JPH08133071A - Four-wheel drive type automatic guided vehicle - Google Patents
Four-wheel drive type automatic guided vehicleInfo
- Publication number
- JPH08133071A JPH08133071A JP6300222A JP30022294A JPH08133071A JP H08133071 A JPH08133071 A JP H08133071A JP 6300222 A JP6300222 A JP 6300222A JP 30022294 A JP30022294 A JP 30022294A JP H08133071 A JPH08133071 A JP H08133071A
- Authority
- JP
- Japan
- Prior art keywords
- wheels
- vehicle
- wheel
- automatic guided
- floor surface
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
Landscapes
- Platform Screen Doors And Railroad Systems (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、それぞれが独立に回転
する複数の車輪を有する無人走行台車に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an unmanned traveling vehicle having a plurality of wheels each of which rotates independently.
【０００２】[0002]
【従来の技術】半導体製造工場などのクリーンルーム内
で物品の搬送を行うには、発塵の抑制に優れた無人搬送
車が使用される。この搬送車はクリーンルーム内で予め
搬送行程に沿って配設された誘導ガイドに導かれて走行
する。この搬送台車の従来技術の一つに特公平６−４６
３６４号公報記載の無人車がある。これは第４図におい
て示すように無人車の台車下面中央部の左右両側部にそ
れぞれ独立に回転しうる２つの駆動輪１５，１６を備
え、図示しない誘導センサにより誘導路の位置を検知し
ながら、この駆動輪１５，１６に設けた駆動モータ１
７，１８の駆動により走行するようにし、またこの無人
車１４には全体のバランスを保つために自在に回転しう
るキャスタ１９，２０を台車の前後部中央位置にそれぞ
れ備えている。2. Description of the Related Art In order to carry articles in a clean room such as a semiconductor manufacturing factory, an automated guided vehicle excellent in suppressing dust generation is used. This transport vehicle travels in a clean room by being guided by guide guides that are previously arranged along the transport path. Japanese Patent Publication No. 6-46
There is an unmanned vehicle described in Japanese Patent No. 364. As shown in FIG. 4, this is equipped with two drive wheels 15 and 16 that can rotate independently on both left and right sides of the center of the lower surface of the bogie of the unmanned vehicle, while detecting the position of the taxiway by an unillustrated induction sensor. , The drive motor 1 provided on the drive wheels 15 and 16
The unmanned vehicle 14 is provided with casters 19 and 20 which can be freely rotated in order to keep the overall balance at the front and rear central positions of the bogie, respectively.
【０００３】[0003]
【発明が解決しようとする課題】しかし、かかる無人車
１４は一般に傾斜や凹凸のある床面を走行するもので、
たとえば駆動輪１６の床面が窪んでいる場合には、他方
の駆動輪１５と前後部のキャスタ１９，２０により３点
で無人車１４が床面に設置してしまうので、駆動輪１６
が床面より浮き上がり、駆動モータ１８の回転力が十分
に駆動輪１６を通じて床面に伝達されないことが生じ
る。このため誘導ガイドがあっても走行特性は不安定と
なり、車体は左右に揺れながら走行する問題点がある。
またこの問題を解決するために、各駆動用の車輪を台車
に対してばね圧を介して支持する方法があるが、このば
ね圧が停車時にみだりに作用して台車が揺れたり、また
積載物のアンバランスがあると、台車がこのばね圧に抗
していずれか片方に傾いて停止するなどの問題点があ
る。また別の解決方法として、４輪駆動方式もあるが、
制御が困難になり、モータの数も増大し、価格が高くな
る問題点がある。However, such an unmanned vehicle 14 generally travels on a floor surface having slopes and irregularities,
For example, if the floor surface of the drive wheel 16 is dented, the unmanned vehicle 14 will be installed on the floor surface at three points by the other drive wheel 15 and the casters 19 and 20 at the front and rear parts.
May float above the floor surface, and the rotational force of the drive motor 18 may not be sufficiently transmitted to the floor surface through the drive wheels 16. For this reason, even if there is a guide, the traveling characteristics become unstable, and the vehicle body sways while swinging left and right.
In order to solve this problem, there is a method of supporting each drive wheel to the carriage via spring pressure, but this spring pressure acts undesirably when the vehicle is stopped, and the carriage shakes, and If there is an imbalance, there is a problem in that the carriage tilts in one direction against the spring pressure and stops. There is also a four-wheel drive system as another solution,
There is a problem that control becomes difficult, the number of motors increases, and the price increases.
