JP2002211201A - Automated guided vehicle - Google Patents
Automated guided vehicleInfo
- Publication number
- JP2002211201A JP2002211201A JP2001005431A JP2001005431A JP2002211201A JP 2002211201 A JP2002211201 A JP 2002211201A JP 2001005431 A JP2001005431 A JP 2001005431A JP 2001005431 A JP2001005431 A JP 2001005431A JP 2002211201 A JP2002211201 A JP 2002211201A
- Authority
- JP
- Japan
- Prior art keywords
- guided vehicle
- caster
- automatic guided
- body frame
- vehicle
- 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.)
- Pending
Links
Landscapes
- Platform Screen Doors And Railroad Systems (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、新聞や雑誌等の印
刷工場、物品の製造・加工を行う工場、資材や製品等を
保管する倉庫等に於いて使用されるものであり、印刷用
巻取紙やワーク等を積載した状態で工場内や倉庫内の床
面を所定の位置まで自動走行するバッテリー駆動型の無
人搬送車の改良に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is used in a printing factory for newspapers and magazines, a factory for manufacturing and processing articles, a warehouse for storing materials and products, and the like. The present invention relates to an improvement of a battery-driven automatic guided vehicle that automatically travels to a predetermined position on a floor surface in a factory or a warehouse in a state where articles, works, and the like are loaded.
【０００２】[0002]
【従来の技術】一般に、新聞や雑誌等の印刷工場に於い
ては、紙庫内にある新しい印刷用巻取紙を自走式の無人
搬送車（巻取紙搬送車）を用いて印刷用輪転機の給紙部
に搬入するようにしている。2. Description of the Related Art Generally, in a printing factory for newspapers and magazines, a new printing paper roll in a paper storage is supplied to a printing rotary press using a self-propelled unmanned conveyance vehicle (rolling paper conveyance vehicle). They are carried into the paper section.
【０００３】従来、この種の無人搬送車Ｂは、図１０
（Ａ）及び（Ｂ）に示す如く、車体フレーム２０の中央
部に互いに独立して正逆回転可能な左右一対の電動機２
１付の駆動輪２２を有すると共に、車体フレーム２０の
前後四隅に旋回自在なキャスター２３を備えた自走式の
バッテリー駆動型の搬送台車２４と、搬送台車２４に設
けられて印刷用巻取紙（図示省略）を水平姿勢で支持載
置するテーブル２５とから構成されており、搬送台車２
４の走行を所謂磁気誘導方式により行うようにしてい
る。即ち、搬送台車２４は、印刷工場内の床面に貼り付
けた磁気テープ（図示省略）若しくは床面に埋設した磁
気テープに沿って、地上に設置された制御装置（図示省
略）からの制御を受けつつ自動走行するように構成され
ている。又、この無人搬送車Ｂは、左右の駆動輪２２の
回転方向や回転数を制御することによって、直進走行
（前進及び後退）、曲線走行、スピンターンを行えるよ
うになっている。[0003] Conventionally, this type of unmanned guided vehicle B is shown in FIG.
As shown in (A) and (B), a pair of left and right electric motors 2 rotatable forward and reverse independently of each other at the center of the body frame 20.
A self-propelled, battery-driven transport vehicle 24 having a drive wheel 22 attached thereto and having rotatable casters 23 at four front and rear corners of the vehicle body frame 20, and a printing paper roll provided on the transport vehicle 24 (shown in FIG. And a table 25 for supporting and mounting in a horizontal posture.
4 is performed by a so-called magnetic induction system. That is, the transport trolley 24 is controlled by a control device (not shown) installed on the ground along a magnetic tape (not shown) attached to the floor surface in the printing factory or a magnetic tape embedded in the floor surface. It is configured to travel automatically while receiving. The automatic guided vehicle B can perform straight running (forward and backward), curved running, and spin turn by controlling the rotation direction and the number of rotations of the left and right drive wheels 22.
【０００４】[0004]
【発明が解決しようとする課題】ところで、上述した無
人搬送車Ｂは、一対の電動機２１付の駆動輪２２を車体
フレーム２０の中央部に搬送台車２４の左右方向（幅方
向）に所定の間隔を置いて対向状に配設し、然も、車体
フレーム２０の前後四隅にキャスター２３を旋回自在に
取り付けているため、長い距離を走る直線走行時に搬送
台車２４が左右方向へふらつき、蛇行しながら前進する
と云う問題があった。この無人搬送車Ｂの蛇行は、車体
フレーム２０への駆動輪２２の取り付け位置等に起因す
ることは勿論のこと、床面の仕上げ斑や床下に埋設して
いる鉄筋の深さ斑にも影響されると考えられる。従っ
て、従来の無人搬送車Ｂにあっては、直進走行時に於け
る安定走行が良好に保てず、安全走行を行えないと云う
問題があった。In the automatic guided vehicle B described above, the drive wheels 22 with the pair of electric motors 21 are disposed at the center of the body frame 20 at predetermined intervals in the lateral direction (width direction) of the transport vehicle 24. And the casters 23 are rotatably attached to the four front and rear corners of the body frame 20, so that the carriage 24 sways in the left and right directions during straight running over a long distance, while meandering. There was a problem of going forward. The meandering of the automatic guided vehicle B is caused not only by the mounting position of the drive wheel 22 to the vehicle body frame 20, but also by the unevenness of the finish of the floor surface and the unevenness of the reinforcing bar buried under the floor. It is thought to be done. Therefore, in the conventional automatic guided vehicle B, there is a problem that stable traveling during straight traveling cannot be maintained well, and safe traveling cannot be performed.
【０００５】本発明は、このような問題点に鑑みて為さ
れたものであり、その目的は直進走行時に於ける車体の
左右方向への振れを防止して安定走行を行えるようにし
た無人搬送車を提供することにある。The present invention has been made in view of the above problems, and an object of the present invention is to provide an unmanned transport capable of performing stable traveling by preventing the vehicle body from swinging in the left-right direction during straight traveling. Is to provide cars.
