JP2008030650A - Unmanned carrying truck - Google Patents

Unmanned carrying truck Download PDF

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JP2008030650A
JP2008030650A JP2006207511A JP2006207511A JP2008030650A JP 2008030650 A JP2008030650 A JP 2008030650A JP 2006207511 A JP2006207511 A JP 2006207511A JP 2006207511 A JP2006207511 A JP 2006207511A JP 2008030650 A JP2008030650 A JP 2008030650A
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wheel
wheels
vehicle body
caster wheel
stopper
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JP4840013B2 (en
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Toshiyuki Ueno
俊幸 上野
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Meidensha Corp
Meidensha Electric Manufacturing Co Ltd
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Meidensha Corp
Meidensha Electric Manufacturing Co Ltd
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Abstract

<P>PROBLEM TO BE SOLVED: To prevent tilting due to an eccentric load, to ensure traveling performance on an uneven road surface, and to ensure traveling performance at the time of rolling of universal caster wheels. <P>SOLUTION: Two driving wheels 11, 12 with steering mechanisms are arranged at opposite corner positions on a bottom portion of a vehicle body 10, and two universal caster wheels 13, 14 are provided at the rest opposite positions. Each universal caster wheel 13, 14 is provided a spring 23 energizing a wheel 20 to a traveling surface, and the spring force of the springs 23 of the universal caster wheels 13, 14 is made to have difference. A stopper 24b limiting sinking of a vehicle body 10 is provided on the universal caster wheel 13 having small spring force, and a three-point grounding state by the two driving wheels 11, 12 with the steering mechanisms and the universal caster wheel 13 provided with the stopper 24b is materialized. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

この発明は、無人搬送台車、とりわけ全方位に走行可能な全方位走行台車に関するものであり、特にその偏荷重発生時の傾き抑制対策に関するものである。   The present invention relates to an automatic guided vehicle, and more particularly to an omnidirectional traveling vehicle capable of traveling in all directions, and more particularly, to a countermeasure for suppressing inclination when an unbalanced load is generated.

従来の無人搬送台車としては、特許文献１，２に示すものがあり、図３は特許文献１に記載された従来の無人搬送台車の模式底面図である。無人搬送台車１は、車体２がほぼ直方体形状に形成され、車体２の上部には車体２のほぼ長手方向及び幅方向一杯に形成された長方形状の積載面３が設けられている。車体２には３つの走行輪が設けられ、そのうちの２つの走行輪は駆動操舵輪４，５であって、車体２の幅方向の一方の側において車体２の各角部の近くに設けられている。もう一つの走行輪は自在キャスタ輪６であって、同じく車体２の他方の側において両駆動操舵輪４，５を結ぶ線を底辺とする二等辺三角形の頂点に設けられている。   Conventional automatic guided vehicles include those shown in Patent Documents 1 and 2, and FIG. 3 is a schematic bottom view of the conventional automatic guided vehicle described in Patent Document 1. As shown in FIG. In the automatic guided vehicle 1, a vehicle body 2 is formed in a substantially rectangular parallelepiped shape, and a rectangular stacking surface 3 formed so as to be substantially full in the longitudinal direction and the width direction of the vehicle body 2 is provided on the upper portion of the vehicle body 2. The vehicle body 2 is provided with three traveling wheels, two of which are drive steering wheels 4 and 5, which are provided near each corner of the vehicle body 2 on one side in the width direction of the vehicle body 2. ing. The other traveling wheel is a free caster wheel 6, which is also provided on the other side of the vehicle body 2 at the apex of an isosceles triangle with the line connecting the two drive steering wheels 4, 5 as the base.

各駆動操舵輪４，５はそれぞれ駆動モータ４ａ，５ａを備えるとともに図示しない操舵機構を備えており、独立して駆動及び操舵制御されるようになっている。又、各駆動操舵輪４，５は、上下方向に移動不能な状態で支持されている。自在キャスタ輪６は２つの車輪を備えたキャスタであって、上下方向に移動不能な状態で支持されている。車体２の幅方向の自在キャスタ輪６が設けられる側には、車体２の各角部の近くにそれぞれ傾動抑制手段としての補助キャスタ輪７ａ、７ｂが設けられている。   Each of the drive steering wheels 4 and 5 includes drive motors 4a and 5a and a steering mechanism (not shown), and is independently driven and controlled. The drive steering wheels 4 and 5 are supported in a state in which they cannot move in the vertical direction. The universal caster wheel 6 is a caster having two wheels, and is supported in a state in which it cannot move in the vertical direction. Auxiliary caster wheels 7 a and 7 b as tilting restraining means are provided near the corners of the vehicle body 2 on the side where the universal caster wheels 6 in the width direction of the vehicle body 2 are provided.

