JPS616074A - Crawler transporter - Google Patents
Crawler transporterInfo
- Publication number
- JPS616074A JPS616074A JP12704384A JP12704384A JPS616074A JP S616074 A JPS616074 A JP S616074A JP 12704384 A JP12704384 A JP 12704384A JP 12704384 A JP12704384 A JP 12704384A JP S616074 A JPS616074 A JP S616074A
- Authority
- JP
- Japan
- Prior art keywords
- frames
- electric motor
- driving
- rotational speed
- power transmission
- 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
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/20—Endless-track steering having pivoted bogie carrying track
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
Abstract
Description
【発明の詳細な説明】
産業上の利用分野
本発明は、任意の走行路を選択しながら自走する搬送車
に関するものである。DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to a transport vehicle that travels by itself while selecting an arbitrary travel route.
従来例の構成とその問題点
従来の自走式搬送車は、第１図にその具体構成を示すよ
うに、駆動輪１は単独の車輪を用いているため、走行時
に床面との間にすべりを発生しやすい。さらに凹凸のあ
る床面に対しては、すべり量は増大し、ときには走行不
能に陥り易い。このため、駆動輪の回転速度の制御たけ
て走行経路の選択を行えば、走行経路に誤差か発生し易
く、従来の自走式搬送車では床に埋設した誘導線や、床
に貼付した反射テープ等を用いて走行経路の補正を頻繁
に行なう必要があった。また、駆動輪の回転速度の制御
だけで、定行路の選択、補正に対応しきれない場合には
、別途操舵装置２を設ける必要もあった。Structure of the conventional example and its problems In the conventional self-propelled guided vehicle, as the specific structure is shown in FIG. Easy to cause slippage. Furthermore, on uneven floor surfaces, the amount of slip increases, and sometimes the vehicle is likely to become unable to run. For this reason, if a travel route is selected by controlling the rotational speed of the drive wheels, errors are likely to occur in the travel route. It was necessary to frequently correct the running route using tape or the like. Furthermore, if the selection and correction of the regular route cannot be handled by controlling the rotational speed of the drive wheels alone, it is necessary to provide a separate steering device 2.
発明の目的
本発明は、上記従来の欠点に鑑み、床面と駆動装置との
間のすへりを削減し、駆動輪の回転速度の制帆だけで走
行経路の選択補正を可能にする自走式搬送車に関するも
のである。Purpose of the Invention In view of the above-mentioned drawbacks of the conventional art, the present invention provides a self-propelled vehicle that reduces the gap between the floor and the drive device and makes it possible to select and correct the travel route simply by controlling the rotational speed of the drive wheels. This relates to type guided vehicles.
発明の構成
本発明の自走式搬送車は、相互の軸間距離を固定した駆
動輪と副車輪に履帯を巻き掛け、回転速度を制御可能な
電動機の回転運動を動力伝達機構を介して駆動輪に伝達
するように構成した駆動ユニットを四つ備え、各二つの
駆動ユニットを一帯か互いに平行の位置を保つようにフ
レームに設置し、二つのフレームを各々車体に対して回
動自在になるように軸支することにより、床面と駆動装
置との間のすへりを削減し、駆動輪の回転速度の制御た
けて走行経路の選択、補正を可能にすることかでき、床
面に誘導線を埋設したり、床面に反射テープを貼付した
りする必要がなく、搬送装置の導入に際してはその構成
を簡素化できる。Composition of the Invention The self-propelled guided vehicle of the present invention has crawler tracks wrapped around a driving wheel and a sub-wheel with a fixed distance between their axes, and the rotational movement of an electric motor whose rotational speed can be controlled is driven via a power transmission mechanism. Equipped with four drive units configured to transmit power to the wheels, each two drive units are installed on a frame so as to maintain positions parallel to each other, and each of the two frames is rotatable relative to the vehicle body. By supporting the shaft in this way, it is possible to reduce the gap between the floor and the drive device, control the rotational speed of the drive wheels, and select and correct the travel route. There is no need to bury wires or attach reflective tape to the floor surface, and the configuration of the transport device can be simplified when it is introduced.
実施例の説明
以下に本発明の実施例を第２図〜第４図にもとついて説
明する。図において、３２Ｌ 、３ｂ 、３Ｃ。DESCRIPTION OF EMBODIMENTS Embodiments of the present invention will be described below with reference to FIGS. 2 to 4. In the figure, 32L, 3b, 3C.
