and a boarding operation line _R3 is configured between the first guidance operation line _R1 and the loading section D.

As a means of guiding the electric mobile vehicle A,
In addition to the electromagnetic induction type that uses the towpath wire 18 as in the above embodiment, there is also an optical induction type that detects the amount of lateral displacement of the aircraft in response to a light beam laid out on the floor or a light beam emitted along the travel line. There are also self-guidance types that automatically control steering based on data signals transmitted from a central controller on the ground side or data signals input directly into the moving vehicle and current traveling position detection signals.

[Brief explanation of drawings]

The drawings show an embodiment of the electric mobile vehicle according to the present invention, in which Fig. 1 is a side view, Fig. 2 is a plan view, Fig. 3 is an enlarged view of the steering and running wheels, and Fig. 4 is a view of the brake. The enlarged view, FIG. 5, is a layout showing an example of the travel line. 2... Steering and running wheel, 3... Driven wheel, 7,10
...Brake, 13...Handlebar, 15...Steering operating device.

Claims (1)

[Claims] 1. A variable speed travel drive device 6 that drives the travel wheels 2 and a steering actuator 15 that steers the steering wheels 2 are provided, and the travel drive device 6 is controlled by a guidance driving control signal. and an automatic driving state in which the steering operating device 15 is automatically controlled, the traveling drive device 6 is operated by the speed change operating tool 24, and the steering wheel 2 is steered by the steering operating tool 13. The electric mobile vehicle is configured to be able to switch to a manual driving state, and includes a first braking device 7 that performs a control operation based on a control signal for guidance driving in the automatic driving state, and a braking operation in the manual driving state. A second braking device 10 operated by the tool 9
is provided, and the second braking device 10 is configured such that the braking force increases as the brake operating tool 9 is operated toward the braking action side.