JPH07149243A - Drive unit for self-traveling carrier device - Google Patents
Drive unit for self-traveling carrier deviceInfo
- Publication number
- JPH07149243A JPH07149243A JP5329685A JP32968593A JPH07149243A JP H07149243 A JPH07149243 A JP H07149243A JP 5329685 A JP5329685 A JP 5329685A JP 32968593 A JP32968593 A JP 32968593A JP H07149243 A JPH07149243 A JP H07149243A
- Authority
- JP
- Japan
- Prior art keywords
- steering
- encoder
- wheel
- drive
- motor
- 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.)
- Granted
Links
- 238000001514 detection method Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 2
Landscapes
- Steering Controls (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、床面上を自走する搬送
装置の駆動装置、特に、一つの車輪を走行駆動用と操向
用とに兼用させるようにした駆動装置に関するものであ
る。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a drive device for a carrier device that is self-propelled on a floor, and more particularly to a drive device in which one wheel is used for both driving and steering. .
【０００２】[0002]
【従来の技術】この種の自走搬送装置の駆動装置には、
車輪駆動手段と車輪操向用駆動手段、及び操向制御のた
めのエンコーダが必要である。而して、走行用駆動車輪
を操向用車輪に兼用させるタイプの駆動装置は、搬送装
置フレームに軸支された操向用回転体に、車輪を軸支す
ると共に当該車輪を駆動するモータを取付け、前記操向
用回転体と操向用モータとを連動連結したものである
が、操向用回転体の回転角度を検出するエンコーダを利
用して前記操向用モータを自動制御する場合には、当該
エンコーダを操向用回転体に連動連結しなければならな
い。2. Description of the Related Art A drive device for a self-propelled carrier device of this type includes
A wheel drive means, a wheel steering drive means, and an encoder for steering control are required. Thus, a drive device of the type in which the drive wheels for traveling are also used as steering wheels is such that a steering rotating body pivotally supported by a carrier frame is provided with a motor for pivotally supporting the wheels and driving the wheels. The steering rotating body and the steering motor are interlockingly connected, but when the steering motor is automatically controlled using an encoder that detects the rotation angle of the steering rotating body. Must interlock the encoder with the steering wheel.
【０００３】即ち操向用回転体には、操向用モータと操
向制御用エンコーダの両者を連動連結しなければならな
いのであるが、操向制御用エンコーダの検出精度を高め
るためには操向用回転軸に当該エンコーダを直結するの
が望ましい。このために操向用モータは、操向用回転体
にギヤやチェンなどを介して連動連結しなければならな
かった。That is, both the steering motor and the steering control encoder must be interlocked with the steering rotating body, but in order to improve the detection accuracy of the steering control encoder, It is desirable to directly connect the encoder to the rotary shaft for use. For this reason, the steering motor has to be interlocked with the steering rotating body via gears and chains.
【０００４】[0004]
【発明が解決しようとする課題】上記のような従来の駆
動装置では、操向制御用エンコーダにより操向用回転体
の回転角度を高精度に検出し、この検出結果に基づいて
操向用モータを高精度に制御することが出来たとして
も、当該操向用モータと操向用回転体との間のギヤやチ
ェンなどの中継伝動手段に於けるバックラッシュや、磨
耗によるバックラッシュ量の経時的変化によって、実際
の車輪の操向精度にモータの制御精度を反映させること
が出来なかった。従って特に、このような操向と走行駆
動とを兼用する一つの車輪を有する駆動装置を２以上配
設して、全方向走行可能な自走搬送装置を構成しようと
しても、各駆動装置間で推力方向が完全に一致しないた
めに生じる、所謂「押し押し現象」または「引き引き現
象」が発生する可能性があり、実用化は困難であった。In the conventional drive device as described above, the rotation angle of the steering rotating body is detected with high accuracy by the steering control encoder, and the steering motor is detected based on this detection result. Even if it can be controlled with high precision, the backlash in the relay transmission means such as gears and chains between the steering motor and the steering rotating body, and the amount of backlash due to wear over time It was not possible to reflect the control accuracy of the motor on the actual steering accuracy of the wheel due to the dynamic change. Therefore, in particular, even if two or more drive devices having one wheel for both steering and traveling drive are arranged to configure a self-propelled transport device capable of traveling in all directions, the drive devices are connected to each other. There is a possibility that a so-called "push-push phenomenon" or "pull-pull phenomenon" that occurs because the thrust directions do not match completely, and practical application was difficult.