【０００６】[0006]
【課題を解決するための手段】本願発明者は、無人搬送
車の蛇行の緩和策として車体フレームの四隅にある各キ
ャスターの偏心量に着目し、各キャスターの偏心量を変
えて無人搬送車の直進走行試験を行った。即ち、各キャ
スターの取り付け座と搬送台車の車体フレームとの間に
スペーサーを夫々介設し、各キャスターの旋回軸線を無
人搬送車の進行方向に対して前方又は後方へ傾斜させた
り、或いはキャスターの旋回軸線を床面に対して垂直の
状態にして無人搬送車の直進走行試験を行った。本願発
明者は、この走行試験を通して、各キャスターの旋回軸
線の下方側が上方側よりも無人搬送車の進行方向に対し
て後方へ偏倚した場合に、無人搬送車の直進走行時に於
ける蛇行が大幅に緩和されることを見出した。The present inventor focuses on the eccentricity of each caster at the four corners of the body frame as a measure to alleviate meandering of the automatic guided vehicle, and changes the eccentricity of each caster to change the automatic guided vehicle. A straight running test was performed. That is, spacers are respectively interposed between the mounting seat of each caster and the body frame of the transport vehicle, and the turning axis of each caster is inclined forward or backward with respect to the traveling direction of the automatic guided vehicle, or A straight running test of the automatic guided vehicle was performed with the turning axis perpendicular to the floor. Through the running test, the inventor of the present application has found that when the lower side of the turning axis of each caster is deviated more rearward than the upper side with respect to the traveling direction of the automatic guided vehicle, meandering during the straight traveling of the automatic guided vehicle is significantly increased. Was found to be relaxed.
【０００７】本発明は、上記の如き走行試験の結果を基
に創作されたものであり、本発明の請求項１の発明は、
車体フレームの中央部に互いに独立して正逆回転自在な
左右一対の電動機付の駆動輪を有すると共に、車体フレ
ームの前後位置に旋回自在なキャスターを備えた自走式
のバッテリー駆動型の無人搬送車に於いて、前記各キャ
スターを、その旋回軸線の下方側が上方側よりも無人搬
送車の進行方向と反対方向へ偏倚するように車体フレー
ムに傾斜姿勢で取り付けたことに特徴がある。The present invention has been made based on the results of the above-mentioned running test, and the invention of claim 1 of the present invention is as follows.
Self-propelled, battery-powered, unmanned transport with a pair of left and right motor-driven motor wheels that can rotate forward and reverse independently of each other at the center of the body frame, and have swivel casters at the front and rear positions of the body frame. The vehicle is characterized in that each of the casters is attached to the vehicle body frame in an inclined posture such that the lower side of the turning axis is more deviated in the direction opposite to the traveling direction of the automatic guided vehicle than the upper side.
【０００８】本発明の請求項２の発明は、無人搬送車の
進行方向側で且つ各キャスターの取り付け座と車体フレ
ームとの間にスペーサーを夫々挿入し、各キャスター
を、その旋回軸線の下方側が上方側よりも無人搬送車の
進行方向と反対方向へ偏倚するように傾斜させたことに
特徴がある。According to a second aspect of the present invention, a spacer is inserted between the mounting seat of each caster and the vehicle body frame on the side of the automatic guided vehicle in the traveling direction, and each caster is mounted so that the lower side of the pivot axis thereof is positioned on the lower side. It is characterized in that it is inclined so as to be deviated from the upper side in the direction opposite to the traveling direction of the automatic guided vehicle.
【０００９】本発明の請求項３の発明は、各キャスター
の取り付け座の形状を、各キャスターを車体フレームに
取り付けたときに各キャスターの旋回軸線の下方側が上
方側よりも無人搬送車の進行方向と反対方向へ偏倚する
ように形成したことに特徴がある。According to a third aspect of the present invention, the shape of the mounting seat of each caster is such that, when each caster is mounted on the vehicle body frame, the lower side of the turning axis of each caster is more advanced than the upper side in the traveling direction of the automatic guided vehicle. It is characterized in that it is formed so as to be deviated in the opposite direction.
【００１０】本発明の請求項４の発明は、各キャスター
の取り付け座が取り付けられる車体フレームの一部分を
傾斜状に形成し、各キャスターを車体フレームの傾斜部
に取り付けたときに、各キャスターの旋回軸線の下方側
が上方側よりも無人搬送車の進行方向と反対方向へ偏倚
するようにしたことに特徴がある。According to a fourth aspect of the present invention, a part of a vehicle body frame to which a mounting seat for each caster is mounted is formed in an inclined shape, and when each caster is mounted on an inclined portion of the vehicle body frame, each caster is turned. It is characterized in that the lower side of the axis is shifted more in the direction opposite to the traveling direction of the automatic guided vehicle than the upper side.
【００１１】[0011]
【発明の実施の形態】以下、本発明の実施の形態を図面
に基づいて詳細に説明する。図１及び図２は本発明の第
１の実施の形態に係る無人搬送車Ａを示すものであり、
当該無人搬送車Ａは、例えば新聞印刷工場内の印刷用輪
転機の給紙部と紙庫との間を印刷用巻取紙の搬送経路に
沿って自動走行し、紙庫内の新しい印刷用巻取紙を積載
して印刷用輪転機の給紙部へ搬送する巻取紙搬送車に構
成されており、印刷用巻取紙の搬送経路に沿って自動走
行するバッテリー駆動型の搬送台車１と、搬送台車１に
設けられ、印刷用巻取紙を水平姿勢で支持載置するテー
ブル２とを備えている。Embodiments of the present invention will be described below in detail with reference to the drawings. 1 and 2 show an automatic guided vehicle A according to a first embodiment of the present invention,
The automatic guided vehicle A, for example, automatically travels along the transport path of the printing paper roll between the paper feed unit of the printing rotary press and the paper storage in the newsprint factory, and transfers the new printing paper in the paper storage. It is configured as a web-driven transport vehicle that is loaded and transported to the paper feed unit of the printing press, and is provided on the battery-driven transport vehicle 1 that automatically travels along the transport path of the web for printing, and the transport vehicle 1. And a table 2 for supporting and mounting the printing paper in a horizontal posture.