補助キャスタ輪７ａ，７ｂは、図４に示すように、車体２に固着された支持部８とこの支持部８に車体２に対して上下方向に所定距離内で移動可能に支持されたキャスタ部９とを備えている。支持部８内には付勢手段としてのスプリングが配設され、このスプリングによりキャスタ部９が支持部８に対して下方に付勢されている。そして、各補助キャスタ輪７ａ，７ｂは、無人搬送台車１が傾動していない状態でそのキャスタ部９が走行面に付勢するように設けられている。スプリングは、車体２が傾動してキャスタ部９がスプリングを圧縮して支持部８に対して上方に移動したときに、キャスタ部９に加える反力で車体２の傾動を走行状態及び積載状態に支障がでない程度に抑制することができるように形成されている。   As shown in FIG. 4, the auxiliary caster wheels 7 a and 7 b include a support portion 8 fixed to the vehicle body 2 and a caster portion supported by the support portion 8 so as to be movable within a predetermined distance with respect to the vehicle body 2 in the vertical direction. 9 and. A spring as an urging means is disposed in the support portion 8, and the caster portion 9 is urged downward with respect to the support portion 8 by this spring. And each auxiliary caster wheel 7a, 7b is provided so that the caster part 9 may be urged | biased to a driving | running | working surface in the state in which the automatic guided vehicle 1 is not tilting. When the vehicle body 2 tilts and the caster unit 9 compresses the spring and moves upward with respect to the support unit 8, the reaction force applied to the caster unit 9 changes the tilt of the vehicle body 2 to the running state and the loaded state. It is formed so that it can be suppressed to the extent that there is no hindrance.

車体２の内部には図示しない駆動制御装置が配設されている。この駆動制御装置は、走行面に埋設された図示しない誘導線から発信される電波信号に従って駆動機構及び操舵機構を制御し、無人搬送台車１を誘導線に沿って走行させる。   A drive control device (not shown) is disposed inside the vehicle body 2. This drive control device controls the drive mechanism and the steering mechanism according to a radio wave signal transmitted from a guide line (not shown) embedded in the travel surface, and causes the automatic guided vehicle 1 to travel along the guide line.

次に、上記構成の無人搬送台車１の動作について説明する。２つの駆動操舵輪４，５が共に車体２の長手方向に操舵された状態で同方向に駆動されると、無人搬送台車１はその長手方向に走行する。又、２つの駆動操舵輪４，５が共に車体２の幅方向に操舵された状態で同方向に駆動されると、無人搬送台車１はその幅方向に走行する。さらに、２つの駆動操舵輪４，５が車体２の斜め方向に操舵された状態で同方向に駆動されると、無人搬送台車１は斜め方向に走行する。又、２つの駆動操舵輪４，５が共に車体２の幅方向に操舵された状態で互いに反対方向に駆動されると、無人搬送台車１はその場で方向を変更する。この各場合において、各補助キャスタ輪７ａ，７ｂのキャスタ部９は走行面を転動して無人搬送台車１が進む方向に従動する。   Next, the operation of the automatic guided vehicle 1 configured as described above will be described. When the two drive steering wheels 4 and 5 are driven in the same direction while being steered in the longitudinal direction of the vehicle body 2, the automatic guided vehicle 1 travels in the longitudinal direction. When the two drive steering wheels 4 and 5 are both driven in the same direction while being steered in the width direction of the vehicle body 2, the automatic guided vehicle 1 travels in the width direction. Further, when the two drive steering wheels 4 and 5 are driven in the same direction while being steered in the oblique direction of the vehicle body 2, the automatic guided vehicle 1 travels in the oblique direction. When the two drive steering wheels 4 and 5 are driven in opposite directions while being steered in the width direction of the vehicle body 2, the automatic guided vehicle 1 changes its direction on the spot. In each case, the caster portion 9 of each auxiliary caster wheel 7a, 7b rolls along the traveling surface and follows the direction in which the automatic guided vehicle 1 travels.

無人搬送台車１が停止した状態でその積載面３に積み荷が移載される途中で、図3に示すように、積み荷の重心Ｇが各駆動操舵輪４，５及び自在キャスタ輪６を結んで形成される三角形状の姿勢安定領域αから外れ、車体２が駆動操舵輪４と自在キャスタ輪６の各接地点を走行面上で結んだ線Ｓを回動軸線として傾動し、駆動操舵輪５が浮く状態で傾いたとする。すると、車体２の傾動に伴って、補助キャスタ輪７ａが走行面により強く付勢される。従って、車体２には補助キャスタ輪７ａからその傾動を規制する方向の力が加えられるため、その傾きが抑制される。このとき、補助キャスタ輪７ａから車体２に加えられる力が次第に大きくなるため、車体２に衝撃が加わらない。   As shown in FIG. 3, the center of gravity G of the load connects the drive steering wheels 4 and 5 and the universal caster wheel 6 while the load is transferred to the loading surface 3 while the automatic guided vehicle 1 is stopped. The vehicle body 2 tilts with a line S connecting the grounding points of the drive steering wheel 4 and the universal caster wheel 6 on the traveling surface as a rotation axis, and deviates from the formed triangular posture stability region α. Suppose that it is tilted in a floating state. Then, as the vehicle body 2 tilts, the auxiliary caster wheel 7a is urged more strongly by the traveling surface. Accordingly, since a force in a direction to restrict the tilt is applied to the vehicle body 2 from the auxiliary caster wheel 7a, the tilt is suppressed. At this time, since the force applied to the vehicle body 2 from the auxiliary caster wheel 7a gradually increases, no impact is applied to the vehicle body 2.