【０００５】[0005]
【課題を解決するための手段】本発明は上記のような従
来の問題点を解決するために成されたものであって、そ
の特徴を後述する実施例の参照符号を括弧付きで付して
示すと、搬送装置フレーム(12)に垂直向きに設置された
減速機構内蔵モータユニット(1) と、操向制御用エンコ
ーダ(2) と、エンコーダ駆動軸(3) と、車輪(5) を軸支
した操向用回転体(4) と、車輪駆動用モータ(6) とを備
えた駆動装置であって、減速機構内蔵モータユニット
(1) は、下端側に内蔵減速機構(8) のリング状出力回転
部(8a)を有すると共に、当該出力回転部(8a)と同心状の
垂直向きの貫通中空部(10)を有し、操向用回転体(4)
は、減速機構内蔵モータユニット(1) の出力回転部(8a)
に取付けられ、エンコーダ駆動軸(3) は、減速機構内蔵
モータユニット(1) の貫通中空部(10)を貫通して、その
下端は出力回転部(8a)に同心状に連動連結され、操向制
御用エンコーダ(2) は、減速機構内蔵モータユニット
(1) の上端に配設されてエンコーダ駆動軸(3) の上端に
連動連結され、車輪駆動用モータ(6) は、操向用回転体
(4) に取付けられて、当該操向用回転体(4) に軸支され
ている車輪(5) に連動連結されている点に特徴を有す
る。SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned conventional problems, the features of which will be described with reference numerals of embodiments described later in parentheses. The motor unit (1) with a built-in reduction mechanism installed vertically on the carrier frame (12), the steering control encoder (2), the encoder drive shaft (3), and the wheels (5) are shown. A drive unit comprising a supported steering rotating body (4) and a wheel drive motor (6), which is a motor unit with a reduction mechanism.
(1) has a ring-shaped output rotating part (8a) of the built-in reduction gear mechanism (8) at the lower end side, and also has a vertically extending through hollow part (10) concentric with the output rotating part (8a). , Steering body (4)
Is the output rotation part (8a) of the motor unit with built-in reduction mechanism (1).
The encoder drive shaft (3) penetrates through the through-hole (10) of the motor unit with built-in reduction gear mechanism (1), and the lower end of the encoder drive shaft (3) is concentrically linked to the output rotating part (8a) for operation. The direction control encoder (2) is a motor unit with a built-in reduction mechanism.
It is arranged at the upper end of (1) and is linked to the upper end of the encoder drive shaft (3), and the wheel drive motor (6) is
It is characterized in that it is attached to (4) and is linked to wheels (5) pivotally supported by the steering rotating body (4).