【００１２】具体的には、前記搬送台車１は、図１及び
図２に示す如く、型材及び板材等から成る車体フレーム
３と、車体フレーム３の下面中央部に搬送台車１の左右
方向（幅方向）に間隔を置いて対向状に配設され、互い
に独立して正逆回転可能な左右一対の電動機４（減速機
付電動機）付の駆動輪５と、車体フレーム３の下面側で
且つ前後四隅の位置に旋回自在に取り付けた四つのキャ
スター６と、車体フレーム３に設けた駆動用バッテリー
７と、車体フレーム３に設けた制御盤（図示省略）と、
同じく車体フレーム３に設けたピックアップコイル、サ
ーボアンプ、リアクトル（何れも図示省略）等を備えて
おり、この実施の形態に於いては、搬送台車１の走行は
所謂磁気誘導方式によって行われている。即ち、搬送台
車１は、印刷工場内の床面に貼り付けた磁気テープ（図
示省略）若しくは床面に埋設した磁気テープに沿って、
地上に設置された制御装置（図示省略）からの制御を受
けつつ自動走行するように構成されている。又、左右一
対の電動機４付の駆動輪５は、車体フレーム３に設けた
高さ調整装置（図示省略）により高さを微動調整できる
ように構成されており、テーブル２に印刷用巻取紙を載
せたときやテーブル２から印刷用巻取紙を降ろしたとき
に、各駆動輪５及び各キャスター６に所定の荷重がかか
るように工夫されている。更に、各キャスター６は、図
３に示す如く、下面中央に下方へ突出する軸部８ａを備
えた四角板状の取り付け座８と、取り付け座８の下面に
設けた複式のスラストベアリング９と、軸部８ａに螺着
されてスラストベアリング９の抜け止めを行うナット１
０と、スラストベアリング９の回転輪９ａに溶接により
固着された支持ヨーク１１と、支持ヨーク１１に車軸１
２を介して回転自在に支持された車輪１３とから構成さ
れており、取り付け座８をボルト（図示省略）により車
体フレーム３の下面へ固定することにより車体フレーム
３に取り付けられている。尚、搬送台車１には、図示し
ていないが、走行注意音発信装置や衝突防止装置、入線
・脱線表示装置、非常停止ボタン等の公知の付属装置が
配設されている。More specifically, as shown in FIGS. 1 and 2, the carrier 1 has a body frame 3 made of a molding material, a plate, and the like, and a central portion of the lower surface of the body frame 3 in the left-right direction (width) of the carrier 1. And a pair of right and left motors 4 (motors with reduction gears), which are disposed opposite to each other at an interval in the direction and can rotate forward and reverse independently of each other; Four casters 6 rotatably mounted at four corner positions, a driving battery 7 provided on the body frame 3, a control panel (not shown) provided on the body frame 3,
The vehicle also includes a pickup coil, a servo amplifier, a reactor (all not shown), etc., provided on the body frame 3. In this embodiment, the carriage 1 travels by a so-called magnetic induction system. . That is, the transport trolley 1 moves along a magnetic tape (not shown) attached to the floor surface in the printing factory or a magnetic tape embedded in the floor surface.
It is configured to run automatically while being controlled by a control device (not shown) installed on the ground. The driving wheels 5 with the pair of left and right electric motors 4 are configured so that the height can be finely adjusted by a height adjusting device (not shown) provided on the body frame 3, and the printing paper is placed on the table 2. Each drive wheel 5 and each caster 6 are designed so that a predetermined load is applied when the printing paper is unloaded from the table 2 or when the printing web is unloaded. Further, as shown in FIG. 3, each caster 6 includes a square plate-shaped mounting seat 8 having a shaft portion 8 a protruding downward at the center of the lower surface, a double-type thrust bearing 9 provided on the lower surface of the mounting seat 8, Nut 1 screwed onto shaft 8a to prevent thrust bearing 9 from coming off
0, a support yoke 11 fixed to the rotating wheel 9a of the thrust bearing 9 by welding, and an axle 1
And a wheel 13 rotatably supported through the base 2, and is attached to the vehicle body frame 3 by fixing the mounting seat 8 to a lower surface of the vehicle body frame 3 with bolts (not shown). Although not shown, the transport vehicle 1 is provided with known attachment devices such as a traveling caution sound transmission device, a collision prevention device, an on / off display device, and an emergency stop button.
【００１３】而して、前記搬送台車１は、左右一対の駆
動輪５を同時に正回転若しくは逆回転させることによっ
て直進走行（前進又は後退）し、又、両駆動輪５の回転
速度に差を持たせることによって曲線走行をすることが
できる。更に、一方の駆動輪５を正回転させると共に、
他方の駆動輪５を逆回転させることによってスピンター
ンを行うことができる。The transport vehicle 1 travels straight (forward or backward) by simultaneously rotating the pair of left and right drive wheels 5 forward or backward, and makes a difference between the rotational speeds of the two drive wheels 5. Curving can be performed by having it. Further, while one of the drive wheels 5 is rotated forward,
The spin turn can be performed by rotating the other driving wheel 5 in the reverse direction.
