JPS59118562A - Self-advancing cart - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] Kibari J is mainly used in factories to automatically move along a certain track determined by a guide wire buried in the floor surface, etc. by reflective tape, etc. affixed to the floor surface. A self-propelled transport vehicle that travels and is used to transport and transfer tools, workpieces, etc. to each station where they are needed. 6O
The present invention relates to a self-propelled transport vehicle, in which the vehicle body portion between the two casters in a side view is provided with driving wheels.

In this type of self-propelled transport vehicle, the vehicle body is steered along the rails by relative changes in the rotational speeds of the pair of left and right drive wheels, and the vehicle body is steered along the rails while the vehicle is running. The wheels are configured as caster wheels, and in order to prevent the driving wheels from slipping and to enable constant speed travel, the wheels are constructed to be caster wheels, and in order to prevent the drive wheels from slipping and to enable constant speed travel, the wheels are constructed to prevent the slippage of the driving wheels, despite the iron scraps scattered on the running floor surface or the unevenness of the floor surface itself. It is necessary to keep the ground pressure of the driving wheels almost constant during driving, and for this purpose, conventionally, as shown in FIG. The caster wheel is elastically supported by an elastic body (3'
) is the smaller the elastic modulus the better from the perspective of followability on uneven ground?On the other hand, the smaller the elastic modulus, the hsq? -transport (2a'), (
2a') can move up and down easily, so the brake ivI! when the vehicle is stopped. The vehicle body (1) tends to swing back and forth due to the recoil caused by the VJ operation, and as a result, the conveyed objects (X) such as tools and workpieces that are being transported become rattled and displaced back and forth, causing scratches. Otherwise, there is a drawback that the liquid may spill onto the floor.

Therefore, as a countermeasure, as shown in FIG. The caster wheels are mounted on the vehicle body in a vertically movable manner, and instead the drive wheel (4') is elastically supported so that it can freely move vertically. No more back-and-forth swaying ^ Condition f It is conceivable to configure the vehicle so that the drive wheels move up and down to better follow uneven ground while traveling.
Simply moving the elastic body (3') to the drive wheel side will not provide elastic support for the drive wheel (4') to move up and down when a heavy load is placed on the vehicle body (1). As a result, the load borne by both the front and rear caster wheels (2a) and (2a') is difficult, and in this case, the following disadvantages occur.

In other words, as shown in Figure 6 (b), caster wheels (2
The frictional resistance between a) and (2a) and the running road surface is stronger than the rotational resistance of the spindle in the up-down position, so when changing the direction of travel, the vehicle body (1) The vehicle body (1) rotates on the vertical posture supporting shaft L26, which is the pivot axis, and causes a wobbling phenomenon, and as a result, the vehicle body (1) moves to station f.
There is a risk of damage if the vehicle collides with the fixed parts of S) or gets crushed, and furthermore, the vehicle body deviates sharply from the guidance line due to swaying, making it impossible to drive in automatic steering mode. This may cause some inconvenience.

In order to avoid such inconvenience, the downward biasing force of the driving wheel by the elastic body is increased.

1. It is unthinkable that the burden rate of the load due to pivoting transportation will be affected, but in that case, each transplanter built into the vehicle body (1) will be swayed when the transported object is placed on it. This results in the inconvenience of being easily damaged.

In short, the magnitude of the downward biasing force on the drive wheel by the elastic body described in 9fi is such that the drive wheel can follow the uneven ground without slipping, and the caster can be moved with the load loaded on it. For the original purpose of the elastic support platform, which is to enable it to travel on rough terrain in the A state without floating, the weight of the transport vehicle in an empty state, the size of unevenness of the rough terrain, and the rough terrain The upper and lower limits are determined by the magnitude of friction between the caster wheel and the drive wheel, and a certain appropriate range exists. If it is set as 1, it will deviate from the above-mentioned appropriate range), and the original purpose of the elastic support described above cannot be fully achieved.

In view of this situation, the Suekan F3A has made simple improvements to the caster wheels to suppress the shaking of the vehicle body that occurs when the direction of travel is changed when the ground pressure of the caster wheels increases. The object of the present invention is to provide a self-propelled transport vehicle that can set the downward elastic support force of the drive wheels to an optimum level without considering the ground pressure of the caster wheels.

The I4 fine structure of the present invention, which has been made to achieve such an object, is used in the self-propelled transport vehicle described above.

The driving wheel is supported by the vehicle body so as to be able to move up and down with an elastic body applying a downward biasing force, and the caster wheels are capable of swinging around the longitudinal axis of each wheel. It is constructed so that it can be freely moved linearly to both front and rear positions with respect to a support shaft that is attached to the vehicle body by a shaft.

The effects of the present invention having such a characteristic configuration are as follows.

If the wheel pressure on the frame is high when changing the direction of travel, the wheel will move along the guide member so that the horizontal axis of rotation of the wheel is in the direction of vehicle travel with respect to the rotation axis of the support shaft. The vehicle moves in a straight line to the position where it is displaced backwards and smoothly switches to the desired caster configuration, so even if the ground pressure of the caster wheels is increased, the vehicle body will not sway from side to side, or will hardly sway from side to side. Therefore, the downward elastic biasing force of the drive wheels can be set to the optimal size without considering the ground pressure of the casters, and the drive wheels can follow uneven ground without slipping. It has now been possible to travel smoothly on rough terrain without the caster lift lifting up when the load is placed on the caster and the load is empty.