【０００４】本発明は上記に鑑みて創案されたもので、
床面の傾斜や凹凸にも関わらず、車体が左右に振れない
安定な走行を実現する安価な無人台車を提案することを
目的とするものである。The present invention has been made in view of the above,
It is an object of the present invention to propose an inexpensive unmanned bogie that realizes stable traveling in which the vehicle body does not swing to the left or right, regardless of the inclination or unevenness of the floor surface.
【０００５】[0005]
【課題を解決するための手段】本発明は上記目的を達成
するためになしたもので、それぞれが独立に回転する四
つの車輪を有する無人走行台車において、全車輪のうち
の二輪を該台車に対して一本の軸で支持することによ
り、四輪とも接地面に常時設置するようにしており、ま
たそれぞれが独立に回転する４つの車輪を有する無人走
行台車において、前記四つの車輪のうちの対角方向の二
輪に設けた駆動モータにより前記台車を駆動し、前記四
つの車輪のうちの二輪を該台車に対して一本の軸で支持
することにより、四輪とも接地面に常時設置するように
することを要旨とする。SUMMARY OF THE INVENTION The present invention has been made to achieve the above object, and in an unmanned traveling vehicle having four wheels that rotate independently of each other, two of all wheels are used as the vehicle. On the other hand, by supporting it with a single shaft, all four wheels are always installed on the ground contact surface, and in an unmanned traveling vehicle having four wheels that rotate independently of each other, The trolley is driven by a drive motor provided in two wheels in a diagonal direction, and two of the four wheels are supported by a single shaft with respect to the trolley, so that the four wheels are always installed on the grounding surface. The point is to do so.
【０００６】[0006]
【作用】無人走行台車下面に設ける４つの走行車輪のう
ち、台車の対角位置に駆動車輪を配置し、かつ少なくと
も台車の走行方向の一端側に、一対とする駆動車輪と従
動車輪を傾動可能にした車輪支持台に設けているので、
台車の走行床面が傾斜または凹凸面、さらには積載物の
アンバランスがある場合でも、この床面の傾斜に沿って
車輪支持台が傾くため、常に駆動車輪が設置しており、
駆動力が床面に常に伝達され、安定した走行が可能とな
る。Out of the four traveling wheels provided on the lower surface of the unmanned traveling vehicle, the driving wheels are arranged at diagonal positions of the vehicle, and a pair of driving wheels and driven wheels can be tilted at least at one end side in the traveling direction of the vehicle. Since it is installed on the wheel support that
Even if the traveling floor surface of the trolley is inclined or uneven, and even if there is an imbalance in the load, the wheel support is inclined along the inclination of this floor surface, so drive wheels are always installed,
The driving force is constantly transmitted to the floor surface, enabling stable running.
【０００７】[0007]
【実施例】図において１は無人搬送車の台車で、この台
車の下面に４つの走行車輪を台車１が安定して走行する
ように配置し、そのうち２つの走行車輪２，５は駆動モ
ータ６，７を備えて駆動車輪２，５とし、他の２つの車
輪３，４は駆動モータを備えない従動車輪３，４とする
と共に、この２つの駆動車輪２，５を台車１に対し対角
位置に配置する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS In the figure, reference numeral 1 is a bogie of an automated guided vehicle, and four traveling wheels are arranged on the lower surface of the bogie so that the bogie 1 can travel stably, and two traveling wheels 2 and 5 of them are drive motors 6. , 7 are used as driving wheels 2 and 5, and the other two wheels 3 and 4 are driven wheels 3 and 4 having no driving motor, and the two driving wheels 2 and 5 are diagonal to the carriage 1. Place in position.
【０００８】またこの駆動車輪２，５及び従動車輪３，
４にはそれぞれ操舵機構（図示省略）が備えられ、各車
輪２〜５は独立して操舵可能となっている。Further, the drive wheels 2, 5 and the driven wheels 3,
Each of the wheels 4 to 5 has a steering mechanism (not shown), and the wheels 2 to 5 can be independently steered.
【０００９】さらに台車１の走行方向の前端もしくは後
端のいずれか片端に配置される駆動車輪２と従動車輪３
とは一対とし、これを車輪支持台９にそれぞれ対向し、
かつ回動自在に支持されると共に、この車輪支持台９の
中央部位置に台車走行方向に平行して支持軸８を取り付
け、この支持軸８を台車下面１２に取り付けた軸受１
０，１１にて回動自在に支持される。なお車輪支持台９
に設けた２つの車輪２と３は支持軸８を中央にして支持
軸よりほぼ等間隔の位置に設けるのが望ましい。Further, a drive wheel 2 and a driven wheel 3 arranged at either one of the front end and the rear end of the carriage 1 in the traveling direction.