【００１４】一方、前記テーブル２は、新しい印刷用巻
取紙を搬送台車１の前後方向（図２の上下方向）に沿う
姿勢で且つ水平姿勢で支持載置するものであり、搬送台
車１上の中央位置に前後方向へ移動できるように設けら
れている。即ち、テーブル２は、図２に示す如く、車体
フレーム３上に搬送台車１の前後方向に沿って敷設した
ガイドレール１４にスライド自在に支持されており、車
体フレーム３に配設したボールネジ機構及びモータ等か
ら成るテーブル用駆動装置（図示省略）によって搬送台
車１の前後方向へ移動し、印刷用巻取紙の長さに応じて
テーブル２の位置を変えられるようになっている。On the other hand, the table 2 supports and mounts a new paper roll for printing in a horizontal and vertical position along the front-rear direction (vertical direction in FIG. 2) of the carriage 1. It is provided so that it can move to a position in the front-back direction. That is, as shown in FIG. 2, the table 2 is slidably supported by guide rails 14 laid on the vehicle body frame 3 along the front-rear direction of the carrier 1, and includes a ball screw mechanism disposed on the vehicle body frame 3. The table 2 is moved in the front-rear direction of the carriage 1 by a table driving device (not shown) composed of a motor or the like, and the position of the table 2 can be changed according to the length of the printing paper.
【００１５】そして、本発明の無人搬送車Ａに於いて
は、車体フレーム３の前後四隅に取り付けられる各キャ
スター６を、その旋回軸線φの下方側が上方側よりも無
人搬送車Ａの進行方向（図１の右方向）と反対方向（図
１の左方向）へ偏倚するように車体フレーム３に傾斜姿
勢で取り付けている（図１及び図４参照）。即ち、図１
及び図４に示す如く、無人搬送車Ａの進行方向側で且つ
各キャスター６の取り付け座８と車体フレーム３との間
にスペーサー１５を夫々挿入し、各キャスター６を、そ
の旋回軸線φの下方側が上方側よりも無人搬送車Ａの進
行方向と反対方向へ偏倚するように傾斜させている。こ
の実施の形態に於いては、各キャスター６には、高さＨ
が１４２ｍｍ、取り付け座８の長さＬが１１４ｍｍ、取
り付け座８の幅が１０２ｍｍ、偏心量Ｌ′（キャスター
６の旋回軸線φ（床面に対して垂直な旋回軸線φ）と車
軸１２の軸線φ′（図４に一点鎖線で示す車軸１２の軸
線φ′）との距離）が３８ｍｍ、車輪１３の外径Ｄが１
００ｍｍの市販のキャスター６が使用されている。又、
スペーサー１５には、厚さｔが２．３ｍｍ、長さが１０
０ｍｍ、幅ｗが３０ｍｍの金属製の板状のスペーサー１
５が使用されている。このスペーサー１５は、各キャス
ター６の取り付け座８が車体フレーム３に対して２．５
％程度の勾配になるように、車体フレーム３と各キャス
ター６の取り付け座８との間に挿入されている。従っ
て、各キャスター６は、図４に示す如く、キャスター６
の取り付け座８を車体フレーム３の下面に水平姿勢で取
り付けた場合（図４の一点鎖線の状態）に比較して、偏
心量が２．３ｍｍ増え、偏心増加率が約６％となってい
る。In the automatic guided vehicle A according to the present invention, the casters 6 attached to the four front and rear corners of the vehicle body frame 3 are moved in the traveling direction of the automatic guided vehicle A such that the lower side of the turning axis φ is higher than the upper side. It is attached to the vehicle body frame 3 in an inclined posture so as to be deviated in a direction opposite to the right direction in FIG. 1 (left direction in FIG. 1) (see FIGS. 1 and 4). That is, FIG.
As shown in FIG. 4, a spacer 15 is inserted between the mounting seat 8 of each caster 6 and the vehicle body frame 3 on the side of the automatic guided vehicle A in the traveling direction, and each caster 6 is moved below the turning axis φ. The side is inclined so as to be deviated from the upper side in the direction opposite to the traveling direction of the automatic guided vehicle A. In this embodiment, each caster 6 has a height H.
Is 142 mm, the length L of the mounting seat 8 is 114 mm, the width of the mounting seat 8 is 102 mm, the eccentricity L ′ (the turning axis φ of the caster 6 (the turning axis φ perpendicular to the floor) and the axis φ of the axle 12). ′ (The distance from the axis φ ′ of the axle 12 indicated by a dashed line in FIG. 4)) is 38 mm, and the outer diameter D of the wheel 13 is 1 mm.
A commercially available caster 6 of 00 mm is used. or,
The spacer 15 has a thickness t of 2.3 mm and a length of 10 mm.
Metal plate-shaped spacer 1 with 0 mm and width w of 30 mm
5 are used. The spacer 15 is arranged such that the mounting seat 8 of each caster 6 is 2.5
It is inserted between the vehicle body frame 3 and the mounting seat 8 of each caster 6 so as to have a gradient of about%. Therefore, each caster 6 is, as shown in FIG.
The eccentricity is increased by 2.3 mm and the eccentricity increasing rate is about 6% as compared with the case where the mounting seat 8 is mounted on the lower surface of the body frame 3 in a horizontal posture (the state shown by the dashed line in FIG. 4). .