Next, an embodiment of the configuration of the present invention will be described based on the drawings.

As shown in Figure 1, inside the factory, a certain rail (9a) is determined by the guide wire (9a) buried in the floor.
9), and transports and transfers tools, workpieces, etc. to each station [Sl...] where they are needed. As shown, in the center of the vehicle body t+l having a loading platform +101, there are motors [Ml, fAl and brakes +81, (a pair of left and right drive wheels 14 each having one 81), fs.
The l is elastically supported by an elastic body (3) such as a spring (3a) while being biased downward, and casters (2a) are attached to both the front and rear ends of the vehicle body (l).

(2a) respectively, and furthermore, the above-mentioned guiding wire (9a)
A magnetic field detector (11) is provided to receive an electromagnetic signal from the magnetic field detector (lυ), so that the motor (Ml, [Ml) is selected and driven along the guiding line (9a) based on the received signal of the magnetic field detector (lυ). The brake (
The vehicle body is constructed so that the vehicle body can be stopped by the braking operation in step 8).

Next, to configure the front δ self-caster transport (2a), (2a), as shown in Figure 4, the mounting is done on the base material (
21), a support shaft 122 in a vertical position is rotatably supported via a radial bearing 123), and this support shaft I
At the lower end of 221, a U-shaped holding member (incorporated), which is an example of a wheel that can be freely rotated on a horizontal axis core cylinder, is placed at a position displaced both forward and backward with respect to the rotation axis of the support shaft t221. A guide member (illustration) is installed in series to support the rack so that it can move freely in a straight line.

The guide part Muraoka has a pair of left and right guide parts (26A).
, (26A) and both guide parts (26A), (26
A) has a plate part (26B), and guide grooves (26a) and (26b) extending in the front-rear direction above and below the opposing surfaces of the guide parts (26A) and (26A), respectively. ), (26a), and (26b) are formed.

Further, a thrust bearing plate is interposed between the mounting plate portion (26B) and the mounting base material of the guide member (6).

The wheel holding member (the axle of the wheel 9 (24a)
It has 8 holes in a U-shape with a downward opening that supports it on both sides. At the lower portions of both left and right side surfaces of the wheel holding member S, the lower guide grooves (26b) of the guide member (261), (2
Anti-steady roller □□□, (2
The upper part of each of these rollers is symmetrical about the vertical axis, and the guide members have grooves (26a), (26a) along the upper guide grooves (26a), respectively. Moving rollers, F291 and F291, which can be rolled and moved freely, are pivotally mounted.

During normal driving, the wheel holding member is located on the rear end side of the guide member (in the direction of movement of the lees).
In this state, when a steering operation force is applied to the right or left, the wheel holding member and the guide member rotate integrally around the support shaft (n-axis), and the steering operation Direction is quickly followed and changed.

Therefore, when switching to forward or reverse, the wheel holding member 1 is not connected to the guide member (along the inclination, the rotational horizontal axis of the wheel is rearward with respect to the rotational axis of the support shaft). Or, since the vehicle moves in a straight line to a position where it is displaced forward, it is possible to move forward or backward without swaying left or right.

In addition, an adjustment screw may be provided to press the elastic body (3) toward the support support (4) so that the downward elastic urging force of the elastic body (3) can be fully adjusted.

[Brief explanation of drawings]

The drawings show an embodiment of the self-propelled transport vehicle according to the present invention.
The figure is a schematic plan view of the whole, Figure 2 is a general view of the main part 1 @ side neck view,
Fig. 3 is a schematic plan view of the main part, Fig. 4 (a) and (b) are enlarged views of the main part, Fig. 5 is a schematic side view showing the conventional example, and Fig. 6 (
Figures 1 and 1 are a side view and a plan view showing a comparative example. +1+...Vehicle body, (2a), (2a)...
...Caster export, f4], f4)...fν
Driving wheel, (3)... Elastic body, (22)... Support shaft, (24)... Wheel, Hook... Holding member, (26)... Guide member, 12cj...
roller.

Claims (1)

[Claims] ■ Caster transport (
2a) and (2a), and a pair of left and right drive wheels t+) and (41) are provided in the portion of the vehicle body (1) between the caster wheels (2a) and (2a) in side view. A to the self-propelled transport vehicle, the drive wheel i+)
, +4) or the elastic body (3) so as to be able to move up and down while being supported by the vehicle body (2a) and (2a).
) is configured to be freely movable linearly to both front and back lateral positions with respect to a support shaft 126 attached to the vehicle body (1) with a swing axis around the vertical axis of each wheel t24]. A self-propelled transport vehicle characterized by: ■ The two casters (2a), (2a) are capable of linearly moving the holding member of each of the wheels to both front and back positions relative to the rotation axis of the support shaft. The support shaft +22 is provided with a guide member (2g+) for mounting and supporting the guide member (771), and a roller (2g+,
129). The self-propelled transport vehicle according to claim 0.