３ｄは、回転速度を制御可能な電動機、４２Ｌ、４ｂ。3d is an electric motor whose rotational speed can be controlled, 42L, and 4b.
４Ｃ，４ｄは電動機３の回転運動を駆動輪５＆。4C and 4d connect the rotational movement of the electric motor 3 to the drive wheels 5&.
“５ｂ 、５ｃ 、５ｄへ伝達する動力伝達装置、７２
Ｌ。“Power transmission device for transmitting to 5b, 5c, 5d, 72
L.
７ｂ 、７０．７ｄは駆動輪５ｉＮｄと補助輪６２Ｌ〜
ｄに巻き掛けた覆帯である。電動機３、動力伝達機構４
、駆動輪５、補助輪６と履帯７は、一つの駆動ユニット
を構成し、２組の駆動ユニットをその２つの履帯７が平
行になるようにフレーム８ａ〜ｂに設置している。さら
に、駆動ユニットを設置したフレーム８八〜ｂは車体９
に軸１０を介して回動自在に軸支している。7b, 70.7d are drive wheels 5iNd and auxiliary wheels 62L~
It is a cover wrapped around d. Electric motor 3, power transmission mechanism 4
, the drive wheel 5, the auxiliary wheel 6, and the crawler belt 7 constitute one drive unit, and the two sets of drive units are installed on the frames 8a to 8b so that the two crawler belts 7 are parallel to each other. Further, the frames 88-b on which the drive units are installed are connected to the vehicle body 9.
It is rotatably supported via a shaft 10.
上記構成の自走式搬送車において、走行路の選択方法は
第４図と共に以下に示す。進行方向に対して、左へ走行
路を変更する際には、まず電動機３ａの回転速度を３ｂ
の回転速度よりも小さく設定する。その結果、フレーム
８＆は車体９に対して反時計方向に回転する。しかる後
、電動機３Ｃの回転速度を３ｄの回転速度よりも小さく
設定し、一帯７ａの走行軌跡を履帯７Ｃか、一帯７ｂの
走行軌跡＋ｅ帯７ｄかそれぞれ追従して走行車は第４図
に示すとおり、進行方向に対して左へ走行経路を変更し
てゆくことかできる。In the self-propelled guided vehicle having the above configuration, a method for selecting a traveling route is shown below together with FIG. 4. When changing the travel route to the left with respect to the direction of travel, first change the rotational speed of the electric motor 3a to 3b.
Set smaller than the rotation speed. As a result, the frame 8& rotates counterclockwise with respect to the vehicle body 9. After that, the rotational speed of the electric motor 3C is set lower than the rotational speed of the electric motor 3d, and the running trajectory of the belt 7a is followed by the crawler track 7C or the traveling trajectory of the belt 7b + e-band 7d, and the traveling vehicle is shown in FIG. 4. It is possible to change the driving route to the left with respect to the direction of travel.
発明の効果
このように、直進走行時には、履帯を用いること番こよ
り床面との摩擦か大きく、多少の凹凸番こ対しても床面
とのすへりか発生しにくく、又、走行路の変更時にも回
転半径方向、進行方向共１こ床面との間にすへりを発生
しにくいため、走行路の選択に際しては４つの電動機の
回転速度の制御だけで可能になる。その結果走行路の補
正を要する場合には、走行路上の必要な地点で補正する
たけで、走行路全体に渡って補正しながら走行する必要
かすくするという特有の効果を有している。Effects of the Invention As described above, when traveling in a straight line, the friction with the floor surface is greater than with the crawler track, and even if there is some unevenness, it is difficult to cause contact with the floor surface, and it is also possible to change the running route. Since it is difficult to create a gap between the vehicle and the floor surface in both the radial direction of rotation and the direction of travel, selection of the travel path can be made by simply controlling the rotational speeds of the four electric motors. As a result, when the traveling route needs to be corrected, it is only necessary to make the correction at a necessary point on the traveling route, which has the unique effect of reducing the need to travel while making corrections over the entire traveling route.
