JP2014237359A - Unmanned carrier - Google Patents
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- JP2014237359A JP2014237359A JP2013120361A JP2013120361A JP2014237359A JP 2014237359 A JP2014237359 A JP 2014237359A JP 2013120361 A JP2013120361 A JP 2013120361A JP 2013120361 A JP2013120361 A JP 2013120361A JP 2014237359 A JP2014237359 A JP 2014237359A
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Abstract
Description
本発明は無人搬送車に係り、詳しくは従来の無人搬送車では実現不可能であった全方向へのスムースな車体の移動を無駄な駆動力(電力)を必要とせずに行うことができるなど、各種の技術的効果を発現させることができる無人搬送車に関するものである。 The present invention relates to an automatic guided vehicle, and more specifically, smooth movement of a vehicle body in all directions that could not be realized by a conventional automatic guided vehicle can be performed without using unnecessary driving force (electric power). The present invention relates to an automatic guided vehicle that can exhibit various technical effects.
工場や倉庫等で部品・半製品・製品等を搬送する無人搬送車(AGV:Automatic Guided Vehicle)は広く知られており、各種の技術が開発されている。
その中でもオムニホイールやメカナムホイールといった全方向移動車輪を車輪に用いることで不特定の方向に容易に移動することができる無人搬送車が開示されている(特許文献1、2を参照)。
2. Description of the Related Art Automated guided vehicles (AGVs) that transport parts, semi-finished products, products, and the like in factories and warehouses are widely known, and various technologies have been developed.
Among these, automatic guided vehicles that can easily move in unspecified directions by using omnidirectional wheels such as omni wheels and mecanum wheels as wheels are disclosed (see Patent Documents 1 and 2).
ここで、このような全方向移動車輪は、オムニホイールを例に取れば特許文献1の[図2]に記載されているような回転体(オムニ車輪21)、メカナムホイールを例に取れば特許文献3の[図1]、[図2]に記載されているような回転体(ローラ9)が複数設けられた構造となっており、かかる回転体が自転しながら車軸を中心に公転する構造となっている。
そして、このような全方向移動車輪を用いた無人搬送車は、図5に示す通り、各車輪を異なった方向や速度で回転させることで各車輪に異なる移動方向および駆動力(ベクトル)を発生させ、全車輪の移動方向および駆動力の和(ベクトルの和)によって、車体の向きを変えずに真横や斜め方向など所望する方向に車体を移動させる構造となっている。
Here, when such an omnidirectional moving wheel is taken as an example of an omni wheel, a rotating body (omni wheel 21) and a mecanum wheel as described in [FIG. 2] of Patent Document 1 are taken as an example. It has a structure in which a plurality of rotating bodies (rollers 9) as described in [FIG. 1] and [FIG. 2] of Patent Document 3 are provided, and such rotating bodies revolve around an axle while rotating. It has a structure.
And, as shown in FIG. 5, an automatic guided vehicle using such omnidirectional moving wheels generates different moving directions and driving forces (vectors) for each wheel by rotating the wheels at different directions and speeds. Thus, the vehicle body is moved in a desired direction, such as a lateral direction or an oblique direction, without changing the direction of the vehicle body, depending on the moving direction of all the wheels and the sum of driving forces (sum of vectors).
従って、このような全方向移動車輪を用いた無人搬送車においては、無人搬送車が走行する床面に傾斜や段差などがあって一部の全方向移動車輪が浮いたいわゆる片輪走行の状態になってしまうと、上記した「ベクトルの和」が得られなくなり、所望する方向に無人搬送車を走行させることが不可能になってしまうという第1の課題がある。
また、仮に全ての全方向移動車輪を床面に接地させることができた場合でも、車輪と床面との接地力において車輪間にバラツキが生じた場合には、「ベクトルの和」が得られにくくなり、所望する方向に無人搬送車を走行させることが困難になってしまうという第2の課題がある。
さらに、全ての全方向移動車輪を床面に接地させ、かつ各車輪間において車輪と床面との接地力にバラツキを生じさせることなく接地させることができた場合であっても、全方向移動車輪が床面に対して鉛直方向に接地する状態、すなわち全方向移動車輪の回転体が床面に対して最適な状態で接地していなければ、やはり「ベクトルの和」が得られにくくなり、所望する方向に無人搬送車を走行させることが困難になってしまうという第3の課題がある。
そして上記のような場合には、「ベクトルの和」を得るために、接地しているあるいは接地力が強くなっている車輪に大きな駆動力を発生させなければならず、無駄な電力を消費してしまうという第4の課題もある。
Therefore, in such an automatic guided vehicle using an omnidirectional moving wheel, a so-called one-wheel traveling state in which a part of the omnidirectional moving wheel floats due to an inclination or a step on a floor surface on which the automatic guided vehicle travels. Then, the above-mentioned “sum of vectors” cannot be obtained, and there is a first problem that it is impossible to run the automatic guided vehicle in a desired direction.