又、積載面３に積み荷が偏った状態で積載された状態で、無人搬送台車１が停止状態から発進したり、走行状態から停止したり、あるいは、平坦でない走行面を走行するときに、積載面３に偏った状態で積載された積み荷に加わる加速度により車体２が例えば駆動操舵輪５と自在キャスタ輪６の各接地点を結んだ線Ｔを回動軸線として残りの１つの駆動操舵輪４が走行面から浮いた状態に傾動したとする。すると、車体２が傾くにつれて駆動操舵輪５側の補助キャスタ輪７ｂが走行面に付勢される。このとき、スプリングの作用により補助キャスタ輪７ｂが次第により大きな力で走行面により強く付勢される。従って、車体２には補助キャスタ輪７ｂからその傾動を抑制する方向の力が加えられるため、車体２の傾動が抑制される。このとき、補助キャスタ輪７ｂから車体２に加えられる力が次第に大きくなるため、車体２に衝撃が加わらない。さらに、平坦でない走行面を走行することにより、車体２にピッチングが発生して両駆動操舵輪４，５が交互に浮く状態となっても、１回毎の傾動が抑制されるとともに車体２に衝撃が加わらないため車体２が大きくピッチングすることはない。
特開平１０−３３８１２７号公報 特開平１１−７８８６７号公報 Also, when the automatic guided vehicle 1 starts from a stopped state, stops from a traveling state, or travels on an uneven traveling surface with the load loaded on the loading surface 3 in an unbalanced state, The remaining one drive steering wheel 4 with a line T connecting each ground point of the drive steering wheel 5 and the universal caster wheel 6 as a rotation axis by the acceleration applied to the load loaded in a state biased to the surface 3. Suppose that is tilted to a state where it floats from the running surface. Then, as the vehicle body 2 tilts, the auxiliary caster wheel 7b on the drive steering wheel 5 side is biased toward the traveling surface. At this time, the auxiliary caster wheel 7b is urged more strongly by the action of the spring with a gradually increasing force. Accordingly, the vehicle body 2 is applied with a force in a direction to suppress the tilt from the auxiliary caster wheel 7b, and thus the tilt of the vehicle body 2 is suppressed. At this time, since the force applied to the vehicle body 2 from the auxiliary caster wheel 7b gradually increases, no impact is applied to the vehicle body 2. Further, even when the vehicle body 2 is pitched and the drive steering wheels 4 and 5 are alternately floated by traveling on a non-flat traveling surface, the tilting for each time is suppressed and Since no impact is applied, the vehicle body 2 does not pitch significantly.
Japanese Patent Laid-Open No. 10-338127 Japanese Patent Laid-Open No. 11-78867

上記したように、従来の無人搬送台車の車輪は、基本的には、片側の前後に配置された駆動操舵輪４，５と反対側中央に設置された自在キャスタ輪６とにより構成されている。そして、この３輪を結ぶ三角形内に重心がある場合には、無人搬送台車は転倒することはないとされていたが、走行時の揺動防止と積み荷の移載時の転倒防止のために、自在キャスタ輪６の前後に補助キャスタ輪７ａ，７ｂを設けていた。しかしながら、重心が無人搬送台車の中心にある場合でも、各車輪に加わる重量配分は、各駆動操舵輪４，５に１／４ずつ、自在キャスタ輪６に１／２となり、半分の荷重が自在キャスタ輪６に加わることになり、操舵のための動力を持たない自在キャスタ輪６が向きを変える時（特に進行方向が逆になり、１８０度反転する時）に、大きな荷重が加わった自在キャスタ輪６を動かすために大きな走行力が必要となった。又、自在キャスタ輪６の反転中に横方向の力が作用するが、接地力が小さい駆動操舵輪４，５ではこの力に対抗することができず、車体２を左右に振ってしまうこととなった。   As described above, the wheel of the conventional automatic guided vehicle is basically composed of the drive steering wheels 4 and 5 arranged on the front and rear of one side and the universal caster wheel 6 installed in the center on the opposite side. . And when the center of gravity is within the triangle connecting these three wheels, the automatic guided vehicle is said not to fall, but to prevent swinging when traveling and toppling when transferring cargo The auxiliary caster wheels 7a and 7b are provided before and after the universal caster wheel 6. However, even when the center of gravity is at the center of the automatic guided vehicle, the weight distribution applied to each wheel is ¼ for each drive steering wheel 4 and 5 and ½ for the universal caster wheel 6 so that half the load can be freely applied. When the free caster wheel 6 that does not have power for steering changes its direction (especially when the traveling direction is reversed and reverses 180 degrees), the free caster is subjected to a large load. A large running force was required to move the wheel 6. Further, a lateral force is applied during the reversal of the universal caster wheel 6, but the driving steering wheels 4 and 5 having a small grounding force cannot counter this force, and the vehicle body 2 is swung left and right. became.

