JPH074501Y2 - Measuring wheel mounting structure for automated guided vehicles - Google Patents
Measuring wheel mounting structure for automated guided vehiclesInfo
- Publication number
- JPH074501Y2 JPH074501Y2 JP11953390U JP11953390U JPH074501Y2 JP H074501 Y2 JPH074501 Y2 JP H074501Y2 JP 11953390 U JP11953390 U JP 11953390U JP 11953390 U JP11953390 U JP 11953390U JP H074501 Y2 JPH074501 Y2 JP H074501Y2
- Authority
- JP
- Japan
- Prior art keywords
- wheel
- measuring wheel
- gear case
- traveling
- bracket
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Landscapes
- Measurement Of Distances Traversed On The Ground (AREA)
- Steering Controls (AREA)
Description
【考案の詳細な説明】 [産業上の利用分野] 本考案は、走行距離を測定し、自らの走行経路を制御し
うる無人搬送車における測定輪の取付構造に関する。[Detailed Description of the Invention] [Industrial field of application] The present invention relates to a mounting structure of a measuring wheel in an automatic guided vehicle capable of measuring a traveling distance and controlling its own traveling route.
[従来の技術] 自らの走行距離に基づき、内部演算を行って自律走行す
る無人搬送車等は周知である。これらの無人搬送車の走
行距離検出手段としては、駆動輪の回転数を検出する方
法や、駆動輪以外の非駆動輪にエンコーダ等の各種セン
サを取り付けた方法がある。又、走行車輪と別個に測定
専用車輪を設けているものもある。[Prior Art] An automated guided vehicle or the like that autonomously travels by performing internal calculation based on its own traveling distance is well known. As means for detecting the travel distance of these automatic guided vehicles, there are a method of detecting the rotational speed of the drive wheels and a method of attaching various sensors such as encoders to the non-drive wheels other than the drive wheels. In addition, some wheels are provided separately from the traveling wheels for measurement.
[考案が解決しようとする課題] しかしながら、走行路面の凹凸や積載荷重の変動による
輪圧の変動或いは路面の摩擦抵抗の変動によるスリップ
等が生じ、走行距離を正確に測定することができず、無
人搬送車を正確に目的地まで走行させることができない
という問題があった。[Problems to be solved by the invention] However, slippage due to fluctuations in wheel pressure due to unevenness of the traveling road surface or fluctuations in the loading load, or fluctuations in the frictional resistance of the road surface, and the like, make it impossible to accurately measure the traveling distance, There is a problem that the automated guided vehicle cannot be accurately driven to the destination.
本考案は、かかる課題を解決すべく案出されたもので、
その目的は、いかなる条件下に於いても正確に走行距離
を測定しうる無人搬送車における測定輪取付構造を提供
することにある。The present invention was devised to solve such problems,
It is an object of the present invention to provide a measuring wheel mounting structure in an automatic guided vehicle capable of accurately measuring a traveling distance under any condition.
[課題を解決するための手段] 本考案は、車体下面から垂下する垂直軸と、該垂直軸か
ら側方に偏寄した位置に回動自在な走行車輪を備えると
共に、前記垂直軸を支承するギヤケースを車体に対し旋
回動自在に支承してなる走行車輪を備えた無人搬送車で
あって、前記ギヤケースに上下動自在に滑動するブラケ
ットと、該ブラケットに回動自在に支承される測定輪
と、該測定輪の回転数を検出する回転数検出手段とを備
えると共に、前記ギヤケースが旋回する際の旋回中心軸
上に前記測定輪を位置せしめた構成としたものである。[Means for Solving the Problem] The present invention includes a vertical shaft that hangs from the lower surface of a vehicle body, and a traveling wheel that is rotatable at a position laterally offset from the vertical shaft, and supports the vertical shaft. What is claimed is: 1.An automatic guided vehicle comprising traveling wheels, which support a gear case so as to be pivotable with respect to a vehicle body, and a bracket which slidably moves up and down on the gear case, and a measuring wheel which is rotatably supported on the bracket. The measuring wheel is provided with a rotational speed detecting means for detecting the rotational speed of the measuring wheel, and the measuring wheel is positioned on a turning central axis when the gear case turns.
[実施例] 本考案に使用される無人搬送車として、全方向移動台車
を例示して説明する。[Example] As an automatic guided vehicle used in the present invention, an omnidirectional carriage will be exemplified and described.