【００１６】以上のように構成された無人搬送車Ａに於
いて、左右両方の駆動輪５を正回転させて無人搬送車Ａ
を前方（図１の右方向）へ直進走行させた場合、車体フ
レーム３に取り付けた各キャスター６は、その車軸１２
の位置が旋回軸線φよりも後方に位置する状態で無人搬
送車Ａの進行方向に追従して走行移動する。この無人搬
送車Ａに於いては、キャスター６の取り付け座８と車体
フレーム３との間に介設したスペーサー１５により、キ
ャスター６の旋回軸線φが搬送台車１の進行方向に対し
て後方へ傾斜する姿勢となっているため、即ち、スラス
トベアリング９面が搬送台車１及び床面に対して傾斜し
ているために、キャスター６の車輪１３の全幅が着床で
きるのは、車軸１２が床面に対して平行になっていると
きに限られることになる。その結果、無人搬送車Ａの直
線走行時に於いて、キャスター６が旋回軸線φを中心に
して無人搬送車Ａの左右方向（幅方向）へ振れようとし
たときに、キャスター６に復元力が生じることになり、
車輪１３の方向性が安定し易くなる。従って、長い距離
を走る直線走行時に於いて、搬送台車１が左右方向に大
きくふらつくと云うことがなくなる。延いては、無人搬
送車Ａの直線走行時に於ける蛇行が少なくなり、無人搬
送車Ａの直進走行時に於ける安定走行が良好に保たれ、
安全走行を行えることになる。In the automatic guided vehicle A configured as described above, both the left and right drive wheels 5 are rotated forward to rotate the automatic guided vehicle A
When the vehicle is driven straight forward (to the right in FIG. 1), each caster 6 attached to the body frame 3 has its axle 12
Travels while following the traveling direction of the automatic guided vehicle A in a state where the position is located behind the turning axis φ. In the automatic guided vehicle A, the turning axis φ of the caster 6 is inclined backward with respect to the traveling direction of the carrier 1 by the spacer 15 interposed between the mounting seat 8 of the caster 6 and the body frame 3. The thrust bearing 9 surface is inclined with respect to the carrier 1 and the floor, so that the full width of the wheels 13 of the casters 6 can land on the axle 12 when the axle 12 is on the floor. Only when it is parallel to. As a result, the restoring force is generated on the casters 6 when the casters 6 try to swing in the left-right direction (width direction) of the automatic guided vehicles A about the turning axis φ during the straight traveling of the automatic guided vehicles A. That means
The directionality of the wheels 13 is easily stabilized. Therefore, during straight running over a long distance, the carrier 1 does not fluctuate greatly in the left-right direction. As a result, meandering during straight traveling of the automatic guided vehicle A is reduced, and stable traveling during the straight traveling of the automatic guided vehicle A is favorably maintained.
You can drive safely.
【００１７】尚、無人搬送車Ａの蛇行量を減らすには、
キャスター６の傾き量を増やす程良い。ところが、キャ
スター６の傾き量をあまり増やすと、無人搬送車Ａのス
ピンターンの際、各キャスター６は偏心量Ｌ′と車輪１
３半径の和に相当する半径で円を描くように旋回するた
め、車体フレーム３の側壁と干渉することになる。その
結果、各キャスター６の偏心量Ｌ′を増やすには限界が
ある。To reduce the meandering amount of the automatic guided vehicle A,
It is better to increase the amount of inclination of the casters 6. However, if the amount of inclination of the casters 6 is increased too much, each caster 6 has an eccentric amount L ′ and a wheel 1 during the spin turn of the automatic guided vehicle A.
Since the vehicle turns so as to draw a circle with a radius corresponding to the sum of the three radii, it interferes with the side wall of the vehicle body frame 3. As a result, there is a limit in increasing the amount of eccentricity L 'of each caster 6.
【００１８】下記の表１〜表３は上述した無人搬送車Ａ
を用いて直進走行試験を行ったときの諸条件や試験結果
等を示すものであり、表１は直進走行試験に使用した無
人搬送車Ａの仕様と性能を示し、又、表２は直進走行試
験の測定方法や測定条件等を示し、更に、表３は直進走
行試験の測定結果を示すものである。尚、この直進走行
試験に於いて、表２の測定条件の欄でスペーサー１５を
前後に入れた状態とは図５の（Ａ）に示す状態をいい、
スペーサー１５を前に入れた状態とは図５の（Ｂ）に示
す状態をいい、スペーサー１５を後に入れた状態とは図
５の（Ｃ）に示す状態をいい、スペーサー１５を前に入
れた状態（図１５（Ｂ）の状態）が本願発明である。Tables 1 to 3 below show the automatic guided vehicle A described above.
Table 1 shows the specifications and performance of the automatic guided vehicle A used in the straight running test, and Table 2 shows the conditions and test results when the straight running test was performed using the vehicle. The measurement method and measurement conditions of the test are shown, and Table 3 shows the measurement result of the straight running test. In this straight running test, the state in which the spacers 15 were inserted in front and back in the column of the measurement conditions in Table 2 means the state shown in FIG.
The state in which the spacer 15 is inserted in front refers to the state shown in FIG. 5B, and the state in which the spacer 15 is inserted refers to the state shown in FIG. 5C, in which the spacer 15 is inserted in front. The state (the state of FIG. 15B) is the present invention.
【００１９】[0019]
【表１】 [Table 1]
【００２０】[0020]
【表２】 [Table 2]
【００２１】[0021]
【表３】 [Table 3]
【００２２】図６及び図７は表３に示す測定値をグラフ
化したものであり、表３に示す測定結果と図６及び図７
に示すグラフからも明らかなように、巻取紙載荷時（表
３及び図７に示すとの比較）に於いて、各キャスタ
ー６の旋回軸線φが進行方向に対して後方へ傾斜してい
る無人搬送車Ａは、各キャスター６の旋回軸線φが床面
に対して垂直になっている無人搬送車Ａに比較して、蛇
行値が１４ｍｍ〜１ｍｍから７ｍｍ〜１ｍへと半分以下
に緩和された。FIGS. 6 and 7 are graphs of the measured values shown in Table 3, and show the measured results shown in Table 3 and FIGS.
As is clear from the graph shown in FIG. 7, when the roll paper is loaded (comparison with that shown in Table 3 and FIG. 7), the unmanned conveyance in which the turning axis φ of each caster 6 is inclined backward with respect to the traveling direction. In the vehicle A, the meandering value was reduced to less than half from 14 mm to 1 mm to 7 mm to 1 m as compared with the automatic guided vehicle A in which the turning axis φ of each caster 6 was perpendicular to the floor surface.