And a pair, which are opposed to the wheel support 9 respectively,
A bearing 1 that is rotatably supported and has a support shaft 8 attached to a central portion of the wheel support 9 in parallel with the traveling direction of the vehicle, and the support shaft 8 attached to a lower surface 12 of the vehicle.
It is rotatably supported by 0 and 11. Wheel support 9
It is desirable that the two wheels 2 and 3 provided at the center of the support shaft 8 be provided at positions equidistant from the support shaft.
【００１０】従って上述の如く構成する無人搬送車を図
２に示すように、平坦な床面１３上を誘導ガイド（図示
せず）に導かれて走行する。これは駆動モータ６，７を
予め定めた速度で駆動すると、これに設けた駆動車輪
２，５の回動にて台車１は床面１３上を走行する。この
時床面１３が平坦であれば、４つの走行車輪２〜５はす
べて設置し、かつ対角位置に配設された２つの駆動車輪
２，５にて所定速度で、しかも従動車輪３，４との協働
作用にて安定して走行する。そして誘導ガイドに沿って
正確に走行するが、これは各車輪に独立して設けた操舵
機構により予め定めたコースを走行するものである。Therefore, as shown in FIG. 2, the automatic guided vehicle constructed as described above travels on a flat floor surface 13 by being guided by a guide (not shown). When the drive motors 6 and 7 are driven at a predetermined speed, the truck 1 travels on the floor surface 13 by the rotation of the drive wheels 2 and 5 provided on the drive motors 6 and 7. At this time, if the floor surface 13 is flat, the four traveling wheels 2 to 5 are all installed, and the two driving wheels 2 and 5 arranged diagonally at a predetermined speed and the driven wheels 3 and 5. Stable driving in cooperation with 4 Then, the vehicle accurately travels along the guide, but this travels a predetermined course by a steering mechanism independently provided on each wheel.
【００１１】従って台車には駆動車輪２，５を対角位置
に配置されているので、積載物にアンバランスがあって
も安定して走行することができる。Therefore, since the drive wheels 2 and 5 are diagonally arranged on the carriage, it is possible to travel stably even if the load is unbalanced.
【００１２】今、この床面１３が図３に示すように傾斜
していると、駆動車輪２と従動車輪３は傾斜した床面に
沿って傾動する。この時、車輪取付台９は支持軸８によ
り軸受１０，１１を介して台車１に対して傾動自在に支
持されているので、床面の傾斜方向に傾斜角のみ傾く。
これにより両車輪２，３は床面１３よりいずれか片方が
浮き上がることなく、両輪とも設置が確保される。従っ
て駆動モータ６の駆動車輪２に与える駆動力も常に床面
１３に伝達され、スリップ、空転とが生じることなく走
行できるものである。このことは床面１３が左右いずれ
かに傾いている場合、あるいは床面１３に凹凸面がある
場合でも安定走行が可能となる。Now, when the floor surface 13 is inclined as shown in FIG. 3, the drive wheels 2 and the driven wheels 3 are inclined along the inclined floor surface. At this time, since the wheel mount 9 is supported by the support shaft 8 via the bearings 10 and 11 so as to be tiltable with respect to the carriage 1, only the tilt angle is tilted in the tilt direction of the floor surface.
As a result, one of the wheels 2 and 3 does not float above the floor surface 13, and the installation of both wheels is secured. Therefore, the driving force applied to the driving wheels 2 of the driving motor 6 is always transmitted to the floor surface 13, and the vehicle can travel without slipping or idling. This enables stable running even when the floor surface 13 is inclined to the left or right or when the floor surface 13 has an uneven surface.
【００１３】さらに上記実施例では図１からも明確なよ
うに駆動車輪２と従動車輪３を一対としたものを傾動式
の車輪支持台９に取り付け、これを台車走行方向の一端
側のみに取り付けたものであるが、この車輪支持台９を
台車走行方向の両端側にそれぞれ配設することも可能
で、この場合、台車前後の車輪支持台９の傾動許容角を
等しくすることも、あるいは一方の傾動許容角を大、他
方を小とすることもできる。Further, in the above-mentioned embodiment, as is clear from FIG. 1, a pair of the drive wheel 2 and the driven wheel 3 is attached to the tilting wheel support 9, which is attached only to one end side in the traveling direction of the carriage. However, it is also possible to dispose the wheel supporting bases 9 on both sides in the traveling direction of the bogie, and in this case, the tilt allowable angles of the wheel supporting bases 9 before and after the bogie can be equalized, or It is also possible to make the tilting allowance angle of 1 large and the other small.