【０００６】[0006]
【実施例】以下、本発明の一実施例を添付の例示図に基
づいて説明すると、図１に於いて、１は減速機構内蔵モ
ータユニット、２は操向制御用エンコーダ、３はエンコ
ーダ駆動軸、４は車輪５を軸支した操向用回転体、６は
車輪駆動用減速機付きモータである。減速機構内蔵モー
タユニット１は、ＡＣサーボモータ部７と、このＡＣサ
ーボモータ部７の筒状出力回転軸７ａの一端外側に連動
連設された減速機構（例えばハーモニックドライブ方式
の減速機構など）８と、筒状出力回転軸７ａの他端外側
に連動連設されてＡＣサーボモータ部７の制御に利用さ
れるインクリメンタルエンコーダ部９とを有する周知の
もので、筒状出力回転軸７ａと減速機構８のリング状出
力回転部８ａの中心部とで形成される貫通中空部１０を
有すると共に、減速機構８側の端部に外側に張り出すリ
ング状取付け板１１を備えており、減速機構８のリング
状出力回転部８ａが下側となり且つ貫通中空部１０が垂
直向きとなるように、リング状取付け板１１を介して搬
送装置フレーム１２に取付けられている。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the accompanying drawings. In FIG. 1, 1 is a motor unit with a reduction mechanism, 2 is a steering control encoder, and 3 is an encoder drive shaft. Reference numeral 4 denotes a steering rotator having a wheel 5 rotatably supported, and 6 denotes a wheel drive motor with a reducer. The motor unit 1 with a built-in reduction gear mechanism has an AC servomotor unit 7 and a reduction gear mechanism (for example, a harmonic drive type reduction gear mechanism) 8 that is interlocked and provided outside one end of a cylindrical output rotation shaft 7a of the AC servomotor unit 7. And an incremental encoder portion 9 that is connected to the outside of the other end of the tubular output rotation shaft 7a and is used to control the AC servo motor portion 7. The tubular output rotation shaft 7a and the reduction mechanism are well-known. 8 has a through hollow portion 10 formed by the central portion of the ring-shaped output rotating portion 8a and a ring-shaped mounting plate 11 projecting outward at the end portion on the speed reduction mechanism 8 side. It is attached to the carrier frame 12 via a ring-shaped mounting plate 11 so that the ring-shaped output rotating portion 8a is on the lower side and the hollow hollow portion 10 is oriented vertically.
【０００７】操向用回転体４は、減速機構内蔵モータユ
ニット１のリング状出力回転部８ａに同心状に取付けら
れた垂直軸部４ａと、この垂直軸部４ａの下端に連設さ
れた垂直な取付け板部４ｂとから成り、この取付け板部
４ｂの外側に車輪駆動用減速機付きモータ６が水平横向
きに取付けられ、このモータ６の出力回転部は取付け板
部４ｂの内側に突出し、これに車輪５が取付けられてい
る。The steering rotating body 4 includes a vertical shaft portion 4a concentrically attached to the ring-shaped output rotating portion 8a of the motor unit 1 with a reduction mechanism, and a vertical shaft continuous with the lower end of the vertical shaft portion 4a. A motor 6 with a speed reducer for driving a wheel is horizontally mounted on the outside of the mounting plate 4b, and the output rotating part of the motor 6 projects inside the mounting plate 4b. A wheel 5 is attached to the.
【０００８】エンコーダ駆動軸３は、減速機構内蔵モー
タユニット１の貫通中空部１０を貫通し、その下端取付
け座３ａは、減速機構内蔵モータユニット１の出力回転
部８ａに同心状に連動連結されている。具体的には、エ
ンコーダ駆動軸３の下端取付け座３ａは、操向用回転体
４の垂直軸部４ａと出力回転部８ａとの間に挟まれて、
垂直軸部４ａを取付けるボルト１３により共締め固定さ
れているが、操向用回転体４の垂直軸部４ａとエンコー
ダ駆動軸３の下端取付け座３ａとは、減速機構内蔵モー
タユニット１の出力回転部８ａに各別に取付けても良い
し、エンコーダ駆動軸３の下端取付け座３ａと操向用回
転体４の垂直軸部４ａとの内、一方を減速機構内蔵モー
タユニット１の出力回転部８ａに取付け、この出力回転
部８ａに取付けられたものに他方を取付けても良い。更
に、エンコーダ駆動軸３と操向用回転体４の垂直軸部４
ａとを同心一体に形成することも可能である。The encoder drive shaft 3 penetrates the through-hole 10 of the motor unit 1 with a built-in reduction gear mechanism, and its lower end mounting seat 3a is concentrically linked to the output rotating portion 8a of the motor unit 1 with a built-in reduction gear mechanism. There is. Specifically, the lower end mounting seat 3a of the encoder drive shaft 3 is sandwiched between the vertical shaft portion 4a of the steering rotating body 4 and the output rotating portion 8a,
The vertical shaft portion 4a is fixed together by a bolt 13 for mounting the vertical shaft portion 4a. The lower end mounting seat 3a of the encoder drive shaft 3 and the vertical shaft portion 4a of the steering rotating body 4 may be attached to the output rotating portion 8a of the motor unit 1 with a built-in reduction gear mechanism. Alternatively, the other may be attached to the one attached to the output rotating portion 8a. Further, the encoder drive shaft 3 and the vertical shaft portion 4 of the steering rotating body 4
It is also possible to form a and concentric integrally.
