JPS5987510A - Drop preventing sensor - Google Patents

Drop preventing sensor

Info

Publication number
JPS5987510A
JPS5987510A JP57197579A JP19757982A JPS5987510A JP S5987510 A JPS5987510 A JP S5987510A JP 57197579 A JP57197579 A JP 57197579A JP 19757982 A JP19757982 A JP 19757982A JP S5987510 A JPS5987510 A JP S5987510A
Authority
JP
Japan
Prior art keywords
wheel
switch
arm
bush
tip
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
Application number
JP57197579A
Other languages
Japanese (ja)
Inventor
Yoshiaki Ichikawa
芳明 市川
Kenichiro Sadakane
健一郎 貞包
Chikara Sato
主税 佐藤
Fumio Tomizawa
富沢　文雄
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Ltd
Original Assignee
Hitachi Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Hitachi Ltd filed Critical Hitachi Ltd
Priority to JP57197579A priority Critical patent/JPS5987510A/en
Publication of JPS5987510A publication Critical patent/JPS5987510A/en
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

PURPOSE:To obtain a drop preventive sensor which is applicable onto an uneven floor, too, by constituting so that a supporting part for supporting a wheel so as to be movable downward vertically, and also the wheel can be moved upward by a radius portion or more. CONSTITUTION:A small wheel 42 is supported by a rotatable bush 43, can move upward and downward, and the bush 43 is always kept horizontally by a spring 44. A motion of a wheel is transmitted to an arm 45, and only when the tip of the arm is in a position of a photoswitch 46, the switch becomes off. Even if a wheel 42 encounters a large projecting part, it can be avoided by its movement in the upper direction and a rotation of the bush 43. Also, only when the wheel 42 falls downward vertically, the tip of the arm 45 closes up an air-gap of the switch 46, the switch is changed over, and danger of a drop of a main wheel is detected beforehand.

Description

【発明の詳細な説明】 〔発明の利用分野〕 本発明は、床面移動装置の落下防止用センサーに関する
もので、特に、床上に凹凸のある場所での使用に好適な
落下防止用センサーに関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to a fall prevention sensor for a floor moving device, and particularly to a fall prevention sensor suitable for use in places with uneven floors.

〔従来技術〕[Prior art]

従来、落下防止用センサーとして用いられてきた装置は
、第１図に示すように、移動装置の主車輪１１の前方に
小車輪１２を、ブツシュ１３を介して取シ付け、バネ１
４によって常に車輪１２を床面に押し付けながら移動す
るものである。通常は、スイッチ１６は、カム１５にょ
シＯＮまたはＯＦＦとなっているが、第２図に示すよう
に、主車輪が落下する直前に小車輪１２が下方に落ち込
み、カム１５が下がることによって、スイッチ１６が切
シ替わり、危険を事前に検知できる仕くみになっている
。しかし、このような装置は、第３図に示すように小車
輪の半径よシ大きな段差の凹凸がある床上では、小車輪
がこれを乗シ越えられず、破損するといった欠点があっ
た。As shown in FIG. 1, a device conventionally used as a fall prevention sensor has a small wheel 12 attached to the front of a main wheel 11 of a moving device via a bush 13, and a spring 1.
4, the vehicle moves while always pressing the wheels 12 against the floor surface. Normally, the switch 16 is turned ON or OFF depending on the cam 15, but as shown in FIG. The switch 16 is switched to allow danger to be detected in advance. However, such a device has the disadvantage that, as shown in FIG. 3, when the floor has unevenness with a step larger than the radius of the small wheel, the small wheel cannot get over the unevenness and is damaged.

〔発明の目的〕[Purpose of the invention]

本発明の目的は、凹凸のあ逮床上にも適用可能な落下防
止用センサーを提供することにある。An object of the present invention is to provide a fall prevention sensor that can be applied even on uneven floors.

〔発明の概要〕[Summary of the invention]

本発明は、前記従来型センサーにおける車輪の自由度を
拡大し、凸部を乗シ越えることを可能とするとともに、
車輪が鉛垂下方に、一定の変位以上落ち込んだ時にのみ
スイッチが切シ替わるよう配慮したものである。The present invention expands the degree of freedom of the wheel in the conventional sensor and enables the wheel to ride over a convex portion, and
The switch is designed to switch only when the wheel falls downward by a certain amount or more.

〔発明の実施例〕[Embodiments of the invention]

以下に本発明の実施例を図を用いて説明する。 Embodiments of the present invention will be described below with reference to the drawings.

第４図は、１実施例を示すものであシ、小車輪４２が回
転可能なブツシュ４３に支持され、上下に移動できる。FIG. 4 shows one embodiment in which a small wheel 42 is supported by a rotatable bush 43 and can move up and down.

ブツシュ４３はバネ４４によシ通常は水平に保たれる。The bush 43 is normally kept horizontal by a spring 44.