【００１４】[0014]
【発明の効果】本発明の四輪走行式無人搬送車は、それ
ぞれが独立に回転する四つの車輪を有する無人搬送車に
おいて、前記車輪のうちの二輪を該台車に対して一本の
軸で支持することにより、四輪とも接地面に常時設置す
るようにしているので、床面に凹凸や傾斜があっても、
また積載物に荷重のアンバランスがあっても、常に駆動
車輪は設置しており、駆動モータの動力が床面に伝達さ
れ、常に安定した走行特性を得られる利点がある。The four-wheel guided automatic guided vehicle of the present invention is an unmanned guided vehicle having four wheels that rotate independently of each other, and two of the wheels are provided with one shaft for the carriage. By supporting all four wheels, they are always installed on the ground surface, so even if the floor surface has unevenness or inclination,
Further, even if the load is unbalanced in the load, the drive wheels are always installed, and the power of the drive motor is transmitted to the floor surface, so that there is an advantage that stable traveling characteristics can always be obtained.
【図１】本発明の四輪式無人搬送車の一実施例を示す台
車の底面図である。FIG. 1 is a bottom view of a bogie showing an embodiment of a four-wheel automatic guided vehicle according to the present invention.
【図２】同通常の走行状態を示す正面図である。FIG. 2 is a front view showing the normal traveling state.
【図３】台車が傾斜した床面に沿って傾動した状態の走
行説明図である。FIG. 3 is a travel explanatory diagram in a state in which the carriage is tilted along a tilted floor surface.
【図４】公知例の台車の底面図である。FIG. 4 is a bottom view of a dolly of a known example.
１ 台車 ２ 駆動車輪 ３ 従動車輪 ４ 従動車輪 ５ 駆動車輪 ６ 駆動モータ ７ 駆動モータ ８ 支持軸 ９ 車輪支持台 １０ 軸受 １３ 床面 1 trolley 2 drive wheel 3 driven wheel 4 driven wheel 5 drive wheel 6 drive motor 7 drive motor 8 support shaft 9 wheel support 10 bearing 13 floor
───────────────────────────────────────────────────── フロントページの続き (72)発明者 橋本 修 兵庫県尼崎市下坂部３丁目11番１号 日立 機電工業株式会社内 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Osamu Hashimoto 3-11-1, Shimozakabe, Amagasaki-shi, Hyogo Hitachi Kiden Kogyo Co., Ltd.
Claims (2)
有する無人搬送車において、前記車輪のうちの二輪を該
台車に対して一本の軸で支持することにより、四輪とも
接地面に常時設置するようにしたことを特徴とする四輪
走行式無人搬送車。1. In an automatic guided vehicle having four wheels that rotate independently of each other, two wheels of the wheels are supported by a single shaft with respect to the carriage so that all the four wheels are always on the ground surface. A four-wheel guided automatic guided vehicle characterized by being installed.
有する無人搬送台車において、前記四つの車輪のうちの
対角方向の二輪に設けた駆動モータにより前記台車を駆
動し、前記四つの車輪のうちの二輪を該台車に対して一
本の軸で支持することにより、四輪とも接地面に常時設
置するようにしたことを特徴とする四輪走行式無人搬送
台車。2. An unmanned transport vehicle having four wheels that rotate independently of each other, wherein the vehicle is driven by drive motors provided on two diagonal wheels of the four wheels to drive the four wheels. A four-wheel traveling type automatic guided vehicle, characterized in that two wheels of the four wheels are supported by a single shaft with respect to the vehicle so that all four wheels are always installed on the ground contact surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6300222A JPH08133071A (en) | 1994-11-08 | 1994-11-08 | Four-wheel drive type automatic guided vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6300222A JPH08133071A (en) | 1994-11-08 | 1994-11-08 | Four-wheel drive type automatic guided vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH08133071A true JPH08133071A (en) | 1996-05-28 |
Family
ID=17882195
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP6300222A Pending JPH08133071A (en) | 1994-11-08 | 1994-11-08 | Four-wheel drive type automatic guided vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH08133071A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI513642B (en) * | 2012-12-19 | 2015-12-21 | Kinpo Elect Inc | Driving device and guided vehicle |
-
1994
- 1994-11-08 JP JP6300222A patent/JPH08133071A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI513642B (en) * | 2012-12-19 | 2015-12-21 | Kinpo Elect Inc | Driving device and guided vehicle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A02 | Decision of refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A02 Effective date: 20040309 |