【０００９】操向制御用エンコーダ２は、減速機構内蔵
モータユニット１の上端（インクリメンタルエンコーダ
部９の上端）に配設されて、エンコーダ駆動軸３の上端
に連動連結されている。この操向制御用エンコーダ２と
しては、アブソリュートエンコーダが使用出来る。１４
は、操向制御用エンコーダ２を覆うカバーである。The steering control encoder 2 is arranged at the upper end of the motor unit 1 with a built-in reduction mechanism (upper end of the incremental encoder portion 9) and is linked to the upper end of the encoder drive shaft 3. An absolute encoder can be used as the steering control encoder 2. 14
Is a cover that covers the steering control encoder 2.
【００１０】上記の駆動装置を備えた搬送装置を自走さ
せるときは、モータ６により車輪５を回転駆動させれば
良い。而して、当該搬送装置の走行方向を変更するとき
は、減速機構内蔵モータユニット１のＡＣサーボモータ
部７を稼動させ、その筒状出力回転軸７ａの回転を減速
機構８により減速してリング状出力回転部８ａに取り出
し、この出力回転部８ａの回転力で操向用回転体４を自
転させることにより、当該操向用回転体４に軸支されて
いる車輪５の向きを所定方向に所定角度だけ変更すれば
良い。このとき車輪５は、減速機構８のリング状出力回
転部８ａの垂直な回転軸心の周りで操向回転することに
なるが、当該出力回転部８ａの回転軸心の延長線と床面
との交点が車輪５の接地点となるように、車輪５を操向
用回転体４に軸支しておくのが望ましい。When the transport device equipped with the above drive device is to be self-propelled, the wheels 5 may be rotationally driven by the motor 6. Thus, when changing the traveling direction of the transport device, the AC servomotor portion 7 of the motor unit 1 with a built-in reduction gear mechanism is operated, and the rotation of the cylindrical output rotation shaft 7a is reduced by the reduction gear mechanism 8 to form a ring. The rotating body 4 for steering is rotated by the rotational force of the output rotating portion 8a so that the wheels 5 axially supported by the rotating body 4 for steering are oriented in a predetermined direction. It suffices to change only a predetermined angle. At this time, the wheel 5 turns around the vertical axis of rotation of the ring-shaped output rotary unit 8a of the speed reduction mechanism 8, but the extension line of the rotary axis of the output rotary unit 8a and the floor surface are rotated. It is desirable to pivotally support the wheel 5 on the steering rotating body 4 so that the intersection point of is the grounding point of the wheel 5.