Even if all the omnidirectional wheels can be grounded to the floor, if there is a variation between the wheels in the grounding force between the wheels and the floor, a “vector sum” is obtained. There is a second problem that the automatic guided vehicle becomes difficult to travel in a desired direction.
Furthermore, even if all omnidirectional wheels are grounded to the floor and grounded without any variation in the ground contact force between the wheels and the floor, the omnidirectional movement is possible. If the wheel is in contact with the floor surface in the vertical direction, that is, if the rotating body of the omnidirectional moving wheel is not in contact with the floor surface in an optimum state, it is difficult to obtain the “vector sum”. There is a third problem that it is difficult to run the automatic guided vehicle in a desired direction.
In the above case, in order to obtain the “vector sum”, a large driving force must be generated on the wheel that is grounded or has a strong grounding force, and wasteful power is consumed. There is also a fourth problem.
そこで、全方向移動車輪を用いた無人搬送車における上記のような片輪走行を防止するための技術が開示されている(特許文献4、5参照)。
具体的には、各車輪にサスペンション機能を設けたもの(特許文献4の図10、図11参照)や一対の車輪の間をイコライザフレームで連結したもの(特許文献5参照)が開示されている。
Therefore, a technique for preventing the one-wheel traveling as described above in an automatic guided vehicle using omnidirectional moving wheels is disclosed (see Patent Documents 4 and 5).
Specifically, a suspension function provided on each wheel (see FIGS. 10 and 11 of Patent Document 4) and a pair of wheels connected by an equalizer frame (see Patent Document 5) are disclosed. .
しかしながら、特許文献4に記載のサスペンション機能は、上記の第1の課題は解決することができても、各車輪間において車輪と床面との接地力にバラツキが生じることから第2の課題および第3の課題を解決することができないという問題がある。 However, although the suspension function described in Patent Document 4 can solve the first problem, the grounding force between the wheel and the floor surface varies between the wheels, so that the second problem and There is a problem that the third problem cannot be solved.
また、特許文献5に記載のイコライザフレームは、第1の課題および第2の課題は解決することができても、全方向移動車輪を床面に対して鉛直方向になるように接地させることができないことから第3の課題を解決することができないという問題がある。 In addition, the equalizer frame described in Patent Document 5 can ground the omnidirectional moving wheel in a vertical direction with respect to the floor surface even though the first problem and the second problem can be solved. There is a problem that the third problem cannot be solved because it is impossible.
従って、従前の技術においては、全方向移動車輪を用いた無人搬送車であっても凹凸がある床面を無駄な駆動力(電力)を必要とせずにスムースに走行させるという観点においては問題点を有するものであった。 Therefore, in the conventional technology, even if it is an automatic guided vehicle using omnidirectional moving wheels, there is a problem in terms of smoothly running on an uneven floor surface without needless driving force (electric power). It was what had.
本発明は、上記した従来の問題点に鑑みてなされたものであって、従来の無人搬送車では実現不可能であった全方向へのスムースな車体の移動を無駄な駆動力(電力)を必要とせずに行うことができるなど、各種の技術的効果を発現させることができる無人搬送車の提供を目的とするものである。 The present invention has been made in view of the above-described conventional problems, and uses unnecessary driving force (electric power) for smooth movement of the vehicle body in all directions that could not be realized by a conventional automatic guided vehicle. The present invention is intended to provide an automatic guided vehicle capable of exhibiting various technical effects such as being able to be performed without necessity.