【００２３】図８は本発明の他の実施の形態に係る無人
搬送車Ａを示すものであり、当該無人搬送車Ａは、各キ
ャスター６の取り付け座８の形状を、各キャスター６を
車体フレーム３に取り付けたときに各キャスター６の旋
回軸線φの下方側が上方側よりも無人搬送車Ａの進行方
向と反対方向へ偏倚するように形成したものである。即
ち、この無人搬送車Ａは、各キャスター６の取り付け座
８の側面形状を楔状に形成し、車体フレーム３の下面に
取り付け座８の肉厚の厚い方が搬送台車１の前方へ向く
ように、各キャスター６の取り付け座８を車体フレーム
３の下面に取り付けたものであり、これによって、各キ
ャスター６の旋回軸線φは、搬送台車１の進行方向に対
して後方へ傾斜する状態となる。又、この無人搬送車Ａ
のその他の構成は図１及び図２に示す無人搬送車Ａと同
様構造に構成されており、図１及び図２に示す無人搬送
車Ａと同一の部材及び部位には同一の参照番号を付し、
その説明を省略する。この無人搬送車Ａは、図１及び図
２に示す無人搬送車Ａと同様の作用効果を奏することが
できる。FIG. 8 shows an automatic guided vehicle A according to another embodiment of the present invention. In the automatic guided vehicle A, the shape of the mounting seat 8 of each caster 6 and the shape of each caster 6 3, the lower side of the turning axis φ of each caster 6 is deviated in the direction opposite to the traveling direction of the automatic guided vehicle A from the upper side. That is, in the automatic guided vehicle A, the side surface of the mounting seat 8 of each caster 6 is formed in a wedge shape, and the thicker mounting seat 8 is formed on the lower surface of the vehicle body frame 3 so as to face forward of the carrier 1. The mounting seat 8 of each caster 6 is attached to the lower surface of the vehicle body frame 3, whereby the turning axis φ of each caster 6 is inclined backward with respect to the traveling direction of the transport vehicle 1. Also, this automatic guided vehicle A
1 and 2 are the same as those of the automatic guided vehicle A shown in FIGS. 1 and 2, and the same members and parts as those of the automatic guided vehicle A shown in FIGS. 1 and 2 are denoted by the same reference numerals. And
The description is omitted. This automatic guided vehicle A can exhibit the same operation and effects as those of the automatic guided vehicle A shown in FIGS.
【００２４】図９は本発明の更に他の実施の形態に係る
無人搬送車Ａを示すものであり、当該無人搬送車Ａは、
各キャスター６の取り付け座８が取り付けられる車体フ
レーム３の一部分を傾斜状に形成し、各キャスター６を
車体フレーム３の傾斜部３ａに取り付けたときに、各キ
ャスター６の旋回軸線φの下方側が上方側よりも無人搬
送車Ａの進行方向と反対方向へ偏倚するようにしたもの
である。即ち、この無人搬送車Ａは、各キャスター６の
取り付け座８が取り付けられる車体フレーム３の下面の
一部分を搬送台車１の進行方向と反対方向へ向くように
傾斜させ、この傾斜部３ａに各キャスター６の取り付け
座８を取り付けるようにしたものであり、これによっ
て、各キャスター６の旋回軸線φは、搬送台車１の進行
方向に対して後方へ傾斜する状態となる。又、この無人
搬送車Ａのその他の構成は図１及び図２に示す無人搬送
車Ａと同様構造に構成されており、図１及び図２に示す
無人搬送車Ａと同一の部材及び部位には同一の参照番号
を付し、その説明を省略する。この無人搬送車Ａも、図
１及び図２に示す無人搬送車Ａと同様の作用効果を奏す
ることができる。FIG. 9 shows an automatic guided vehicle A according to still another embodiment of the present invention.
A part of the body frame 3 to which the mounting seat 8 of each caster 6 is attached is formed in an inclined shape, and when each caster 6 is attached to the inclined portion 3a of the body frame 3, the lower side of the turning axis φ of each caster 6 is upward. It is arranged to deviate from the side in the direction opposite to the traveling direction of the automatic guided vehicle A. That is, in the automatic guided vehicle A, a part of the lower surface of the vehicle body frame 3 on which the mounting seat 8 of each caster 6 is mounted is inclined so as to face in the direction opposite to the traveling direction of the transport trolley 1. 6, and the turning axis φ of each caster 6 is inclined backward with respect to the traveling direction of the transport vehicle 1. The other configuration of the automatic guided vehicle A is the same as that of the automatic guided vehicle A shown in FIGS. 1 and 2, and is the same as that of the automatic guided vehicle A shown in FIGS. 1 and 2. Are denoted by the same reference numerals, and description thereof is omitted. This automatic guided vehicle A can also achieve the same operation and effects as those of the automatic guided vehicle A shown in FIGS.
【００２５】尚、上記各実施の形態に於いては、搬送台
車１を磁気誘導方式によって自動走行させるようにした
が、他の実施の形態に於いては、搬送台車１を電磁誘導
方式や光電誘導方式、ラジコン誘導方式、レーザー誘導
方式によって自動走行させるようにしても良い。In each of the above embodiments, the carrier 1 is automatically driven by a magnetic induction system. However, in other embodiments, the carrier 1 is moved by an electromagnetic induction system or a photoelectric system. The vehicle may be automatically driven by a guidance method, a radio control guidance method, or a laser guidance method.
【００２６】上記第１の実施の形態に於いては、各キャ
スター６の取り付け座８と車体フレーム３との間に断面
形状が細長い長方形状のスペーサー１５を挿入するよう
にしたが、他の実施の形態に於いては、各キャスター６
の取り付け座８と車体フレーム３との間に断面形状が楔
状のスペーサー１５を挿入するようにしても良い。In the first embodiment, the spacer 15 having an elongated cross section is inserted between the mounting seat 8 of each caster 6 and the vehicle body frame 3. In the form of each caster 6
A spacer 15 having a wedge-shaped cross section may be inserted between the mounting seat 8 and the vehicle body frame 3.
【００２７】上記各実施の形態に於いては、各キャスタ
ー６を単輪構造としたが、他の実施の形態に於いては、
各キャスター６を双輪構造としても良い。In each of the above embodiments, each caster 6 has a single wheel structure, but in other embodiments,
Each caster 6 may have a two-wheel structure.
