JPH0420829B2 - - Google Patents
Info
- Publication number
- JPH0420829B2 JPH0420829B2 JP58155270A JP15527083A JPH0420829B2 JP H0420829 B2 JPH0420829 B2 JP H0420829B2 JP 58155270 A JP58155270 A JP 58155270A JP 15527083 A JP15527083 A JP 15527083A JP H0420829 B2 JPH0420829 B2 JP H0420829B2
- Authority
- JP
- Japan
- Prior art keywords
- wheels
- drive wheels
- rotating
- axis
- drive
- 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】
［産業上の利用分野］
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 [Industrial Field of Application] The present invention relates to improving the running characteristics of a transport vehicle.
［従来技術］
従来、この種の装置として、例えば、特開昭50
−21430号公報「走行、旋回自在な車輌」がある。[Prior art] Conventionally, as this type of device, for example,
- There is a publication No. 21430 "Vehicle that can run and turn freely".
第１図はその４操向軸車輌の操向軸の配置を示
す。第２図はその要部を示し、車体１に枢支した
回動自在の操向軸２の両側に対向して車輪３−
１，３−２を設け、各車輪にはそれぞれ駆動用原
動機M1〜M8を有し、各操向軸は独立して動作し
得るようにし、別に設けた操縦盤から指令を与
え、操縦盤で指示した点を中心として旋回できる
ように操向軸の旋回角度を演算して信号を送り各
車輪の原動機を指示した角度だけ駆動し、また速
度も指示された信号を送り原動機を駆動するよう
になつている。 FIG. 1 shows the arrangement of the steering axes of the four-steering-axle vehicle. FIG. 2 shows the main part of the vehicle. Wheels 3--
1 and 3-2, each wheel has a drive motor M 1 to M 8 , each steering axis can operate independently, and commands are given from a separately provided control panel to control the steering. It calculates the turning angle of the steering shaft so that it can turn around the point specified on the board and sends a signal to drive the prime mover of each wheel by the specified angle, and also sends a signal specified for the speed to drive the prime mover. It's becoming like that.
［発明が解決しようとする課題］
しかしながら、上述のような従来例の欠点は、
旋回機能が劣ることである。[Problem to be solved by the invention] However, the drawbacks of the conventional example as described above are:
The turning function is poor.
従来例では、旋回しようとする場合、第４図の
ように第１モードとして、まず各操向軸の２つの
車輪に速度差を与えて車輪向きを変更し、第２モ
ードとして旋回するから、その場旋回すなわち、
車輪向きを変えなくて旋回することはできない。 In the conventional example, when attempting to turn, the vehicle first changes the direction of the wheels by giving a speed difference to the two wheels on each steering axis in the first mode as shown in FIG. 4, and then turns in the second mode. Turning on the spot, i.e.
You cannot turn without changing the direction of your wheels.
これに対し、本願発明では、第３図のように回
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個設けたから、４輪に速度ベクトル
を与えることにより、その場旋回できる、すなわ
ち、車輪向きを変えなくて旋回できる。 On the other hand, in the present invention, two rotating members are provided on the symmetry axis of the bogie plane at equal distances apart from the center as shown in Fig. 3, so it is possible to turn on the spot by giving a speed vector to the four wheels. In other words, it is possible to turn without changing the direction of the wheels.
また従来例のものでは、カーブ走行する時にス
リツプしやすい。 Furthermore, the conventional type is prone to slipping when driving around curves.
［課題を解決するための手段］
本願発明は、その場旋回でき、かつ、カーブ走
行時にスリツプしないで走行できるように、台車
本体に支持され、床面に平行な平面内で回転自在
な回転部材、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へ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
動車輪を備えた搬送台車において、上記回転部材
を、上記台車平面の対称軸上に中心から等しい距
離離れて２個設けた搬送台車を提供する。[Means for Solving the Problems] The present invention provides a rotating member that is supported by a bogie body and rotatable in a plane parallel to the floor surface so that it can turn on the spot and travel without slipping when traveling on a curve. , in a transport vehicle equipped with two driving wheels, each of which is rotatably attached to a rotating shaft on the same straight line parallel to the floor surface, and whose rotation can be controlled independently. , two conveying carts are provided on the axis of symmetry of the cart plane and spaced apart from the center by an equal distance.