上記目的を達成するために、本発明の請求項1に係る無人搬送車は、車体と、複数の回転体および駆動手段を備えた全方向移動車輪を少なくとも一対設け、一対の全方向移動車輪は、互いに連動して逆方向かつ鉛直方向に昇降する昇降手段によって連結していることを特徴とする。 In order to achieve the above object, an automatic guided vehicle according to claim 1 of the present invention is provided with at least a pair of omnidirectional wheels provided with a vehicle body and a plurality of rotating bodies and driving means. These are connected by elevating means that elevate in the opposite direction and the vertical direction in conjunction with each other.
本発明の請求項2に係る無人搬送車は、昇降手段が、中央部が枢支されている一対の揺動部材と、中央部が前記揺動部材とは直交する方向に枢支されている昇降部材と揺動部材と昇降部材を連結する連結部材とを備え、一の揺動部材の一方の端部には一対の全方向移動車輪のうちの一の全方向移動車輪が連結されており、他の揺動部材の一方の端部には一対の全方向移動車輪のうちの他の全方向移動車輪が連結されており、一対の揺動部材のうちの一の揺動部材の他方の端部は連結部材によって昇降部材の一方の端部に連結されており、一対の揺動部材のうちの他の揺動部材の他方の端部は連結部材によって昇降部材の他方の端部に連結されており、一の全方向移動車輪が昇降する際の昇降量に応じて、一の揺動部材の揺動量が変化し、揺動量に応じて昇降部材が連結部材によって他の揺動部材を揺動させることで、一の全方向移動車輪の昇降量と同じだけ他の全方向移動車輪を鉛直方向に降昇させることを特徴とする。 In the automatic guided vehicle according to a second aspect of the present invention, the elevating means is pivotally supported in a direction in which the central portion is pivotally supported and the central portion is orthogonal to the swinging member. An elevating member, an oscillating member, and a connecting member for connecting the elevating member, and one omnidirectional moving wheel of a pair of omnidirectional moving wheels is connected to one end of the one oscillating member. The other oscillating wheel of the pair of oscillating wheels is connected to one end of the other oscillating member, and the other of the oscillating members of the pair of oscillating members is connected to the other end. The end is connected to one end of the lifting member by a connecting member, and the other end of the other swinging member of the pair of swinging members is connected to the other end of the lifting member by the connecting member The amount of rocking of one rocking member changes according to the amount of lifting when one wheel moving in one direction moves up and down. In accordance with the above, the lifting member swings the other swinging member with the connecting member, and the other omnidirectional moving wheel is lowered in the vertical direction as much as the lifting amount of the one omnidirectional moving wheel. To do.
本発明の請求項3に係る無人搬送車は、昇降手段に、サスペンション機能が設けられていることを特徴とする。 The automatic guided vehicle according to claim 3 of the present invention is characterized in that the lifting means is provided with a suspension function.
本発明に係る無人搬送車によれば、一対の全方向移動車輪を互いに連動して逆方向かつ鉛直方向に昇降させる昇降手段によって連結させることによって、従来の無人搬送車では実現できない以下の技術的効果を奏することができる。
1)メカナムホイールやオムニホイールなどの全方向移動車輪(の回転体)を常に床面に最適な状態(角度)で接地させることができることから、凹凸のある床面であっても全方向へのスムースな車体の移動を行うことができる無人搬送車を提供することができる。すなわち、無駄な駆動力(電力)を必要とせずに全方向移動車輪の特徴を最大限に生かした無人搬送車を提供することができる。
2)全ての全方向移動車輪の床面にかかる力をバラツキなく均一にすることができることから、特定の全方向移動車輪だけに無人搬送車の重量が集中することを防止することができ、その結果全方向へのスムースな車体の移動を行うことができるとともに、走行経路の摩耗を低減することができる。なお、この効果は、無人搬送車を横方向や斜め方向に移動させるような稼働を行う際における誘導帯の摩耗低減において特に有効なものとなる。
3)全ての全方向移動車輪の床面にかかる力をバラツキなく均一にすることができることから、全方向移動車輪自体の寿命を延ばすことができる。
According to the automatic guided vehicle of the present invention, a pair of omnidirectional moving wheels are linked by a lifting / lowering means that moves up and down in the opposite and vertical directions in conjunction with each other. There is an effect.