この発明は上記のような課題を解決するために成されたものであり、偏芯荷重による傾きを防止するとともに、凹凸路面での走行性能を確保し、かつ自在キャスタ輪の転動時の走行性能を確保することができる無人搬走台車を得ることを目的とする。   The present invention has been made to solve the above-described problems, prevents tilting due to an eccentric load, ensures traveling performance on an uneven road surface, and travels when the free caster wheel rolls. The purpose is to obtain an unmanned carriage that can ensure performance.

この発明の請求項１に係る無人搬走台車は、全方位に走行可能な無人搬送台車において、車体底部の対角位置に二つの操舵機構付き駆動輪を配設するとともに、残りの対角位置に二つの自在キャスタ輪を設け、各自在キャスタ輪にはそれぞれ走行面に対して車輪を付勢するばねを設けるとともに、それぞれの自在キャスタ輪のばねのばね力に差を持たせ、ばね力の小さい方の自在キャスタ輪に車体の沈み込みを制限するストッパを設け、二つの操舵機構付き駆動輪とストッパを設けた方の自在キャスタ輪との３点接地状態としたものである。   An automatic guided vehicle according to a first aspect of the present invention is an automatic guided vehicle capable of traveling in all directions, in which two drive wheels with steering mechanisms are disposed at diagonal positions on the bottom of the vehicle body, and the remaining diagonal positions Two free caster wheels are provided, and each free caster wheel is provided with a spring for urging the wheel against the running surface, and the spring force of each free caster wheel is made to have a difference so that the spring force A stopper for restricting the sinking of the vehicle body is provided on the smaller free caster wheel, and a three-point grounding state is established between the drive wheel with two steering mechanisms and the free caster wheel provided with the stopper.

請求項２に係る無人搬送台車は、全方位に走行可能な無人搬送台車において、車体底部の対角位置に二つの操舵機構付き駆動輪を配設するとともに、残りの対角位置に二つの自在キャスタ輪を設け、各自在キャスタ輪にはそれぞれ走行面に対して車輪を付勢するばねを設けるとともに、台車全体の重心を一方の自在キャスタ輪側に寄せ、台車全体の重心を寄せた方の自在キャスタ輪に車体の沈み込みを制限するストッパを設け、二つの操舵機構付き駆動輪とストッパを設けた方の自在キャスタ輪との３点接地状態としたものである。   The automatic guided vehicle according to claim 2 is an automatic guided vehicle capable of traveling in all directions, wherein two drive wheels with steering mechanisms are arranged at diagonal positions on the bottom of the vehicle body, and two free at the remaining diagonal positions. Each caster wheel is provided with a spring that urges the wheel against the running surface, and the center of gravity of the entire carriage is moved to one of the free caster wheels, and the center of gravity of the entire carriage is brought closer. The universal caster wheel is provided with a stopper for restricting the sinking of the vehicle body, and a three-point grounding state is established between the two drive wheels with a steering mechanism and the universal caster wheel provided with the stopper.

請求項３に係る無人搬送台車は、自在キャスタ輪が、走行面に対して車輪を付勢するショックアブソーバを設けたものである。   The automatic guided vehicle according to claim 3 is provided with a shock absorber in which the free caster wheel urges the wheel against the traveling surface.

以上のようにこの発明の請求項１によれば、車体底部の対角位置にある二つの自在キャスタ輪にそれぞれ走行面に対して車輪を付勢するばねを設けるとともに、それぞれの自在キャスタ輪のばねのばね力に差を持たせ、ばね力の小さい方の自在キャスタ輪に車体の沈み込みを制限するストッパを設け、二つの操舵機構付き駆動輪とストッパを設けた方の自在キャスタ輪との３点接地状態としており、走行力及び接地力を確保することができ、偏芯荷重による傾きを防止するとともに、凹凸路面での走行性能を確保し、自在キャスタ輪の転動時の走行性能を確保することができる。   As described above, according to the first aspect of the present invention, the two free caster wheels at the diagonal positions of the bottom of the vehicle body are provided with the springs for urging the wheels against the running surface, and Provide a difference in the spring force of the spring, and provide a stopper that limits the sinking of the vehicle body on the free caster wheel with the smaller spring force, and there are two drive wheels with a steering mechanism and the free caster wheel with the stopper. It has a three-point grounding condition, which can ensure running force and grounding force, prevent tilting due to eccentric load, ensure running performance on uneven road surface, and improve running performance when rolling free caster wheels. Can be secured.