［発明の実施例］
以下、この発明の一実施例を図について説明す
る。[Embodiment of the Invention] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
第６図、第７図において、８，９は台車本体１
に支持された複数の回転部材であり、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。１０，１１は、内輪側を回転部材８，
９にはめ合わされ、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８，９は床面に平
行な平面内で回転自在である。１２，１３は回転
部材８に、１４，１５は回転部材９に、各々専用
のモータ４によつて独立に回転が可能な駆動車輪
である。この駆動車輪１２，１３，１４，１５の
回転は制御装置（図示せず）によつてモータ４を
制御することにより独立に制御可能な構成になつ
ている。また、回転部材８に取り付けられている
駆動車輪１２，１３は床面に平行な同一直線上に
回転軸を持ち、この回転軸は回転部材８の回転に
従つて床面に平行な面内で回転する。回転部材９
に関しても同様である。 In Figures 6 and 7, 8 and 9 are the trolley body 1
A plurality of rotating members supported by the trolley body 1
There are two equal distances apart from the center on the axis of line symmetry. 10, 11, the inner ring side is the rotating member 8,
The rotating members 8 and 9 are rotatable in a plane parallel to the floor surface. Drive wheels 12 and 13 are rotatable by the rotating member 8, and drive wheels 14 and 15 are rotatable by the rotating member 9, respectively, by dedicated motors 4. The rotation of the drive wheels 12, 13, 14, and 15 can be independently controlled by controlling the motor 4 by a control device (not shown). Further, the drive wheels 12 and 13 attached to the rotating member 8 have rotating shafts on the same straight line parallel to the floor surface, and as the rotating member 8 rotates, the rotating shafts rotate in a plane parallel to the floor surface. Rotate. Rotating member 9
The same applies to
また第６図のように、キヤスタのような補助車
輪６を、上記回転部材８，９が設けられる対称軸
外に設ける。 Further, as shown in FIG. 6, an auxiliary wheel 6 such as a caster is provided outside the axis of symmetry where the rotating members 8 and 9 are provided.
以下、動作について説明する。 The operation will be explained below.
駆動車輪１２，１３が取り付けられた回転部材
８は、駆動車輪１２，１３を、たがいに逆方向
に、同回転速度で同期して回転させることによ
り、搬送台車本体１に何ら外力を加えることな
く、軸受１０内で回転することができる。これに
伴い、駆動車輪１２，１３の方向も台車本体１に
対し変化する。同様に、駆動車輪１４，１５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１２，１３と駆動車輪１４，１５
は、各組内では互いに平行であるが、さらに、各
駆動車輪１２，１３，１４，１５の回転を制御
し、回転部材８，９の方向を合わせる。つまり、
４個の駆動車輪１２〜１５全てを平行になるよう
にする。次に、４個の駆動車輪１２〜１５を、同
方向に、同回転速度で同期して回転させると、第
８図に示すように、駆動車輪１２〜１５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、直進の方向は搬送台車本体１の方向に
何らかかわりなく設定することが可能である。次
に、曲進走行の実行について述べる。駆動車輪１
２，１３と、駆動車輪１４，１５の各々の中心軸
が、曲進走行の曲率中心で交わるように、駆動車
輪１２，１３と、駆動車輪１４，１５の回転を制
御し回転部材８，９を回転させ、駆動車輪１２，
１３と、駆動車輪１４，１５の中心軸の方向を変
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１２，１３，１４，１５の距離に
応じて、各回転の制御を行なうという走行制御を
実施することにより、第９図に示すように、矢印
方向に曲進走行が実行できる。この場合、曲率中
心の設定には、何ら制約条件を受けることはな
い。このように、希望の方向に円滑に搬送台車を
移動させることができる。 The rotating member 8 to which the drive wheels 12 and 13 are attached rotates the drive wheels 12 and 13 in opposite directions and synchronously at the same rotational speed, without applying any external force to the carrier body 1. , can rotate within the bearing 10. Along with this, the directions of the drive wheels 12 and 13 also change with respect to the truck body 1. Similarly, the direction of the drive wheels 14, 15 can also be changed with respect to the truck body 1.
Based on these actions, we will discuss how to run straight ahead. Drive wheels 12, 13 and drive wheels 14, 15
are parallel to each other within each set, and further control the rotation of each drive wheel 12, 13, 14, 15 to align the directions of the rotating members 8, 9. In other words,
All four drive wheels 12-15 are made parallel. Next, when the four driving wheels 12 to 15 are rotated synchronously in the same direction and at the same rotational speed, 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 carrier body 1. Next, the execution of curved driving will be described. Drive wheel 1
The rotation of the drive wheels 12, 13 and the drive wheels 14, 15 is controlled such that the central axes of the drive wheels 14, 15 intersect at the center of curvature of the curved travel. rotate the driving wheels 12,
13, and steering control is performed to change the direction of the central axes of the driving wheels 14, 15. Then, by implementing running control in which each rotation is controlled according to the distance between the center of curvature and each drive wheel 12, 13, 14, 15, the vehicle moves in the direction of the arrow as shown in FIG. Can run. In this case, the setting of the center of curvature is not subject to any constraints. In this way, the carriage can be smoothly moved in a desired direction.