【００１１】上記のように減速機構内蔵モータユニット
１で車輪５を操向回転させたとき、その操向回転は、減
速機構内蔵モータユニット１の貫通中空部１０を同心状
に貫通しているエンコーダ駆動軸３を介して操向制御用
エンコーダ２に直接伝達される。従って、車輪５（操向
用回転体４）の操向方向と操向角度とは、操向制御用エ
ンコーダ３により高精度に検出させることが出来、この
検出値に基づいて、搬送装置が所定経路に沿って走行す
るように減速機構内蔵モータユニット１のＡＣサーボモ
ータ部７の回転方向と回転角度を自動制御することが出
来る。When the wheels 5 are steered and rotated by the motor unit 1 with a built-in reduction mechanism as described above, the steering rotation concentrically penetrates through the hollow portion 10 of the motor unit 1 with a built-in reduction mechanism. It is directly transmitted to the steering control encoder 2 via the drive shaft 3. Therefore, the steering direction and the steering angle of the wheel 5 (steering rotor 4) can be detected with high accuracy by the steering control encoder 3, and the transport device can determine the predetermined direction based on the detected value. It is possible to automatically control the rotation direction and the rotation angle of the AC servo motor section 7 of the motor unit 1 with a built-in reduction gear mechanism so that the vehicle travels along the route.
【００１２】図２〜図４は、上記のように構成される本
発明駆動装置１５の使用例を示している。即ち、図２に
示す自走搬送装置１６は、３つの本発明駆動装置１５Ａ
〜１５Ｃを正三角形の各頂点相当位置に配設したもので
あり、図３に示す自走搬送装置１７は、前部中央に本発
明駆動装置１５を配設し、後部左右両側に直進向きに固
定された遊転車輪１８ａ，１８ｂを配設したものであ
る。また図４に示す自走搬送装置１９は、四隅の内、一
方の対角線上の２か所には本発明駆動装置１５Ａ，１５
Ｂを配設し、他方の対角線上の２か所にはキャスター車
輪２０ａ，２０ｂを配設したものである。2 to 4 show an example of use of the driving device 15 of the present invention constructed as described above. That is, the self-propelled carrier device 16 shown in FIG.
15C are arranged at the positions corresponding to the vertices of an equilateral triangle, and the self-propelled carrier device 17 shown in FIG. The fixed idle wheels 18a and 18b are arranged. Further, the self-propelled carrier device 19 shown in FIG. 4 has the drive devices 15A, 15 of the present invention at two positions on one diagonal line among the four corners.
B is provided, and the caster wheels 20a and 20b are provided at two locations on the other diagonal line.
【００１３】このように本発明駆動装置１５は、単独で
或いは他の車輪と組み合わせて、自走搬送装置の足周り
を構成することが出来るものであり、特に本発明駆動装
置１５を複数使用した図２や図４に示す自走搬送装置１
６，１９では、各本発明駆動装置１５の車輪５の高精度
な操向制御により、全方向に円滑に操向させることが出
来る。As described above, the drive device 15 of the present invention can be used alone or in combination with other wheels to form the periphery of the legs of the self-propelled conveying device. In particular, a plurality of drive devices 15 of the present invention are used. Self-propelled carrier device 1 shown in FIG. 2 and FIG.
In Nos. 6 and 19, high-precision steering control of the wheels 5 of each drive device 15 of the present invention enables smooth steering in all directions.
【００１４】なお、減速機構内蔵モータユニット１に設
けられたインクリメンタルエンコーダ９は本発明に必須
のものではない。The incremental encoder 9 provided in the motor unit 1 with a built-in reduction mechanism is not essential to the present invention.