第1図は側面図、第2図は正面図であり、全方向移動台
1の車体の周囲には、障害物と直接接触することによ
り、障害物を検知しうる障害物検出用バンパ4、5、6
と、車体の各側面に2個づつ設けられた非接触にて障害
物を検知しうる非接触式障害物検出装置10A…と、車体
から任意の位置に設置された基準壁面(不図示)との距
離を測定するために、車体の各側面に2個づつ設けられ
た測距装置7A…と、車体上面に設けられた駆動コンベヤ
3を有する荷役装置2、2と、走行、荷役の制御を行う
制御装置8、およびバッテリBAとから構成される。FIG. 1 is a side view, and FIG. 2 is a front view. An obstacle detection bumper 4 that can detect an obstacle by directly contacting the obstacle around the vehicle body of the omnidirectional mobile platform 1, 5, 6
A non-contact type obstacle detection device 10A, which is provided on each side of the vehicle body and is capable of detecting obstacles in a non-contact manner, and a reference wall surface (not shown) installed at an arbitrary position from the vehicle body. In order to measure the distance of the vehicle, two distance measuring devices 7A are provided on each side surface of the vehicle body, and the cargo handling devices 2 and 2 having the drive conveyor 3 provided on the upper surface of the vehicle body, and the control of traveling and cargo handling. It is composed of a control device 8 and a battery BA.
前記制御装置8には、走行距離データや、前記測距装置
7等からの信号が送られると共に、種々の走行制御の手
順等が記されており、これらに基づいて全方向移動台車
1の走行、荷役等の制御が行われるものである。The control device 8 is supplied with traveling distance data and signals from the distance measuring device 7 and the like, and describes various traveling control procedures and the like. Based on these, traveling of the omnidirectional mobile vehicle 1 is performed. The control of cargo handling is performed.
全方向移動台車1は、車体の4隅に配される全ての車輪
9FR、9RR、9FL、9RLにステアリングモータ(後述)が配
されており、それぞれ360度連続回転が可能に構成され
ている。又、車体の対角線上に配置された2つの車輪、
例えば、9FRと9RLとは、各々に走行モータ(後述)が装
備された駆動輪であり、他方、残りの2輪、9RR、9FLは
従動輪を構成する。The omnidirectional mobile trolley 1 has all wheels arranged at the four corners of the vehicle body.
9FR, 9RR, 9FL, and 9RL are equipped with steering motors (described later), each of which is capable of 360-degree continuous rotation. Also, two wheels arranged diagonally on the vehicle body,
For example, 9FR and 9RL are drive wheels each equipped with a traveling motor (described later), while the remaining two wheels, 9RR and 9FL, are driven wheels.
駆動輪である9FRの機構を第3図に基づき説明すると、
走行モータ11の出力軸に固着されたピニオンギヤ12と、
該ピニオンギヤ12に噛み合う1段減速ギヤ13と、該1段
減速ギヤ13と同軸一体に形成されるピニオンギヤ14と、
該ピニオンギヤ14に噛み合う2段減速ギヤ15および該2
段減速ギヤ15と同軸一体に形成されたスパーギヤ16と、
該スパーギヤ16に噛み合い、垂直軸18に嵌入するドリブ
ンギヤ17と、前記垂直軸18の下端に嵌入されているベベ
ルピニオン19と、該ベベルピニオン19に噛み合うベベル
ギヤ20と、該ベベルギヤ20にキーにて締結され、車輪9F
Rと固着されるるドライブ軸21とで構成される。The drive wheel 9FR mechanism will be described with reference to FIG.
A pinion gear 12 fixed to the output shaft of the traveling motor 11,
A one-step reduction gear 13 that meshes with the pinion gear 12, and a pinion gear 14 that is formed coaxially with the one-step reduction gear 13
A two-stage reduction gear 15 meshing with the pinion gear 14 and the two
A spur gear 16 formed coaxially with the step reduction gear 15,
A driven gear 17 that meshes with the spur gear 16 and fits into the vertical shaft 18, a bevel pinion 19 that fits into the lower end of the vertical shaft 18, a bevel gear 20 that meshes with the bevel pinion 19, and the bevel gear 20 is fastened with a key. And wheel 9F
It is composed of R and a drive shaft 21 that is fixed.