また、駆動車輪１２，１３，１４，１５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８図に示されたような直進
走行から第９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 12, 13, 14, and 15 has the function of performing the above-mentioned steering control and the function of performing travel control, so each drive wheel simultaneously performs the steering control and the travel control. By doing this, for example, each drive wheel can move from straight running as shown in Fig. 8 to curved running as shown in Fig. 9, 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.
［発明の効果］
以上述べたように、本発明によれば、第３図に
示すように、車輪の向きを変えずに旋回でき、す
なわち、その場旋回ができる。[Effects of the Invention] As described above, according to the present invention, as shown in FIG. 3, it is possible to turn without changing the direction of the wheels, that is, it is possible to turn on the spot.
またカーブ走行の場合には、第５図に示すよう
に、本発明では、４輪に図示のように比例した大
きさの速度ベクトルを与えるとスリツプすること
なく、スムースに走行できる。 In addition, when traveling on a curve, as shown in FIG. 5, according to the present invention, if a velocity vector of proportional magnitude is applied to the four wheels as shown in the figure, the vehicle can travel smoothly without slipping.
これに対し、従来例では、スリツプしないで曲
がるには、カーブ中心を第５図のように無限遠方
から近づけまた遠ざけるようなコントロールが必
要となり、実際上は無理である。 On the other hand, in the conventional example, in order to make a turn without slipping, it is necessary to control the center of the curve to approach or move it away from an infinite distance as shown in FIG. 5, which is practically impossible.
第１図、第２図は、従来の搬送台車を示す底面
図、及びその要部の説明図、第３図は、本発明の
搬送台車の旋回を示し、第４図は従来の搬送台車
の旋回を示す。第５図は、本発明及び従来の搬送
台車の曲進軌跡を示す説明図である。第６図、第
７図は、この説明の一実施例による搬送台車の底
面図、及び第６図の−線断面図であり、第８
図は、この発明の一実施例による搬送台車の直進
軌跡を示す説明図、第９図は、この発明の一実施
例による搬送台車の曲進軌跡を示す説明図であ
る。
１……台車本体、６……補助車輪、８，９……
回転部材、１２，１３，１４，１５……駆動車
輪。 なお、図中、同一符号は同一又は相当部分
を示す。
1 and 2 are a bottom view and an explanatory view of the main parts of a conventional conveyance vehicle, FIG. 3 shows the rotation of the conveyance vehicle of the present invention, and FIG. 4 is a diagram of the conventional conveyance vehicle. Indicates turning. FIG. 5 is an explanatory diagram showing the curved trajectory of the present invention and the conventional transport vehicle. 6 and 7 are a bottom view and a sectional view taken along the - line in FIG.
FIG. 9 is an explanatory diagram showing a straight trajectory of a transport vehicle according to an embodiment of the present invention, and FIG. 9 is an explanatory diagram showing a curved trajectory of a transport vehicle according to an embodiment of the invention. 1...Body body, 6...Auxiliary wheels, 8, 9...
Rotating members, 12, 13, 14, 15...driving wheels. In addition, in the figures, the same reference numerals indicate the same or corresponding parts.
Claims (1)
回転自在な回転部材、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へ回転自在に取
り付けられ、それぞれ独立して回転が制御可能な
２個の駆動車輪を備えた搬送台車において、上記
回転部材を、上記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、かつ上記対称軸外に
補助車輪を設けたことを特徴とする搬送台車。1 A rotating member supported by the trolley body and rotatable in a plane parallel to the floor; each of these rotating members is rotatably attached to a rotating shaft on the same straight line parallel to the floor, and each rotates independently. In a transport vehicle equipped with two drive wheels that can be controlled, two of the rotating members are provided on the axis of symmetry of the plane of the vehicle, spaced apart from the center by an equal distance, and an auxiliary wheel is provided outside the axis of symmetry. A transport vehicle characterized by:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15527083A JPS6047760A (en) | 1983-08-25 | 1983-08-25 | Conveying carriage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15527083A JPS6047760A (en) | 1983-08-25 | 1983-08-25 | Conveying carriage |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6047760A JPS6047760A (en) | 1985-03-15 |
| JPH0420829B2 true JPH0420829B2 (en) | 1992-04-07 |
Family
ID=15602232
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP15527083A Granted JPS6047760A (en) | 1983-08-25 | 1983-08-25 | Conveying carriage |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6047760A (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6334671U (en) * | 1986-08-22 | 1988-03-05 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3125612A1 (en) * | 1981-06-30 | 1983-01-13 | Volkswagenwerk Ag, 3180 Wolfsburg | Manual shift transmission for a motor vehicle with permanent all-wheel drive |
-
1983
- 1983-08-25 JP JP15527083A patent/JPS6047760A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6047760A (en) | 1985-03-15 |
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