1) Since omnidirectional wheels such as mecanum wheels and omni wheels can always be grounded in an optimal state (angle) on the floor surface, they can be omnidirectional even on uneven surfaces. It is possible to provide an automatic guided vehicle that can smoothly move the vehicle body. That is, it is possible to provide an automatic guided vehicle that makes the best use of the characteristics of omnidirectional moving wheels without requiring unnecessary driving force (electric power).
2) Since the force applied to the floor surface of all omnidirectional moving wheels can be made uniform, it is possible to prevent the weight of the automatic guided vehicle from being concentrated only on a specific omnidirectional moving wheel. As a result, the vehicle body can be smoothly moved in all directions, and wear on the travel route can be reduced. Note that this effect is particularly effective in reducing wear of the induction band when the automatic guided vehicle is moved in the lateral direction or the oblique direction.
3) Since the force applied to the floor surface of all omnidirectional moving wheels can be made uniform without variation, the life of the omnidirectional moving wheels themselves can be extended.
本発明の請求項2に係る無人搬送車によれば、昇降手段の構造を特定の構造とすることによって、上記の効果をより顕著なものとすることができる。 According to the automatic guided vehicle according to claim 2 of the present invention, the above-described effect can be made more conspicuous by setting the structure of the lifting means to a specific structure.
本発明の請求項3に係る無人搬送車によれば、昇降手段にサスペンション機能を設けることによって、走行経路の摩耗をより低減することができる。 According to the automatic guided vehicle of the third aspect of the present invention, wear of the travel path can be further reduced by providing the lifting means with the suspension function.
本発明の実施形態を図面に基づいて説明する。なお、以下に述べる実施形態は本発明を具体化した一例に過ぎず、本発明の技術的範囲を限定するものでない。
図1は本発明に係る無人搬送車を示す斜視図であり、図2は本発明に係る無人搬送車に用いられる昇降手段の一実施形態を示す模式図であり、図3は図2の昇降手段の動作を示す模式図であり、図4は本発明に係る無人搬送車に用いられる昇降手段の別の実施形態を示す模式図であり、図5は全方向移動車輪を用いた無人搬送車における移動時の全方向移動車輪の動きを示す模式図である。
Embodiments of the present invention will be described with reference to the drawings. The embodiment described below is merely an example embodying the present invention, and does not limit the technical scope of the present invention.
FIG. 1 is a perspective view showing an automatic guided vehicle according to the present invention, FIG. 2 is a schematic view showing an embodiment of lifting means used in the automatic guided vehicle according to the present invention, and FIG. FIG. 4 is a schematic view showing another embodiment of the lifting means used in the automatic guided vehicle according to the present invention, and FIG. 5 is an automatic guided vehicle using omnidirectional moving wheels. It is a schematic diagram which shows the motion of the omnidirectional movement wheel at the time of the movement in.
まず、本発明にかかる無人搬送車1の構成を図1〜図4に基づいて説明する。なお、図1に示す無人搬送車1は全方向移動車輪3にメカナムホイールを用いた形態のものとなっているが、これに限定されるものではなく、オムニホイールなど各種の全方向移動車輪を用いることができる。 First, the structure of the automatic guided vehicle 1 according to the present invention will be described with reference to FIGS. In addition, although the automatic guided vehicle 1 shown in FIG. 1 becomes a thing using the mecanum wheel for the omnidirectional movement wheel 3, it is not limited to this, Various omnidirectional movement wheels, such as an omni wheel Can be used.
本発明にかかる無人搬送車1は、車体2、一対の全方向移動車輪3、昇降手段4を主要部品として構成されている。 The automatic guided vehicle 1 according to the present invention includes a vehicle body 2, a pair of omnidirectional moving wheels 3, and a lifting / lowering means 4 as main components.
車体2には非接触の受電コイル、バッテリ、全方向移動車輪を駆動させるためのモータ(ともに図示せず)などが設けられている。 The vehicle body 2 is provided with a non-contact power receiving coil, a battery, a motor (not shown) for driving omnidirectional moving wheels, and the like.