又、ステアリング機構は、ステアリングモータ23の出力
軸に固着されるピニオンギヤ24と、該ピニオンギヤ24に
噛み合う減速ギヤ25と、該減速ギヤ25と同軸一体に形成
されたスパーギヤ26と、該スパーギヤ26に噛み合うイン
ターナルギヤ27と、該インターナルギヤ27に固着され、
上部ケーシングに旋回ベアリング34を介して回動自在に
支承される旋回ギヤケース28とからなる構成のものを示
す。したがって、旋回ギヤケース28は、前記ステアリン
グモータ23を回動させることにより、旋回軸を中心に旋
回動し、又走行モータ11を回転駆動することで、前記旋
回ギヤケース28と別個独立に車輪を回動させうる。The steering mechanism also includes a pinion gear 24 fixed to the output shaft of the steering motor 23, a reduction gear 25 that meshes with the pinion gear 24, a spur gear 26 that is formed coaxially with the reduction gear 25, and meshes with the spur gear 26. Internal gear 27 and fixed to the internal gear 27,
A structure including a slewing gear case 28 rotatably supported by an upper casing via a slewing bearing 34 is shown. Therefore, the turning gear case 28 turns around the turning shaft by turning the steering motor 23, and rotationally drives the traveling motor 11 to turn wheels independently of the turning gear case 28. Can be done.
次に、本考案に係る測定輪取付構造について第3図乃至
第4図に基づき説明する。Next, a measuring wheel mounting structure according to the present invention will be described with reference to FIGS.
各車輪には、走行距離を測定するための走行距離測定用
車輪31(以下、測定輪という)が設けられる。測定輪31
は、前記旋回ギヤケース28の円筒部分である突出部32に
遊嵌挿入されているスリーブ状のブラケット33に軸受を
介して回動自在に支持されている。Each wheel is provided with a travel distance measurement wheel 31 (hereinafter referred to as a measurement wheel) for measuring travel distance. Measuring wheel 31
Is rotatably supported via a bearing on a sleeve-shaped bracket 33 that is loosely fitted and inserted into a protrusion 32 that is a cylindrical portion of the swivel gear case 28.
又、前記ブラケット33には、第4図に示すようにアーム
片36、36が固着されている。該アーム片36、36は、前記
旋回ギヤケース28の一側面に取り付けられたレール37に
上下にスライド自在に係合支持されている。Further, arm pieces 36, 36 are fixed to the bracket 33 as shown in FIG. The arm pieces 36, 36 are vertically slidably supported by a rail 37 attached to one side surface of the turning gear case 28.
これにより、測定輪31はその自重で走行路面に接地し、
全方向移動台車の走行時、走行路面の凹凸に追従しなが
ら上下動することができ、接地面との間に一定の輪圧を
保つことができる。As a result, the measuring wheel 31 touches the road surface by its own weight,
When the omnidirectional vehicle is running, it can move up and down while following the unevenness of the road surface, and can maintain a constant wheel pressure with the ground contact surface.
さらには、測定輪31の取付位置を、前記旋回ギヤケース
28の旋回中心軸A上と一致ならしめる位置に設けてい
る。従って、全方向移動台車1がその場旋回を行った場
合には、測定輪31は回動することがないため、これによ
る全方向移動台車1の走行距離の誤差が生じることを防
止しうる。Further, the mounting position of the measuring wheel 31 is set to the turning gear case.
It is provided at a position where it coincides with the center axis A of turning 28. Therefore, when the omnidirectional mobile trolley 1 makes a turn on the spot, the measuring wheel 31 does not rotate, so that it is possible to prevent an error in the traveling distance of the omnidirectional mobile trolley 1 due to this.
尚、実走行距離の演算は、前記測定輪31に押圧したロー
タリーエンコーダ等の各種センサSにて、回転数を検知
しカウンタ等を介して制御装置8へと送られて演算され
る。この際、センサSからの出力信号は、前記旋回ギヤ
ケース28の旋回中心軸A上に形成されている孔35を経て
前記制御装置8に送る如く構成すれば、車輪が360度操
舵されることによる、信号線のねじれによる破断等も防
止できる。The actual traveling distance is calculated by detecting the number of revolutions by various sensors S such as a rotary encoder that is pressed against the measuring wheel 31 and sending it to the control device 8 via a counter or the like. At this time, if the output signal from the sensor S is sent to the control device 8 through the hole 35 formed on the turning center axis A of the turning gear case 28, the wheels are steered by 360 degrees. Also, breakage due to twisting of the signal line can be prevented.