請求項２によれば、各自在キャスタ輪にはそれぞれ走行面に対して車輪を付勢するばねを設けるとともに、台車全体の重心を一方の自在キャスタ輪側に寄せ、台車全体の重心を寄せた方の自在キャスタ輪に車体の沈み込みを制限するストッパを設け、二つの操舵機構付き駆動輪とストッパを設けた方の自在キャスタ輪との３点接地状態としており、走行力及び接地力を確保することができ、偏芯荷重による傾きを防止するとともに、凹凸路面での走行性能を確保し、自在キャスタ輪の転動時の走行性能を確保することができる。   According to claim 2, each of the free caster wheels is provided with a spring for urging the wheel against the running surface, and the center of gravity of the entire carriage is brought close to one of the free caster wheels, and the center of gravity of the whole carriage is brought closer. A stopper that limits the sinking of the vehicle body is provided on the free caster wheel, and the three-point grounding state is established between the drive wheel with two steering mechanisms and the free caster wheel with the stopper, ensuring driving force and grounding force. It is possible to prevent the inclination due to the eccentric load, to ensure the traveling performance on the uneven road surface, and to ensure the traveling performance when the free caster wheel rolls.

請求項３によれば、自在キャスタ輪に走行面に対して車輪を付勢するショックアブソーバを設けており、走行時の台車の揺動を抑制することができる。   According to the third aspect, the free caster wheel is provided with the shock absorber for urging the wheel against the traveling surface, and the swing of the carriage during traveling can be suppressed.

実施最良形態１
以下、この発明を実施するための最良の形態を図面とともに説明する。図１はこの発明の実施最良形態１による無人搬送台車２５の底部の平面図であり、直方体形状の車体１０の対角２箇所には操舵機構付き駆動輪１１，１２が設けられ、残りの対角２箇所には自在キャスタ輪１３，１４が設けられる。自在キャスタ輪１３，１４は図２（ａ），（ｂ）に示すように構成されている。即ち、車体１０への取付部１５には支持部１６が取り付けられ、支持部１６には車輪支持部１７が回動軸１８を介して回動自在に連結され、車輪支持部１７には回転軸１９を介して車輪２０が回転自在に連結される。又、車輪支持部１７には一端に回動軸１８が挿通された押圧部２１が一体的に設けられ、押圧部２１の他端は支持部１６に設けられたストッパ２２に係止される。又、支持部１６にはばね２３の一端が支持されるとともに、ショックアブソーバ２４が取り付けられ、ショックアブソーバ２４のプランジャー２４ａは押圧部２１の係合部２１ａと係合する。又、ショックアブソーバ２４にはプランジャー２４ａのストッパ２４ｂが設けられている。ばね２３の他端も押圧部２１に支持されている。 Best Embodiment 1
The best mode for carrying out the present invention will be described below with reference to the drawings. FIG. 1 is a plan view of the bottom portion of an automatic guided vehicle 25 according to the first embodiment of the present invention. Drive wheels 11 and 12 with steering mechanisms are provided at two diagonal positions of a rectangular parallelepiped body 10, and the remaining pairs Free caster wheels 13 and 14 are provided at two corners. Swivel caster wheels 13 and 14 are configured as shown in FIGS. 2 (a) and 2 (b). That is, a support portion 16 is attached to the attachment portion 15 to the vehicle body 10, a wheel support portion 17 is rotatably connected to the support portion 16 via a rotation shaft 18, and a rotation shaft is connected to the wheel support portion 17. A wheel 20 is rotatably connected via 19. Further, the wheel support portion 17 is integrally provided with a pressing portion 21 having a rotation shaft 18 inserted at one end, and the other end of the pressing portion 21 is locked to a stopper 22 provided on the support portion 16. One end of the spring 23 is supported on the support portion 16 and a shock absorber 24 is attached. The plunger 24 a of the shock absorber 24 is engaged with the engagement portion 21 a of the pressing portion 21. The shock absorber 24 is provided with a stopper 24b of a plunger 24a. The other end of the spring 23 is also supported by the pressing portion 21.

