JPH054003Y2 - - Google Patents

Description

[Detailed description of the invention] Industrial application field The present invention relates to a sensor for an unmanned vehicle that is installed to detect a distance deviation between a guide wall surface and a vehicle and an angle deviation with respect to the wall surface. The present invention relates to an improvement of a detection plate that is attached to the tip and is provided to slide against the guide wall surface.

BACKGROUND TECHNOLOGY One of the conventional methods for making an industrial vehicle such as a forklift truck run unmanned is to attach a sensor to the side wall of the vehicle, and to make the sensor run unmanned while sliding the sensor on a guide wall surface, that is, as shown in Fig. 6. As shown in , by attaching a detection plate b formed in the shape of a sled plate to the tip of the sensor a, and making the detection plate b slide into guide wall c, it is possible to detect the deviation in the distance between the guide wall c and the vehicle d. A method has been proposed in which the angle deviation is detected and the steering device is controlled using the detection signal.

Problems to be solved by the invention However, in the case of the sensor with the conventional structure as described above, the detection plate is provided so as to be in direct sliding contact with the guide wall surface, so the detection plate and the guide The problem is that the wall surface is prone to wear, and if the detection plate wears out, the entire sensor must be replaced, which is cumbersome and expensive in terms of maintenance. The problem is that it is not easy to solve the problem, and there is also a problem in terms of noise.

The present invention is an attempt to improve the above-mentioned problems, and its specific means and effects are as follows.

Measures to solve the problem: A support member is attached to a box fixed to the side wall of the vehicle so that it can move forward and backward, and the support member is equipped with a linear potentiometer (including other distance sensors) for detecting the displacement of the vehicle. ) are connected to each other and are always urged in the direction of the guide wall surface, while a detection plate is horizontally rotatably connected to the tip of the support member, and the connection part is connected to the vehicle. An unmanned vehicle is equipped with a potentiometer (including other angle sensors) for detecting the inclination of the vehicle, and is always maintained at a neutral position through the balancing action of a pair of springs. In vehicle sensors, the detection plate is extended in the front and rear direction to form a track shape.
That is, it is formed into a shape consisting of two parallel long sides and two arcuate portions connecting both ends of these long sides.

A pair of rollers is rotatably mounted on both front and rear ends of the detection plate.

An endless belt is stretched between a pair of front and rear rollers.

Function: The endless belt rotates along the guide wall, and the detection plate comes into sliding contact with the guide wall through the rotation of the endless belt.

Embodiments Specific embodiments of the present invention will be described below with reference to illustrative drawings.

1 is a forklift truck (unmanned vehicle),
Reference numeral 2 indicates a sensor attached to the body of the forklift truck 1, and reference numeral 3 indicates a guide wall surface. In the sensor 2, a box 5 is fixed to the side wall of the body, and the box 5 is provided so as to extend in one direction (direction perpendicular to the center line of the body). At the bottom of the box 5, a linear way 6 is laid extending in one direction (direction perpendicular to the center line of the aircraft), and a support member 4 of a detection plate 12, which will be described later, is installed on the linear way 6. It is mounted on a shaft via a slider 7 so that it can move forward and backward. More specifically, the support member 4 is formed by fixing a support rod 8 and a support rod 15 to the slider 7 in a stacked manner. and slider 7
is slidably mounted on the linear way 6 as described above, while the support rod 8 includes a vertical rod portion 8A extending in a direction parallel to the linear way 6, and a rear end portion of the vertical rod portion 8A. It is formed into a T-shape with a horizontal rod part 8B extending in a direction perpendicular to the linear way 6,
The tip of the vertical rod portion 8A is provided so as to protrude from the tip of the box 5. And also, support rod 15
is located substantially directly above the slider 7 and extends in both left and right width directions (directions parallel to the horizontal rod portion 8B). A support tube 9 is provided at the tip of the vertical rod portion 8A.
A support pin 10 is supported to extend vertically through the support pin 10, and the aforementioned detection plate 12 is connected to the support pin 10 via a sleeve 11 so as to extend in the front-rear direction and be horizontally rotatable. The detection plate 12 includes a front plate portion 12A that faces the guide wall surface 3 and extends in the front-rear direction, a rear plate portion 12B that extends in the front-rear direction parallel to the front plate portion 12A, and both plate portions 12A. , 12B are formed in a track shape, and the upper end thereof is shielded by the top plate part 12C, and the lower end thereof is shielded by the underplate part 12D, respectively. formed by. A top plate portion 12C and an under plate portion 12D are provided at both front and rear ends of the detection plate 12.
Stays 24, 24 are installed vertically between them, and both stays 24, 24 are provided with a pair of upper and lower rollers 1, respectively.
3 and 13 are mounted on shafts for free rotation. Also, both arc parts 1
2E, 12E are provided with slits corresponding to the respective rollers 13, 13.
are provided so that a portion thereof protrudes outward from the arcuate portions 12E, 12E. Further, a guide groove 26 for an endless belt 27, which will be described later, is carved in the front plate part 12A and the rear plate part 12B, extending between the front and rear pair of rollers 13, 13.The guide groove 26 is the same as the roller 13. It is formed by carving multiple concave grooves in parallel with a width in between. Furthermore, the above-mentioned endless belt 27 is stretched across the detection plate 12 between the pair of front and rear rollers 13, 13. The endless belt 27 is made of an elastic material such as rubber. Also, the same endless belt 27
A protruding strip 28 (multiple strips) is provided on the inner circumferential surface of the guide groove 26 so as to correspond to the guide groove 26. The protruding strip 28 holds the roller 24 from both sides, and the guide groove 2
6.