[考案の効果] 本考案は、上記の構成を採用した結果、走行路面の凹凸
や積載荷重の変動によって、測定輪の輪圧が変動するこ
とがないため正確な走行距離を導出することができ、無
人搬送車の誘導精度を高め、信頼性を向上させるという
効果がある。[Advantages of the Invention] As a result of adopting the above configuration, the present invention can derive an accurate travel distance because the wheel pressure of the measurement wheel does not fluctuate due to irregularities on the road surface and fluctuations in the load. In addition, there is an effect that the guiding accuracy of the automatic guided vehicle is increased and the reliability is improved.
又、旋回ギヤケースの旋回中心軸上に測定輪を取り付け
ているため、無人搬送車の、その場旋回時における走行
距離の演算がきわめて簡素化できるに至った。さらに、
測定輪の回転数を検出するセンサからの出力信号は、前
記旋回ギヤケースの旋回中心軸上に形成されている孔を
経て制御装置に送る如く構成すれば、車輪が360度操舵
されることによる、信号線のねじれによる破断等も防止
できる。Further, since the measuring wheel is attached on the turning center axis of the turning gear case, the calculation of the traveling distance of the automatic guided vehicle at the time of turning on the spot can be extremely simplified. further,
If the output signal from the sensor that detects the rotation speed of the measurement wheel is configured to be sent to the control device through a hole formed on the turning center axis of the turning gear case, the wheels are steered by 360 degrees. It is also possible to prevent breakage due to twisting of the signal line.
さらには、測定輪は前記旋回ギヤケースの円筒部に遊嵌
挿入されると共に、レールに上下にスライド自在に係合
支持されているから、ブラケットの剛性を高めて、コー
ナリングフォース等の外力の影響を抑えることができる
等の多くの効果を奏しうる。Furthermore, since the measuring wheel is loosely fitted and inserted into the cylindrical portion of the slewing gear case, and is slidably supported by the rail in the vertical direction, the rigidity of the bracket is increased and the influence of external force such as cornering force is increased. Many effects such as suppression can be achieved.
第1図は、全方向移動台車の側面図、第2図は同正面
図、第3図は本考案を示す断面図、第4図は本考案の要
部拡大図である。 1……全方向移動台車、9……車輪、28……旋回ギヤケ
ース、31……測定輪、33……ブラケット、35……孔FIG. 1 is a side view of an omnidirectional mobile trolley, FIG. 2 is a front view of the same, FIG. 3 is a sectional view showing the present invention, and FIG. 4 is an enlarged view of a main part of the present invention. 1 ... Omnidirectional trolley, 9 ... Wheels, 28 ... Slewing gear case, 31 ... Measuring wheel, 33 ... Bracket, 35 ... Hole
Claims (1)
から側方に偏寄した位置に回動自在な走行車輪を備える
と共に、前記垂直軸を支承するギヤケースを車体に対し
旋回動自在に支承してなる走行車輪を備えた無人搬送車
であって、前記ギヤケースに上下動自在に滑動するブラ
ケットと、該ブラケットに回動自在に支承される測定輪
と、該測定輪の回転数を検出する回転数検出手段とを備
えると共に、前記ギヤケースが旋回する際の旋回中心軸
上に前記測定輪を位置せしめてなる無人搬送車における
測定輪取付構造。1. A vertical shaft that hangs from a lower surface of a vehicle body, and a traveling wheel that is rotatable at a position laterally offset from the vertical axis, and a gear case that supports the vertical shaft is rotatable with respect to the vehicle body. An unmanned guided vehicle having traveling wheels supported on a bracket, a bracket that slidably moves up and down in the gear case, a measurement wheel rotatably supported by the bracket, and a rotation speed of the measurement wheel. A measuring wheel mounting structure in an automatic guided vehicle, comprising: a rotation speed detecting means for detecting; and positioning the measuring wheel on a turning center axis when the gear case turns.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP11953390U JPH074501Y2 (en) | 1990-11-15 | 1990-11-15 | Measuring wheel mounting structure for automated guided vehicles |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP11953390U JPH074501Y2 (en) | 1990-11-15 | 1990-11-15 | Measuring wheel mounting structure for automated guided vehicles |
Publications (2)
Publication Number | Publication Date |
---|---|
JPH0475908U JPH0475908U (en) | 1992-07-02 |
JPH074501Y2 true JPH074501Y2 (en) | 1995-02-01 |
Family
ID=31867484
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP11953390U Expired - Lifetime JPH074501Y2 (en) | 1990-11-15 | 1990-11-15 | Measuring wheel mounting structure for automated guided vehicles |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH074501Y2 (en) |
-
1990
- 1990-11-15 JP JP11953390U patent/JPH074501Y2/en not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
JPH0475908U (en) | 1992-07-02 |
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