全方向移動車輪3は前方および後方に設けられている、それぞれ2つの全方向移動車輪3が一対を成しており、一対の全方向移動車輪3がそれぞれ別の昇降手段4に連結されている構造となっている。なお、図1〜図3の実施形態においては、4つの全方向移動車輪(一対の全方向移動車輪を2つ)を用いているがこれに限定されるものではなく、一対の全方向移動車輪を1つのみ用いてもよいし、三つ以上用いることもできる。 The omnidirectional moving wheels 3 are provided on the front and rear sides, and each of the two omnidirectional moving wheels 3 forms a pair, and the pair of omnidirectional moving wheels 3 are respectively connected to different lifting means 4. It has a structure. In the embodiment of FIGS. 1 to 3, four omnidirectional wheels (two pairs of omnidirectional wheels) are used, but the present invention is not limited to this, and a pair of omnidirectional wheels. May be used alone, or three or more may be used.
昇降手段4は、一対の揺動部材5、連結部材6、昇降部材7を主要部品として構成されている。 The lifting / lowering means 4 includes a pair of swinging members 5, a connecting member 6, and a lifting / lowering member 7 as main components.
一対の揺動部材5は、一方の端部8が棒状に他方の端部9が扇状になっている部材を用いている。また、一対の揺動部材5はそれぞれが中心部10において枢支されており、昇降部材7は中心部11において揺動部材5とは直交する方向に枢支されている構造となっている。
なお、一対の揺動部材5は一対の全方向移動車輪3を後記するように揺動することができる形態であれば、上記のような形態に限定されるものではなく、例えば図4の実施形態に示すような棒状の部材とすることもできる。
The pair of oscillating members 5 uses a member in which one end 8 is a rod and the other end 9 is a fan. Each of the pair of swing members 5 is pivotally supported at the central portion 10, and the elevating member 7 is pivotally supported at the central portion 11 in a direction orthogonal to the swing member 5.
The pair of swing members 5 is not limited to the above-described form as long as the pair of swing wheels 5 can swing as described later. It can also be a rod-shaped member as shown in the form.
連結部材6は、2本のチェーンを90°回転させた状態で連結した部材を用いている。
なお、連結部材6についても後記するように一対の揺動部材5と昇降部材7を連結することができる形態であれば、上記のような形態に限定されるものではなく、90°回転させた状態で連結しているような複雑な形状のものではない、単純な棒状や板状の形状にすることもでき、材質についても金属、ゴム、プラスチックなど各種の材質を用いることができる。
The connecting member 6 uses a member in which two chains are connected in a state of being rotated by 90 °.
Note that the connection member 6 is not limited to the above-described form as long as the pair of swinging members 5 and the elevating member 7 can be connected as described later. It may be a simple rod-like or plate-like shape that is not a complicated shape that is connected in a state, and various materials such as metal, rubber, and plastic can be used.
次に、一対の全方向移動車輪3と昇降手段4(一対の揺動部材5、連結部材6、昇降部材7)の接続関係を説明する。 Next, the connection relationship between the pair of omnidirectional moving wheels 3 and the lifting / lowering means 4 (the pair of swinging members 5, the connecting member 6, and the lifting / lowering member 7) will be described.
まず、一の揺動部材5aの端部8aには一対の全方向移動車輪3のうちの一の全方向移動車輪3aが連結されており、他の揺動部材5bの端部8bには一対の全方向移動車輪3のうちの他の全方向移動車輪3bが連結されている構造となっている。
さらに、一の揺動部材5aの端部9aは連結部材6aによって昇降部材7の一方の端部7aに連結されており、他の揺動部材5bの端部9bは連結部材7bによって昇降部材7の他方の端部7bに連結されている構造となっている。
また、昇降手段4は、図4に示す通りサスペンション12を介して車体2に連結されている構造となっている。なお、サスペンション12については必要に応じて省略することができる。
First, one omnidirectional moving wheel 3a of a pair of omnidirectionally moving wheels 3 is connected to the end 8a of one swinging member 5a, and a pair is connected to the end 8b of the other swinging member 5b. The other omnidirectional moving wheels 3b of the omnidirectional moving wheels 3 are connected.