【００１５】[0015]
【発明の作用及び効果】以上のように本発明の駆動装置
によれば、減速機構内蔵モータユニットにより操向駆動
される操向用回転体は、当該モータユニットの減速機構
の出力回転部に直結され、当該操向用回転体の操向方向
と操向角度を検出するための操向制御用エンコーダも、
前記モータユニットの減速機構の出力回転部にエンコー
ダ駆動軸を介して連動連結されるものであって、操向用
回転体とこれを駆動するモータユニットとの間及び操向
用回転体と操向制御用エンコーダとの間の何れにも、バ
ックラッシュの恐れのあるギヤやチェンなどの伝動手段
が介装されていないものであるから、操向用回転体の操
向方向と操向角度を操向制御用エンコーダで高精度に検
出し、この検出結果に基づいて制御される減速機構内蔵
モータユニットにより操向用回転体を高精度に操向駆動
することが出来る。As described above, according to the driving apparatus of the present invention, the steering rotating body steered and driven by the motor unit with a built-in reduction gear mechanism is directly connected to the output rotary portion of the reduction gear mechanism of the motor unit. Also, the steering control encoder for detecting the steering direction and steering angle of the steering rotating body,
An output rotary part of a deceleration mechanism of the motor unit is interlockingly connected via an encoder drive shaft, and is provided between a steering rotary body and a motor unit for driving the rotary body and between the steering rotary body and the steering body. Since neither gears nor chains, which may cause backlash, are interposed between the control encoder and the control encoder, the steering direction and steering angle of the steering rotor are controlled. The direction control encoder can detect with high accuracy, and the motor unit with a built-in deceleration mechanism controlled based on this detection result can drive the steering rotating body with high accuracy.
【００１６】換言すれば、操向制御用エンコーダの高精
度な検出結果を操向用回転体の操向駆動に反映させて、
操向用回転体に軸支されている車輪を高精度に操向制御
し、自走搬送装置の操向を正確且つ円滑に行わせること
が出来るに至ったのである。従って特に、操向と走行駆
動とを兼用する一つの車輪を有する駆動装置を２以上配
設して、全方向走行可能な自走搬送装置を構成する場合
でも、当該駆動装置として本発明装置を利用することに
より、各駆動装置間で推力方向を完全に一致させて円滑
に操向させることが出来る。しかも、ギヤやチェンなど
の伝動手段が不要であるから、部品点数が少なくなり、
装置全体の構造が簡単になってコンパクトに構成するこ
とが出来る。In other words, the highly accurate detection result of the steering control encoder is reflected in the steering drive of the steering rotating body,
Thus, it has become possible to control the wheels pivotally supported by the steering rotating body with high accuracy and to accurately and smoothly carry out the steering of the self-propelled conveying device. Therefore, in particular, even when two or more drive devices having one wheel for both steering and traveling drive are arranged to configure a self-propelled transport device capable of traveling in all directions, the device of the present invention is used as the drive device. By utilizing it, the thrust directions of the respective drive devices can be perfectly matched to each other and the steering can be smoothly performed. Moreover, since transmission means such as gears and chains are unnecessary, the number of parts is reduced,
The structure of the entire device is simplified and can be made compact.
【図１】 本発明駆動装置の一実施例を示す縦断正面図
である。FIG. 1 is a front view in vertical section showing an embodiment of a drive device of the present invention.
【図２】 本発明駆動装置を利用して構成した自走搬送
装置の一例を示す概略平面図である。FIG. 2 is a schematic plan view showing an example of a self-propelled carrying device configured by using the driving device of the present invention.
【図３】 本発明駆動装置を利用して構成した自走搬送
装置の他の例を示す概略平面図である。FIG. 3 is a schematic plan view showing another example of the self-propelled carrying device configured by using the driving device of the present invention.
【図４】 本発明駆動装置を利用して構成した自走搬送
装置の更に別の例を示す概略平面図である。FIG. 4 is a schematic plan view showing still another example of a self-propelled carrying device configured by using the driving device of the present invention.