【００２８】[0028]
【発明の効果】上述の通り、本発明の無人搬送車は、各
キャスターを、その旋回軸線の下方側が上方側よりも無
人搬送車の進行方向と反対方向へ偏倚するように車体フ
レームに傾斜姿勢で取り付けているため、無線搬送車の
直線走行時に各キャスターが旋回軸線を中心にして無人
搬送車の幅方向へ振れようとしたときに、各キャスター
に復元力が生じて車輪の方向性が安定し易くなる。その
結果、長い距離を走る直線走行時に於いて、無人搬送車
が左右方向に大きくふらつくと云うことがない。延いて
は、無人搬送車の直線走行時に於ける蛇行が少なくな
り、無人搬送車の直進走行時に於ける安定走行が良好に
保たれ、安全走行を行えることになる。又、無人搬送車
の進行方向側で且つ各キャスターの取り付け座と車体フ
レームとの間にスペーサーを夫々挿入することによっ
て、各キャスターの旋回軸線を傾斜させる場合や、各キ
ャスターの取り付け座が取り付けられる車体フレームの
一部分を傾斜状に形成することによって、各キャスター
の旋回軸線を傾斜させる場合には、市販のキャスターを
使用することができ、コスト低減を図れることになる。
更に、各キャスターの取り付け座の形状を変えることに
よって、各キャスターの旋回軸線を傾斜させる場合や、
各キャスターの取り付け座が取り付けられる車体フレー
ムの一部分を傾斜状に形成することによって、各キャス
ターの旋回軸線を傾斜させる場合には、スペーサーを省
略することができ、部品点数の削減を図れることにな
る。As described above, in the automatic guided vehicle according to the present invention, each caster is inclined to the vehicle body frame such that the lower side of the swivel axis is more deviated from the upper side in the direction opposite to the traveling direction of the automatic guided vehicle. As each caster tries to swing in the width direction of the automatic guided vehicle around the swivel axis during the straight running of the wireless carrier, a restoring force is generated on each caster and the directionality of the wheels is stable. Easier to do. As a result, the automatic guided vehicle does not fluctuate greatly in the left-right direction during straight running over a long distance. As a result, the meandering of the automatic guided vehicle during straight traveling is reduced, and the stable traveling of the automatic guided vehicle during straight traveling is kept good, so that safe traveling can be performed. Also, by inserting a spacer between the mounting seat of each caster and the vehicle body frame on the side of the automatic guided vehicle in the traveling direction, the turning axis of each caster is inclined, or the mounting seat of each caster is mounted. When a part of the vehicle body frame is formed in an inclined shape, when the turning axis of each caster is inclined, a commercially available caster can be used, and the cost can be reduced.
Furthermore, by changing the shape of the mounting seat of each caster, when the pivot axis of each caster is inclined,
By forming a part of the body frame to which the mounting seat of each caster is attached in an inclined shape, when the turning axis of each caster is inclined, the spacer can be omitted, and the number of parts can be reduced. .
【図１】本発明の第１の実施の形態に係る無人搬送車の
概略側面図である。FIG. 1 is a schematic side view of an automatic guided vehicle according to a first embodiment of the present invention.
【図２】同じく無人搬送車の概略平面図である。FIG. 2 is a schematic plan view of the automatic guided vehicle.
【図３】無人搬送車に使用するキャスターの一部破断側
面図である。FIG. 3 is a partially broken side view of a caster used for an automatic guided vehicle.
【図４】車体フレームにスペーサーを介してキャスター
を取り付けた状態のキャスターの側面図である。FIG. 4 is a side view of the caster in a state where the caster is attached to a vehicle body frame via a spacer.
【図５】（Ａ）はキャスターの前後にスペーサーを挿入
した状態を示す側面図、（Ｂ）はキャスターの前にスペ
ーサーを挿入した状態を示す側面図、（Ｃ）はキャスタ
ーの後にスペーサーを挿入した状態を示す側面図であ
る。5A is a side view showing a state where a spacer is inserted before and after the caster, FIG. 5B is a side view showing a state where the spacer is inserted before the caster, and FIG. 5C is a side view showing the state where the spacer is inserted after the caster It is a side view which shows the state which performed.
【図６】無人搬送車の空車時に於ける直進走行試験の結
果を示すグラフである。FIG. 6 is a graph showing the results of a straight running test when the automatic guided vehicle is empty.
【図７】無人搬送車の巻取紙載荷時に於ける直進走行試
験の結果を示すグラフである。FIG. 7 is a graph showing the results of a straight running test when a web is loaded on the automatic guided vehicle.
【図８】本発明の他の実施の形態に係る無人搬送車の概
略側面図である。FIG. 8 is a schematic side view of an automatic guided vehicle according to another embodiment of the present invention.
【図９】本発明の更に他の実施の形態に係る無人搬送車
の概略側面図である。FIG. 9 is a schematic side view of an automatic guided vehicle according to still another embodiment of the present invention.
【図１０】従来の無人搬送車を示し、（Ａ）は無人搬送
車の概略平面図、（Ｂ）は無人搬送車の概略側面図であ
る。10A and 10B show a conventional automatic guided vehicle, wherein FIG. 10A is a schematic plan view of the automatic guided vehicle, and FIG. 10B is a schematic side view of the automatic guided vehicle.
Ａは無人搬送車、３は車体フレーム、３ａは車体フレー
ムの傾斜部、５は電動機付の駆動輪、６はキャスター、
８はキャスターの取り付け座、１５はスペーサー、φは
キャスターの旋回軸線。A is an automatic guided vehicle, 3 is a body frame, 3a is an inclined portion of the body frame, 5 is a driving wheel with an electric motor, 6 is a caster,
8 is a caster mounting seat, 15 is a spacer, and φ is a turning axis of the caster.