自在キャスタ輪１３、１４は上記のように構成されているが、各自在キャスタ輪１３，１４のばね２３のばね力に差を持たせ、ばね力の小さい方の例えば自在キャスタ輪１４にはストッパ２４ｂが設けられていない。押圧部２１はばね２３及びショックアブソーバ２４のプランジャー２４ａに押圧され、この押圧力は車輪支持部１７を介して車輪２０を押圧し、車輪２０は走行面に対して付勢される。ショックアブソーバ２４は、走行時の無人搬送台車２５の揺動を最小限に抑える機能を果たしている。又、ショックアブソーバ２４のストッパ２４ｂは、車輪２０の沈み込み量を制限している。この沈み込み量は、ショックアブソーバ２４のプランジャー２４ａの突出量を大きくすることにより、容易に小さくすることができる。   Although the universal caster wheels 13 and 14 are configured as described above, a difference is provided in the spring force of the spring 23 of each universal caster wheel 13 and 14, and for example the universal caster wheel 14 having a smaller spring force is provided with a stopper. 24b is not provided. The pressing portion 21 is pressed by the spring 23 and the plunger 24a of the shock absorber 24. This pressing force presses the wheel 20 through the wheel support portion 17, and the wheel 20 is urged against the traveling surface. The shock absorber 24 has a function of minimizing the swinging of the automatic guided vehicle 25 during traveling. Further, the stopper 24b of the shock absorber 24 limits the sinking amount of the wheel 20. This sinking amount can be easily reduced by increasing the protrusion amount of the plunger 24a of the shock absorber 24.

自在キャスタ輪１３，１４が従来同様にばねにより車輪を下方に押し付けるものであれば、自在キャスタ輪１３，１４に加わる力はばね力により調整することが可能であり、自在キャスタ輪１３，１４の反転時の走行性能を確保することができる。しかし、荷重負荷により車体１０の全体が沈み込むことはないが、偏芯荷重により車体１０が傾いてしまうという問題が発生した。そこで、この実施最良形態においては、自在キャスタ輪１３に車体１０が水平状態より下方に沈み込まないようにストッパ２４ｂを設けた。このことにより、ストッパ２４ｂを有する自在キャスタ輪１３側への偏芯荷重に対しては、車体１０の傾きが発生しなくなる。反対側の自在キャスタ輪１４にもストッパ２４ｂを設ければ、反対側の偏芯荷重に対しても車体１０の傾きが発生しなくなるが、この場合凹凸路面を走行する場合操舵機構付き駆動輪１１，１２が浮き上がってしまい、走行できなくなる。   If the free caster wheels 13 and 14 press the wheel downward by a spring as in the conventional case, the force applied to the free caster wheels 13 and 14 can be adjusted by the spring force. The running performance during reversal can be ensured. However, although the entire vehicle body 10 does not sink due to the load load, there is a problem that the vehicle body 10 is inclined due to the eccentric load. Therefore, in this best embodiment, the stopper 24b is provided on the free caster wheel 13 so that the vehicle body 10 does not sink below the horizontal state. As a result, the vehicle body 10 does not tilt with respect to the eccentric load toward the free caster wheel 13 having the stopper 24b. If the stopper 24b is also provided on the opposite caster wheel 14 on the opposite side, the vehicle body 10 will not be inclined even with respect to the eccentric load on the opposite side. In this case, when driving on the uneven road surface, the drive wheel 11 with a steering mechanism is provided. , 12 are lifted up and cannot run.

そこで、自在キャスタ輪１３側のばね２３のばね力を自在キャスタ輪１４側のばね２３のばね力より小さくするとともに、ばね力の小さい方の自在キャスタ輪１３側にストッパ２４ｂを設けることにより、操舵機構付き駆動輪１１，１２とストッパ２４ｂを設けた方の自在キャスタ輪１３による３点接地状態とし、反対側の偏芯荷重に対しても、この押し付け圧の差分までは傾きが発生しなくなる。又、押し付け圧の差分を超えてもばね常数の差があるため、左右同じばね常数のばね２３を用いた場合より傾き角を小さくすることができる。   Accordingly, the spring force of the spring 23 on the side of the universal caster wheel 13 is made smaller than the spring force of the spring 23 on the side of the universal caster wheel 14, and the stopper 24b is provided on the side of the universal caster wheel 13 having the smaller spring force, thereby steering. The three-point grounding state is established by the free caster wheel 13 having the mechanism-equipped driving wheels 11 and 12 and the stopper 24b, and no inclination occurs up to the difference in the pressing pressure even with the eccentric load on the opposite side. Further, even if the difference in pressing pressure is exceeded, there is a difference in the spring constant, so that the inclination angle can be made smaller than when the spring 23 having the same spring constant on the left and right is used.