Further, a potentiometer 21 (another angle sensor can be used as appropriate) is connected to one end of the support pin 10 via an adapter 19 fixed to the detection plate 12 side and a coupling ring 20 built into the adapter 19. On the other hand, Box 5
A linear potentiometer 22 (another distance sensor can be used as appropriate) is fixed to the support member 4 (slider 7) by connecting one end thereof to the support member 4 (slider 7). Furthermore, a pair of engagement pieces 14, 14 are fixed to the back surface of the front plate portion 12A at symmetrical positions in the front and back with a support pin 10 in between.
Tension springs 16, 16 are interposed between the ends of the support rods 15 and 4, 14, respectively. Also, there is a support pin 1 on the front wall (inner wall surface) of the box 5.
A pair of engagement pieces 1 are located at front and rear symmetrical positions with 0 in between.
7, 17 are fixed to each other, and a tension spring 1 extends between both engaging pieces 17, 17 and both ends of the vertical rod portion 8A.
8 and 18 are interposed.

Next, its effect will be explained.

1 and 2 are drawings showing a state in which a forklift truck (unmanned vehicle) 1 is set in a state where it can move straight along a guide wall surface 3, and the detection plate 12 is connected to a tension spring 18, 18 and is in pressure contact with the guide wall surface 3, that is, in a state in which it is in pressure contact with the guide wall surface 3 via the endless belt 27. Further, the detection plate 12 is held in a neutral position by the tension springs 16, 16 (a state in which it extends in a direction parallel to the guide wall surface 3 through the balancing action of both springs 16, 16). be. By running the forklift truck 1 with the detection plate 12 in pressure contact with the guide wall surface 3 via the endless belt 27, the endless belt 27 rotates along the guide wall surface 3. The detection plate 12 can be brought into sliding contact with the guide wall surface 3 through the rotation of the endless belt 27.

In this manner, when the vehicle is traveling straight along the guide wall surface 3, the vehicle is traveling straight along the guide wall surface 3.
If a deviation occurs between the springs 18, 18
The detection plate 12 and the support member 4 (the slider 7, the connecting rod 8, and the support rod 15) are pushed out toward the guide wall surface 3 through the urging force of the detection plate 12. By being pushed out, the linear potentiometer 22 can detect the displacement.

Further, when the vehicle tilts with respect to the guide wall surface 3, the detection plate 12 pulls the tension springs 16, 16.
In this way, the detection plate 1 rotates horizontally using the support pin 10 as a fulcrum against the urging force.
2 rotates horizontally, the potentiometer 21 can detect its inclination.

And like this, the linear potentiometer 22
The displacement is detected in the potentiometer 21, and the inclination is detected in the potentiometer 21, and the steering device is controlled via both detection signals to correct the displacement and inclination by turning the handle in the three directions of the guide wall surface. In other words, the effect of returning the vehicle to a straight traveling state can be obtained.

Effects of the invention The invention is constructed as described above.
As described above, an endless belt is stretched over the detection plate formed in a track shape by extending in the front-rear direction, and the detection plate is brought into sliding contact along the guide wall surface through the rotating motion of the endless belt. By providing the guide wall in a similar manner, it is possible to prevent wear of the guide wall surface and the detection plate provided to be in sliding contact with the guide wall surface, and to facilitate maintenance in the event that the detection plate is worn out. I was able to do it.

[Brief explanation of the drawing]

Fig. 1 is a plan view showing the entire forklift truck equipped with a sensor according to the present invention;
The figure is an enlarged plan view of the sensor part, Figure 3 is a cross-sectional view taken along line A-A in Figure 2, Figure 4 is a cross-sectional view taken along line B-B, and Figure 5 is a cross-sectional view taken along line C-C in Figure 3. It is. FIG. 6 is a plan view of a forklift truck equipped with a conventional sensor. 1...Forklift truck, 2...Sensor, 3...Guide wall surface, 4...Support member, 5...
Box, 6...Linear way, 7...Slider, 8...Support rod, 8A...Horizontal rod part, 8B...Horizontal rod part, 9...Support tube, 10...Support pin, 11...
...Sleeve, 12...Detection plate, 12A...Front plate part, 12B...Rear plate part, 12
C... Top plate part, 12D... Under plate part, 12E... Arc part, 13... Roller,
14...Engagement piece, 15...Support rod, 16...Tension spring, 17...Engagement piece, 18...Tension spring, 19...Adapter, 20...Cup ring, 21...Potency Yometer, 22...Linear potentiometer, 24...Stay, 26...
...Guide groove, 27...Endless belt, 28...
...Convex stripes.

Claims (1)

[Scope of utility model claims] A support member is attached to a box fixed to the side wall of the vehicle so that it can move forward and backward, and a linear potentiometer is connected to the support member to detect displacement of the vehicle, and the support member is always biased toward the guide wall surface. On the other hand, a detection plate is horizontally rotatably connected to the tip of the support member, and a potentiometer is installed at the connection part to detect the inclination of the vehicle, and a pair of springs are normally attached to the support member. In the sensor for an unmanned vehicle, which is provided so as to be held at a neutral position through the balancing action of A sensor for an unmanned vehicle, characterized in that a pair of rollers are mounted on a shaft so that they can rotate freely, and an endless belt is stretched between both rollers.