車輪の動きはアーム４５に伝えられ、アームの先端がフ
ォトスイッチ４６に位置にある時のみ、スイッチがＯＦ
Ｆとなる。第５図には、このフォトスイッチ部の説明を
示した。フォトスイッチ４６の内部には上方に向かって
空隙があシ、空隙をはさんで発光素子４７及び受光素子
４８が設置されている。同図右側に示すように、空隙に
何の障害もない場合には、前記発光素子から出た光が前
記受光素子に入射し、スイッチがＯＮになった状態に対
応する。逆に、同図左側に示すように、前述のアーム４
５の先端が光をさえぎると、スイッチが開いた状態とな
る。この実施例では、第６図に示すように、車輪４２が
半径よシ大きな凸部に遭遇しても、上方への移動とブツ
シュ４３の回転によシ、回避することができる。The movement of the wheel is transmitted to the arm 45, and the switch is turned OFF only when the tip of the arm is located at the photo switch 46.
It becomes F. FIG. 5 shows an explanation of this photoswitch section. Inside the photoswitch 46, there is a gap extending upward, and a light emitting element 47 and a light receiving element 48 are installed across the gap. As shown on the right side of the figure, when there is no obstruction in the gap, the light emitted from the light emitting element enters the light receiving element, which corresponds to a state in which the switch is turned on. Conversely, as shown on the left side of the figure, the aforementioned arm 4
When the tip of 5 blocks the light, the switch becomes open. In this embodiment, as shown in FIG. 6, even if the wheel 42 encounters a convex portion larger than its radius, it can be avoided by moving upward and rotating the bush 43.

また、車輪４２が鉛直下方に下がった時のみアーム４５
の先端がスイッチ４６の空隙をふさぐことから、凸部を
回避する際の車輪上下動によシ誤った動作をする恐れが
ない。Also, only when the wheel 42 goes down vertically, the arm 45
Since the tip of the switch 46 closes the gap of the switch 46, there is no risk of erroneous operation due to the vertical movement of the wheel when avoiding the protrusion.

〔発明の効果〕〔Effect of the invention〕

以上述べたように本発明によれば、凹凸のある床上にお
いても治下防止用センサーが使用可能となる。As described above, according to the present invention, the subversion prevention sensor can be used even on an uneven floor.

【図面の簡単な説明】[Brief explanation of drawings]

第１図、第２図、第３図は従来の公知技術を説明した側
面図、第４図、第５図、第６図は、本発明の１実施例を
示した側面図である。 ４２・・・小車輪、４３・・・ブツシュ、４４・・・コ
イルバネ、４５・・・アーム、４６・・・スイッチ、４
７・・・発光素子、４８・・・受光素子。 代理人　弁理士　高橋明夫 弔１図 佑２日 第３日 弔Ｉ＋（２）1, 2, and 3 are side views illustrating conventional known techniques, and FIGS. 4, 5, and 6 are side views illustrating one embodiment of the present invention. 42... Small wheel, 43... Bush, 44... Coil spring, 45... Arm, 46... Switch, 4
7... Light emitting element, 48... Light receiving element. Agent Patent Attorney Akio Takahashi Condolences 1st, 2nd, 3rd Day I+ (2)

Claims (1)

【特許請求の範囲】 １、床上をころがシながら移動する車輪と、車輪が鉛垂
下方に移動可能なように支持する支持部と、車輪の下方
への移動を検出するスイッチ部より成る装置において、
前記支持部を回転可能とするとともに、前記車輪が、そ
の半径分以上、上方へ移動可能としたことを特徴とする
落下防止用センサー〇 ２、特許請求の範囲第１項において、スイッチ部を、車
輪が鉛垂下方のある限定された位置にある時のみ検出す
るよう構成することを特徴とする落下防止用センサー。[Claims] 1. A device consisting of a wheel that rolls on the floor, a support section that supports the wheel so that it can move vertically, and a switch section that detects downward movement of the wheel. In,
A fall prevention sensor 2, characterized in that the support part is rotatable and the wheels are movable upward by a radius of the support part or more, in claim 1, the switch part: A fall prevention sensor characterized in that it is configured to detect only when a wheel is in a limited position in a vertical direction.
JP57197579A 1982-11-12 1982-11-12 Drop preventing sensor Pending JPS5987510A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP57197579A JPS5987510A (en) 1982-11-12 1982-11-12 Drop preventing sensor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP57197579A JPS5987510A (en) 1982-11-12 1982-11-12 Drop preventing sensor

Publications (1)

Publication Number Publication Date
JPS5987510A true JPS5987510A (en) 1984-05-21

Family

ID=16376837

Family Applications (1)

Application Number Title Priority Date Filing Date
JP57197579A Pending JPS5987510A (en) 1982-11-12 1982-11-12 Drop preventing sensor

Country Status (1)

Country Link
JP (1) JPS5987510A (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6263315A (en) * 1985-09-12 1987-03-20 Casio Comput Co Ltd Moving robot
JPS63107007U (en) * 1986-12-27 1988-07-11
JP2002366228A (en) * 2001-06-05 2002-12-20 Matsushita Electric Ind Co Ltd Movable device
JP2015093129A (en) * 2013-11-13 2015-05-18 株式会社東芝 Vacuum cleaner

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6263315A (en) * 1985-09-12 1987-03-20 Casio Comput Co Ltd Moving robot
JPS63107007U (en) * 1986-12-27 1988-07-11
JPH0530166Y2 (en) * 1986-12-27 1993-08-02
JP2002366228A (en) * 2001-06-05 2002-12-20 Matsushita Electric Ind Co Ltd Movable device
JP2015093129A (en) * 2013-11-13 2015-05-18 株式会社東芝 Vacuum cleaner

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