なお、ストッパ２４ｂを有さない方の沈み込み側自在キャスタ輪１４側にも路面の凹凸を考慮した位置にストッパを設ければ、より大きな偏芯荷重が働いても、大きく傾くことがなくなる。又、ばね常数が小側の自在キャスタ輪１３側のばね２３は使用しなくても良いが、走行中にがたがた振動が発生することがあるため、弱い押し付け力のみは残した方がよい。また、ばね常数が小側の自在キャスタ輪１３側の上下機構も走行中のがたがた振動を無視すれば、除去することは可能である。   If a stopper is provided on the sinking-side free caster wheel 14 side that does not have the stopper 24b at a position that takes into account the unevenness of the road surface, even if a larger eccentric load is applied, it does not tilt greatly. Further, the spring 23 on the side of the free caster wheel 13 having a smaller spring constant may not be used, but rattling vibration may occur during traveling, so it is better to leave only a weak pressing force. Further, the vertical mechanism on the side of the free caster wheel 13 with the smaller spring constant can be eliminated if the rattling vibration during traveling is ignored.

なお、上記した実施最良形態１では、自在キャスタ輪１３側にストッパ２４ｂを設け、自在キャスタ輪１４側にはストッパ２４ｂを設けなかったが、もちろん逆でも良い。   In the first embodiment described above, the stopper 24b is not provided on the free caster wheel 13 side and the stopper 24b is not provided on the free caster wheel 14 side.

以上のように、実施最良形態１によれば、対角位置に設けた二つの自在キャスタ輪１３，１４のばね２３のばね力に差を持たせ、ばね力の小さい方の自在キャスタ輪１３に車体１０の沈み込みを制限するストッパ２４ｂを設け、操舵機構付き駆動輪１１，１２とストッパ２４ｂを設けた方の自在キャスタ輪１３とによる３点接地状態としており、走行力、接地力を確保することができ、偏芯荷重による車体１０の傾きを防止することができるとともに、凹凸路面での走行性能を確保することができ、自在キャスタ輪の走行性能を確保することができる。又、自在キャスタ輪１３，１４に走行面に対して車輪２０を付勢するショックアブソーバ２４を設けたので、走行時の台車の揺動を防止することができる。   As described above, according to the first embodiment, the spring force of the spring 23 of the two free caster wheels 13 and 14 provided at the diagonal positions is differentiated, and the free caster wheel 13 having the smaller spring force is provided. A stopper 24b for restricting the sinking of the vehicle body 10 is provided, and a three-point grounding state is established by the drive wheels 11 and 12 with the steering mechanism and the free caster wheel 13 on which the stopper 24b is provided, thereby ensuring a running force and a grounding force. In addition, it is possible to prevent the vehicle body 10 from being inclined due to an eccentric load, to ensure traveling performance on an uneven road surface, and to secure traveling performance of a universal caster wheel. Moreover, since the shock absorbers 24 for urging the wheels 20 against the traveling surface are provided on the free caster wheels 13 and 14, it is possible to prevent the carriage from swinging during traveling.

実施最良形態２
実施最良形態１においては、各自在キャスタ輪１３，１４のばね２３のばね力に差を付けたが、ばね力に差を付けなくても、台車全体の重心をストッパ２４ｂを設けた方の自在キャスタ輪側に寄せることにより、やはり操舵機構付き駆動輪１１，１２とストッパ２４ｂを設けた方の自在キャスタ輪とによる３点接地状態にすることができ、実施最良形態１と同様の効果を奏することができる。 Embodiment 2
In the first embodiment, a difference is made in the spring force of the spring 23 of each of the free caster wheels 13 and 14, but the center of gravity of the entire carriage is provided with the stopper 24b without making a difference in the spring force. By approaching to the caster wheel side, it is possible to achieve a three-point grounding state using the drive wheels 11 and 12 with the steering mechanism and the free caster wheel provided with the stopper 24b, and the same effect as in the first embodiment is achieved. be able to.

この発明の実施最良形態１による無人搬送台車の底部の平面図である。It is a top view of the bottom part of the automatic guided vehicle by Embodiment 1 of this invention. 実施最良形態１による無人搬送台車の自在キャスタ輪の平面図及び縦断正面図である。It is the top view and vertical front view of the universal caster wheel of the automatic guided vehicle by Embodiment 1. 特許文献１に示された従来の無人搬送台車の模式底面図である。It is a model bottom view of the conventional automatic guided vehicle shown by patent document 1. 特許文献１に示された従来の無人搬送台車の補助キャスタ輪の斜視図である。It is a perspective view of the auxiliary caster wheel of the conventional automatic guided vehicle shown by patent documents 1.