Furthermore, the end 9a of one swinging member 5a is connected to one end 7a of the lifting member 7 by a connecting member 6a, and the end 9b of the other swinging member 5b is connected to the lifting member 7 by a connecting member 7b. It is the structure connected with the other edge part 7b.
Moreover, the raising / lowering means 4 has a structure connected to the vehicle body 2 via the suspension 12 as shown in FIG. The suspension 12 can be omitted as necessary.
次に、上記のように構成された無人搬送車1の動作および作用を図2および図3に基づいて説明する。 Next, the operation and action of the automatic guided vehicle 1 configured as described above will be described with reference to FIGS. 2 and 3.
無人搬送車1が凹凸のない床面を走行している状態(図3の(a))から、一対の全方向移動車輪3のうちの一の全方向移動車輪3a(左車輪)が凹凸や傾斜のある床面を走行する状態(図2や図3の(b)、(c))となった場合には以下の動作が行われることになる。なお、一対の全方向移動車輪3のうちの一の全方向移動車輪3a(右車輪)が凹凸のある床面を走行する状態(図3の(d))となった場合には下記と逆の動作が行われることになる。 From the state in which the automatic guided vehicle 1 is traveling on a floor surface without unevenness ((a) in FIG. 3), the omnidirectional moving wheel 3a (left wheel) of the pair of omnidirectional moving wheels 3 is uneven or When the vehicle travels on an inclined floor (FIGS. 2 and 3 (b) and (c)), the following operation is performed. In addition, when one omnidirectional moving wheel 3a (right wheel) of the pair of omnidirectional moving wheels 3 is in a state of traveling on an uneven floor surface ((d) in FIG. 3), the opposite is true. Will be performed.
まず、全方向移動車輪3aが床面の凸状部分や傾斜に追随して持ち上がることによって、全方向移動車輪3aが持ち上がった分だけ、全方向移動車輪3aに連結している揺動部材5aの他方の端部8aが中心部10を支点にして鉛直上向きに揺動するともに、揺動部材5aの一方の端部9aが鉛直下向きに揺動する。 First, as the omnidirectional moving wheel 3a is lifted following the convex portion or inclination of the floor surface, the oscillating member 5a connected to the omnidirectional moving wheel 3a is increased by the amount that the omnidirectional moving wheel 3a is lifted. The other end 8a swings vertically upward with the center portion 10 as a fulcrum, and one end 9a of the swinging member 5a swings vertically downward.
次に、揺動部材5aの端部9aが揺動した分だけ、端部9aに連結している連結部材6aが鉛直下向きに引っ張られることになり、それによって連結部材6aが連結している昇降部材7の端部7aも、揺動部材5aの端部9aが揺動した分だけ鉛直下向きに引っ張られることになる。すなわち、昇降部材7が、図2に示すように揺動部材5aの端部9aが揺動した分だけ(全方向移動車輪3aが持ち上がった分だけ)、全方向移動車輪3aの方向(反時計回りの方向)に揺動することになる。
そうすると、昇降部材7の他方の端部7bに連結している連結部材6bが、昇降部材7の一方の端部7aが下向きに揺動した分だけ鉛直上向きに引っ張られることになる。
Next, the connecting member 6a connected to the end portion 9a is pulled vertically downward by the amount that the end portion 9a of the swinging member 5a swings, so that the connecting member 6a is lifted up and down. The end 7a of the member 7 is also pulled vertically downward by the amount of the end 9a of the swinging member 5a swinging. That is, as shown in FIG. 2, the elevating member 7 is moved in the direction of the omnidirectional moving wheel 3a (counterclockwise) by the amount that the end 9a of the oscillating member 5a is oscillated (the amount by which the omnidirectional moving wheel 3a is lifted) Oscillate in the direction of rotation).
Then, the connecting member 6b connected to the other end 7b of the elevating member 7 is pulled vertically upward by the amount that one end 7a of the elevating member 7 swings downward.