Claims (4)
立して正逆回転自在な左右一対の電動機（４）付の駆動
輪（５）を有すると共に、車体フレーム（３）の前後位
置に旋回自在なキャスター（６）を備えた自走式のバッ
テリー駆動型の無人搬送車（Ａ）に於いて、前記各キャ
スター（６）を、その旋回軸線（φ）の下方側が上方側
よりも無人搬送車（Ａ）の進行方向と反対方向へ偏倚す
るように車体フレーム（３）に傾斜姿勢で取り付けたこ
とを特徴とする無人搬送車。A drive wheel (5) with a pair of left and right electric motors (4) rotatable forward and backward independently of each other at a central portion of a body frame (3), and at front and rear positions of the body frame (3). In a self-propelled, battery-driven automatic guided vehicle (A) having a rotatable caster (6), each caster (6) is unmanned so that the lower side of its turning axis (φ) is higher than the upper side. An unmanned guided vehicle mounted on a vehicle body frame (3) in an inclined posture so as to be deviated in a direction opposite to a traveling direction of the guided vehicle (A).
キャスター（６）の取り付け座（８）と車体フレーム
（３）との間にスペーサー（１５）を夫々挿入し、各キ
ャスター（６）を、その旋回軸線（φ）の下方側が上方
側よりも無人搬送車（Ａ）の進行方向と反対方向へ偏倚
するように傾斜させたことを特徴とする請求項１に記載
の無人搬送車。2. A spacer (15) is inserted between the mounting seat (8) of each caster (6) and the vehicle body frame (3) on the side of the automatic guided vehicle (A) in the traveling direction, and each caster ( 6. The unmanned transport according to claim 1, wherein 6) is inclined such that a lower side of the pivot axis (φ) is deviated from an upper side in a direction opposite to a traveling direction of the automatic guided vehicle (A). car.
の形状を、各キャスター（６）を車体フレーム（３）に
取り付けたときに各キャスター（６）の旋回軸線（φ）
の下方側が上方側よりも無人搬送車（Ａ）の進行方向と
反対方向へ偏倚するように形成したことを特徴とする請
求項１に記載の無人搬送車。3. A mounting seat (8) for each caster (6).
When the casters (6) are attached to the vehicle body frame (3), the shape of the turning axis (φ) of each caster (6)
The automatic guided vehicle according to claim 1, wherein a lower side of the automatic guided vehicle is formed so as to be deviated in a direction opposite to a traveling direction of the automatic guided vehicle (A) from an upper side.
が取り付けられる車体フレーム（３）の一部分を傾斜状
に形成し、各キャスター（６）を車体フレーム（３）の
傾斜部（３ａ）に取り付けたときに、各キャスター
（６）の旋回軸線（φ）の下方側が上方側よりも無人搬
送車（Ａ）の進行方向と反対方向へ偏倚するようにした
ことを特徴とする請求項１に記載の無人搬送車。4. A mounting seat (8) for each caster (6).
When a part of the body frame (3) to which is mounted is formed in an inclined shape, and each caster (6) is attached to the inclined portion (3a) of the body frame (3), the turning axis (φ) of each caster (6) is formed. 2. The automatic guided vehicle according to claim 1, wherein the lower side of (1) is more deviated in the direction opposite to the traveling direction of the automatic guided vehicle (A) than the upper side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001005431A JP2002211201A (en) | 2001-01-12 | 2001-01-12 | Automated guided vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001005431A JP2002211201A (en) | 2001-01-12 | 2001-01-12 | Automated guided vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JP2002211201A true JP2002211201A (en) | 2002-07-31 |
Family
ID=18873477
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2001005431A Pending JP2002211201A (en) | 2001-01-12 | 2001-01-12 | Automated guided vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2002211201A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008155780A (en) * | 2006-12-25 | 2008-07-10 | Tcm Corp | Wheel device for carrying vehicle |
| WO2011090755A3 (en) * | 2009-12-29 | 2011-10-06 | Fori Automation, Inc. | Drive mechanism for automated guided vehicle |
| JP2013530866A (en) * | 2010-05-28 | 2013-08-01 | ビクター ガノ，ジョン | Omnidirectional wheel assembly and omnidirectional vehicle |
| JP2015113049A (en) * | 2013-12-12 | 2015-06-22 | 日本車輌製造株式会社 | Unmanned carrier |
| KR101990266B1 (en) * | 2019-01-29 | 2019-06-17 | 이명효 | Trackless truck |
| EP4000970A1 (en) * | 2020-11-17 | 2022-05-25 | Hyundai Mobis Co., Ltd. | Independently driving wheel module and mounting method thereof |
-
2001
- 2001-01-12 JP JP2001005431A patent/JP2002211201A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008155780A (en) * | 2006-12-25 | 2008-07-10 | Tcm Corp | Wheel device for carrying vehicle |
| WO2011090755A3 (en) * | 2009-12-29 | 2011-10-06 | Fori Automation, Inc. | Drive mechanism for automated guided vehicle |
| US9359005B2 (en) | 2009-12-29 | 2016-06-07 | Fori Automation, Inc. | Drive mechanism for automated guided vehicle |
| JP2013530866A (en) * | 2010-05-28 | 2013-08-01 | ビクター ガノ，ジョン | Omnidirectional wheel assembly and omnidirectional vehicle |
| JP2015113049A (en) * | 2013-12-12 | 2015-06-22 | 日本車輌製造株式会社 | Unmanned carrier |
| KR101990266B1 (en) * | 2019-01-29 | 2019-06-17 | 이명효 | Trackless truck |
| EP4000970A1 (en) * | 2020-11-17 | 2022-05-25 | Hyundai Mobis Co., Ltd. | Independently driving wheel module and mounting method thereof |
| US11577783B2 (en) | 2020-11-17 | 2023-02-14 | Hyundai Mobis Co., Ltd. | Independently driving wheel module and mounting method thereof |
| US11851103B2 (en) | 2020-11-17 | 2023-12-26 | Hyundai Mobis Co., Ltd. | Independently driving wheel module and mounting method thereof |
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