符号の説明Explanation of symbols

１０…車体
１１，１２…操舵機構付き駆動輪
１３，１４…自在キャスタ輪
１６…支持部
１７…車輪支持部
１８…回動軸
２０…車輪
２３…ばね
２４…ショックアブソーバ
２４ａ…プランジャー
２４ｂ…ストッパ
２５…無人搬送台車
DESCRIPTION OF SYMBOLS 10 ... Vehicle body 11, 12 ... Drive wheel with steering mechanism 13, 14 ... Swivel caster wheel 16 ... Support part 17 ... Wheel support part 18 ... Rotating shaft 20 ... Wheel 23 ... Spring 24 ... Shock absorber 24a ... Plunger 24b ... Stopper 25. Automated guided vehicle

Claims (3)

全方位に走行可能な無人搬送台車において、車体底部の対角位置に二つの操舵機構付き駆動輪を配設するとともに、残りの対角位置に二つの自在キャスタ輪を設け、各自在キャスタ輪にはそれぞれ走行面に対して車輪を付勢するばねを設けるとともに、それぞれの自在キャスタ輪のばねのばね力に差を持たせ、ばね力の小さい方の自在キャスタ輪に車体の沈み込みを制限するストッパを設け、二つの操舵機構付き駆動輪とストッパを設けた方の自在キャスタ輪との３点接地状態としたことを特徴とする無人搬送台車。   In an automated guided vehicle that can travel in all directions, two drive wheels with steering mechanisms are arranged at diagonal positions on the bottom of the vehicle body, and two universal caster wheels are provided at the remaining diagonal positions. Provides a spring for urging the wheel against the running surface, and provides a difference in the spring force of each of the free caster wheels to limit the sinking of the vehicle body to the free caster wheel having the smaller spring force. An unmanned conveyance cart characterized in that a stopper is provided and a three-point grounding state is established between a drive wheel with two steering mechanisms and a free caster wheel provided with a stopper. 全方位に走行可能な無人搬送台車において、車体底部の対角位置に二つの操舵機構付き駆動輪を配設するとともに、残りの対角位置に二つの自在キャスタ輪を設け、各自在キャスタ輪にはそれぞれ走行面に対して車輪を付勢するばねを設けるとともに、台車全体の重心を一方の自在キャスタ輪側に寄せ、台車全体の重心を寄せた方の自在キャスタ輪に車体の沈み込みを制限するストッパを設け、二つの操舵機構付き駆動輪とストッパを設けた方の自在キャスタ輪との３点接地状態としたことを特徴とする無人搬送台車。   In an automated guided vehicle that can travel in all directions, two drive wheels with steering mechanisms are arranged at diagonal positions on the bottom of the vehicle body, and two universal caster wheels are provided at the remaining diagonal positions. Each has a spring that biases the wheel against the running surface, and the center of gravity of the entire carriage is moved to one free caster wheel, and the sinking of the vehicle body is restricted to the free caster wheel that has the center of gravity of the entire carriage. An unmanned transport cart characterized in that a stopper is provided, and two driving wheels with a steering mechanism and a free caster wheel provided with a stopper are in a three-point grounding state. 自在キャスタ輪は、走行面に対して車輪を付勢するショックアブソーバを設けたことを特徴とする請求項１又は２記載の無人搬送台車。   3. The automatic guided vehicle according to claim 1, wherein the free caster wheel is provided with a shock absorber that urges the wheel against the traveling surface.
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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011016054A2 (en) * 2009-08-03 2011-02-10 Subhav Sinha Dynamically stabilized personal transporter
JP2011025801A (en) * 2009-07-24 2011-02-10 Meidensha Corp Wheeled platform
WO2017094717A1 (en) * 2015-11-30 2017-06-08 日本電産シンポ株式会社 Drive wheel unit and automated transport dolly
JP2017105420A (en) * 2015-11-30 2017-06-15 日本電産シンポ株式会社 Driving wheel unit and automatic conveyance carrier
JP2020015628A (en) * 2010-12-15 2020-01-30 シムボティック エルエルシー Autonomous transportation vehicle
CN112912295A (en) * 2018-10-15 2021-06-04 松下知识产权经营株式会社 Moving body

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JPS57204964A (en) * 1981-06-12 1982-12-15 Zenkoku Fudousan Joho Center:Kk Realty information management system
JPS6053407A (en) * 1983-08-31 1985-03-27 Toshiba Corp Transfer trailer
JPS6171272A (en) * 1984-09-13 1986-04-12 株式会社東芝 Cart
JPH0483807A (en) * 1990-07-25 1992-03-17 Sumitomo Electric Ind Ltd Combined hard alloy material

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011025801A (en) * 2009-07-24 2011-02-10 Meidensha Corp Wheeled platform
WO2011016054A2 (en) * 2009-08-03 2011-02-10 Subhav Sinha Dynamically stabilized personal transporter
WO2011016054A3 (en) * 2009-08-03 2011-03-31 Subhav Sinha Dynamically stabilized personal transporter
JP2020015628A (en) * 2010-12-15 2020-01-30 シムボティック エルエルシー Autonomous transportation vehicle
WO2017094717A1 (en) * 2015-11-30 2017-06-08 日本電産シンポ株式会社 Drive wheel unit and automated transport dolly
JP2017105420A (en) * 2015-11-30 2017-06-15 日本電産シンポ株式会社 Driving wheel unit and automatic conveyance carrier
CN112912295A (en) * 2018-10-15 2021-06-04 松下知识产权经营株式会社 Moving body

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