１ 減速機構内蔵モータユニット ２ 操向制御用エンコーダ ３ エンコーダ駆動軸 ４ 操向用回転体 ５ 車輪 ６ 車輪駆動用モータ ７ ＡＣサーボモータ部 ７ａ 筒状出力回転軸 ８ 減速機構 ８ａ リング状出力回転部 ９ サーボモータ制御用インクリメンタルエンコーダ １０ 貫通中空部 1 Motor Unit with Built-in Reduction Mechanism 2 Encoder for Steering Control 3 Encoder Drive Shaft 4 Rotating Body for Steering 5 Wheel 6 Motor for Wheel Drive 7 AC Servo Motor Section 7a Cylindrical Output Rotation Shaft 8 Reduction Mechanism 8a Ring Output Rotation Section 9 Incremental encoder for servo motor control 10 Through hole
Claims (1)
れた減速機構内蔵モータユニット(1) と、操向制御用エ
ンコーダ(2) と、エンコーダ駆動軸(3) と、車輪(5) を
軸支した操向用回転体(4) と、車輪駆動用モータ(6) と
を備えた駆動装置であって、 減速機構内蔵モータユニット(1) は、下端側に内蔵減速
機構(8) のリング状出力回転部(8a)を有すると共に、当
該出力回転部(8a)と同心状の垂直向きの貫通中空部(10)
を有し、 操向用回転体(4) は、減速機構内蔵モータユニット(1)
の出力回転部(8a)に取付けられ、 エンコーダ駆動軸(3) は、減速機構内蔵モータユニット
(1) の貫通中空部(10)を貫通して、その下端は出力回転
部(8a)に同心状に連動連結され、 操向制御用エンコーダ(2) は、減速機構内蔵モータユニ
ット(1) の上端に配設されてエンコーダ駆動軸(3) の上
端に連動連結され、 車輪駆動用モータ(6) は、操向用回転体(4) に取付けら
れて、当該操向用回転体(4) に軸支されている車輪(5)
に連動連結されている自走搬送装置の駆動装置。1. A motor unit (1) with a speed reduction mechanism installed vertically on a carrier frame (12), a steering control encoder (2), an encoder drive shaft (3), and wheels (5). A drive unit including a steering rotating body (4) pivotally supporting a wheel and a wheel drive motor (6), wherein the reduction gear built-in motor unit (1) has a built-in reduction gear (8) at the lower end side. With the ring-shaped output rotating part (8a), the output rotating part (8a) is concentric with the vertically extending through hollow part (10).
The steering rotating body (4) has a motor unit (1) with a built-in reduction mechanism.
The encoder drive shaft (3) is attached to the output rotation part (8a) of the
It penetrates through the hollow part (10) of (1) and its lower end is concentrically linked to the output rotating part (8a), and the steering control encoder (2) is a motor unit (1) with a reduction mechanism. The wheel drive motor (6) is mounted on the steering rotor (4) and is connected to the upper end of the encoder drive shaft (3). ) Wheels pivoted on (5)
Drive device of self-propelled carrier device that is interlockingly connected to.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5329685A JP2894191B2 (en) | 1993-11-30 | 1993-11-30 | Drive device of self-propelled transport device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5329685A JP2894191B2 (en) | 1993-11-30 | 1993-11-30 | Drive device of self-propelled transport device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH07149243A true JPH07149243A (en) | 1995-06-13 |
| JP2894191B2 JP2894191B2 (en) | 1999-05-24 |
Family
ID=18224132
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5329685A Expired - Fee Related JP2894191B2 (en) | 1993-11-30 | 1993-11-30 | Drive device of self-propelled transport device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2894191B2 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006271189A (en) * | 2005-02-28 | 2006-10-05 | Harmonic Drive Syst Ind Co Ltd | Gear motor |
| CN103317965A (en) * | 2013-06-04 | 2013-09-25 | 叶林森 | Power-driven trundle |
| CN106627803A (en) * | 2017-02-24 | 2017-05-10 | 吴坤柳 | Synchronous steering vehicle body |
-
1993
- 1993-11-30 JP JP5329685A patent/JP2894191B2/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006271189A (en) * | 2005-02-28 | 2006-10-05 | Harmonic Drive Syst Ind Co Ltd | Gear motor |
| CN103317965A (en) * | 2013-06-04 | 2013-09-25 | 叶林森 | Power-driven trundle |
| CN106627803A (en) * | 2017-02-24 | 2017-05-10 | 吴坤柳 | Synchronous steering vehicle body |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2894191B2 (en) | 1999-05-24 |
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