第１図は従来の自走式搬送車の斜視図、８２図は本発明
の一実施例における自走式搬送車の一部と破断した斜視
図、第３図は駆動ユニットの上面図、第４図は走行路変
更時の動作を示した上面図である。
３＆〜ｄ ・電動機、４＆〜ｄ・ 動力伝達装置、５＆
〜ｄ 駆動輪、６ ＆−ｄ −補助輪、７＆〜ｄ
履帯、８＆〜ｂ フレーム、９車体。
代理人の氏名 弁理士 中 尾 敏 男 ほか１名第１
図
第２図
海
第３図
′ｌα 免
第４図FIG. 1 is a perspective view of a conventional self-propelled guided vehicle, FIG. 82 is a partially cutaway perspective view of a self-propelled guided vehicle according to an embodiment of the present invention, and FIG. FIG. 4 is a top view showing the operation when changing the running route. 3&~d・Electric motor, 4&~d・Power transmission device, 5&
~d Drive wheel, 6 &-d - Auxiliary wheel, 7&~d
Tracks, 8&~b frame, 9 body. Name of agent: Patent attorney Toshio Nakao and 1 other person No. 1
Figure 2 Figure Sea Figure 3 'lα Illustrated Figure 4
Claims (1)
以上の副車輪と、前記主車輪と副車輪に巻き掛けた履帯
と、回転速度を制御可能な電動機と、電動機の回転運動
を主車輪に伝達する動力伝達機構とから成る駆動ユニッ
トを四つ備え、各二つの駆動ユニットを履帯が互いに平
行になるようにフレームに設置し、二つのフレームを各
々車体に対して回動自在になるように軸支した自走式搬
送車。(1) One main wheel with a fixed distance between their axes, one or more auxiliary wheels, a crawler track wrapped around the main wheel and the auxiliary wheels, an electric motor whose rotational speed can be controlled, and rotation of the electric motor. It is equipped with four drive units consisting of a power transmission mechanism that transmits motion to the main wheels, and each two drive units are installed on a frame so that the tracks are parallel to each other, and each of the two frames rotates relative to the vehicle body. A self-propelled transport vehicle that is pivoted so that it can move freely.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP12704384A JPS616074A (en) | 1984-06-20 | 1984-06-20 | Crawler transporter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP12704384A JPS616074A (en) | 1984-06-20 | 1984-06-20 | Crawler transporter |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS616074A true JPS616074A (en) | 1986-01-11 |
Family
ID=14950204
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP12704384A Pending JPS616074A (en) | 1984-06-20 | 1984-06-20 | Crawler transporter |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS616074A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1028049A2 (en) * | 1999-02-10 | 2000-08-16 | Fantuzzi-Reggiane S.p.A. | Steering assembly for means of transport |
| EP1905673A3 (en) * | 2006-09-27 | 2009-04-08 | Rheinmetall Landsysteme GmbH | Traction drive in particular for a universal vehicle for support systems |
| CN107054451A (en) * | 2017-02-15 | 2017-08-18 | 南通市广益机电有限责任公司 | A kind of electric drive turns to chassis and its ambulation control method |
| CN108556912A (en) * | 2018-06-08 | 2018-09-21 | 南通市广益机电有限责任公司 | A kind of electric drive steering chassis |
-
1984
- 1984-06-20 JP JP12704384A patent/JPS616074A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1028049A2 (en) * | 1999-02-10 | 2000-08-16 | Fantuzzi-Reggiane S.p.A. | Steering assembly for means of transport |
| KR20000057976A (en) * | 1999-02-10 | 2000-09-25 | 판투찌-레지안느 에스.피.에이. | Steering assembly for means of transport |
| EP1028049A3 (en) * | 1999-02-10 | 2002-01-30 | Fantuzzi-Reggiane S.p.A. | Steering assembly for means of transport |
| EP1905673A3 (en) * | 2006-09-27 | 2009-04-08 | Rheinmetall Landsysteme GmbH | Traction drive in particular for a universal vehicle for support systems |
| CN107054451A (en) * | 2017-02-15 | 2017-08-18 | 南通市广益机电有限责任公司 | A kind of electric drive turns to chassis and its ambulation control method |
| CN108556912A (en) * | 2018-06-08 | 2018-09-21 | 南通市广益机电有限责任公司 | A kind of electric drive steering chassis |
| CN108556912B (en) * | 2018-06-08 | 2023-10-24 | 南通市广益机电有限责任公司 | Electrically driven steering chassis |
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