次に、連結部材6bが鉛直上向きに引っ張られることによって、連結部材6bに連結されている揺動部材5bの端部9bが中心部10を支点にして鉛直上向きに揺動するともに、揺動部材5bの端部8bが鉛直下向きに揺動する。
そうすると、揺動部材5bの端部8bに連結している他の全方向移動車輪3bは、鉛直下向きに押し下げられることになる。
Next, when the connecting member 6b is pulled vertically upward, the end 9b of the swinging member 5b connected to the connecting member 6b swings vertically upward with the center portion 10 as a fulcrum, and the swinging member The end portion 8b of 5b swings vertically downward.
If it does so, the other omnidirectional movement wheel 3b connected with the edge part 8b of the rocking | fluctuation member 5b will be pushed down vertically downward.
ここで、全方向移動車輪3bが押し下げられる力は、全方向移動車輪3aが床面の凸状部分や傾斜に追随して持ち上がった際に床面から受けた力と同一の力がかかることになるとともに、一対の全方向移動車輪3は常に鉛直方向に上下稼働することになる。 Here, the force by which the omnidirectional moving wheel 3b is pushed down is that the same force as the force received from the floor surface when the omnidirectional moving wheel 3a lifts following the convex portion or inclination of the floor surface is applied. At the same time, the pair of omnidirectional moving wheels 3 always move up and down in the vertical direction.
以上のことから、本発明の無人搬送車1は、全ての全方向移動車輪3を床面に接地させることができるとともに、各車輪間において車輪と床面との接地力にバラツキを生じさせることなく接地させることができ、さらに、全方向移動車輪(の回転体)を床面に対して常に最適な状態で稼働させることができることになる。
従って、床面が凹凸を有する場合であっても全方向へのスムースな車体の移動を無駄な駆動力(電力)を必要とせずに行うことができることになる。
From the above, the automatic guided vehicle 1 according to the present invention can ground all the omnidirectionally moving wheels 3 to the floor surface, and causes variations in the ground contact force between the wheels and the floor surface between the wheels. In addition, the omnidirectional moving wheel (rotary body) can always be operated in an optimum state with respect to the floor surface.
Therefore, even when the floor surface is uneven, smooth movement of the vehicle body in all directions can be performed without using unnecessary driving force (electric power).
また、昇降手段4自体が、サスペンション12を介して車体2に連結されていることから、一の全方向移動車輪に急激な力がかかった場合(急に床面の凹凸を拾ったような場合)などにおいては、余分な力を和らげた状態で一の全方向移動車輪が床面から受けた力と同じだけの力で他の全方向移動車輪を床面に押し下げることができることになる。さらに、全ての全方向移動車輪が常に凹凸上を走行するような場合(デコボコ道を走行するような場合)においても、発生する振動を吸収することができることから搬送物を破損させることなく安全に搬送することができるようになる。 In addition, since the elevating means 4 itself is connected to the vehicle body 2 via the suspension 12, when a sudden force is applied to one omnidirectionally moving wheel (such as suddenly picking up an uneven surface of the floor) ), Etc., the other omnidirectional wheels can be pushed down to the floor with the same force as the force received by the one omnidirectional wheel from the floor in a state where the extra force is reduced. In addition, even when all omnidirectional moving wheels always travel on uneven surfaces (when traveling on uneven roads), the generated vibrations can be absorbed, so the transported goods can be safely damaged. It can be transported.
本発明は工場や倉庫等で部品・半製品・製品等を搬送する無人搬送車に用いることができる。 The present invention can be used for an automatic guided vehicle that transports parts, semi-finished products, products, etc. in a factory, a warehouse, or the like.
1 無人搬送車
2 車体
3 一対の全方向移動車輪
3a 一対の全方向移動車輪
3b 一対の全方向移動車輪
4 昇降手段
5 一対の揺動部材
5a 一対の揺動部材
5b 一対の揺動部材
6 連結部材
6a 連結部材
6b 連結部材
7 昇降部材
7a 昇降部材
7b 昇降部材
8 端部
8a 端部
8b 端部
9 端部
9a 端部
9b 端部
10 中心部
11 中心部
12 サスペンション
DESCRIPTION OF SYMBOLS 1 Automatic guided vehicle 2 Car body 3 A pair of omnidirectional movement wheel 3a A pair of omnidirectional movement wheel 3b A pair of omnidirectional movement wheel 4 Lifting means 5 A pair of rocking | fluctuation member 5a A pair of rocking | fluctuation member 5b A pair of rocking | fluctuation member 6 Connection Member 6a Connecting member 6b Connecting member 7 Lifting member 7a Lifting member 7b Lifting member 8 End portion 8a End portion 8b End portion 9 End portion 9a End portion 9b End portion 10 Center portion 11 Center portion 12 Suspension
Claims (3)
複数の回転体および駆動手段を備えた全方向移動車輪を少なくとも一対設け、
前記一対の全方向移動車輪は、互いに連動して逆方向かつ鉛直方向に昇降する昇降手段によって連結していることを特徴とする無人搬送車。
The car body,
At least a pair of omnidirectional moving wheels provided with a plurality of rotating bodies and driving means are provided,
The pair of omnidirectional moving wheels are connected to each other by an elevating means that elevates and moves in the opposite direction and the vertical direction in conjunction with each other.
中央部が枢支されている一対の揺動部材と、
中央部が前記揺動部材とは直交する方向に枢支されている昇降部材と
前記揺動部材と前記昇降部材を連結する連結部材とを備え、
前記一の揺動部材の一方の端部には前記一対の全方向移動車輪のうちの一の全方向移動車輪が連結されており、
前記他の揺動部材の一方の端部には前記一対の全方向移動車輪のうちの他の全方向移動車輪が連結されており、
前記一対の揺動部材のうちの一の揺動部材の他方の端部は前記連結部材によって前記昇降部材の一方の端部に連結されており、
前記一対の揺動部材のうちの他の揺動部材の他方の端部は前記連結部材によって前記昇降部材の他方の端部に連結されており、
前記一の全方向移動車輪が昇降する際の昇降量に応じて、前記一の揺動部材の揺動量が変化し、
前記揺動量に応じて前記昇降部材が前記連結部材によって前記他の揺動部材を揺動させることで、前記一の全方向移動車輪の昇降量と同じだけ前記他の全方向移動車輪を鉛直方向に降昇させることを特徴とする請求項1に記載の無人搬送車。
The lifting means is
A pair of swinging members pivoted at the center,
A raising and lowering member pivotally supported in a direction orthogonal to the swinging member, and a connecting member for connecting the swinging member and the lifting member;
One end of the one swing member is connected to one omnidirectional wheel of the pair of omnidirectional wheels,
The other omnidirectional moving wheel of the pair of omnidirectional moving wheels is connected to one end of the other swinging member,
The other end of one swinging member of the pair of swinging members is connected to one end of the lifting member by the connecting member,
The other end of the other swinging member of the pair of swinging members is connected to the other end of the lifting member by the connecting member,
The swing amount of the one swing member changes according to the lift amount when the one omnidirectional moving wheel moves up and down,
The lifting member causes the other swinging member to swing by the connecting member according to the swinging amount so that the other omnidirectional moving wheel moves in the vertical direction as much as the lifting amount of the one omnidirectional moving wheel. The automatic guided vehicle according to claim 1, wherein the automatic guided vehicle is lowered to
サスペンション機能が設けられていることを特徴とする請求項1または請求項2に記載の無人搬送車。
In the lifting means,
The automatic guided vehicle according to claim 1 or 2, wherein a suspension function is provided.
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JP2020040596A (en) * | 2018-09-13 | 2020-03-19 | 三菱ロジスネクスト株式会社 | Unmanned carrier |
JP2020189564A (en) * | 2019-05-22 | 2020-11-26 | ユースエンジニアリング株式会社 | Unmanned carrier |
US20220402736A1 (en) * | 2021-06-22 | 2022-12-22 | Symbotic Llc | Autonomous transport vehicle with synergistic vehicle dynamic response |
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CN107696817A (en) * | 2017-06-19 | 2018-02-16 | 广东美的智能机器人有限公司 | For automatic guided vehicle drive device and there is its automatic guided vehicle |
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JP2020040596A (en) * | 2018-09-13 | 2020-03-19 | 三菱ロジスネクスト株式会社 | Unmanned carrier |
JP2020189564A (en) * | 2019-05-22 | 2020-11-26 | ユースエンジニアリング株式会社 | Unmanned carrier |
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