JPH041012Y2 - - Google Patents

Description

[Detailed description of the invention] (1) Industrial application field The present invention relates to an automatic guided vehicle that travels along a set route.

(2) Prior art Most automated guided vehicles are relatively inexpensive and use a system in which the drive wheels are driven via differential gears, which is easy to control. The drawback was that it could not be done. Therefore, an automatic guided vehicle has also been proposed that performs a spin turn by rotating two drive wheels in the opposite direction using a spin turn motor. However, if an attempt is made to modify a commonly used conventional automatic guided vehicle as described above, it will be a major modification and will be very expensive. In addition, it is not possible to modify the product by simple exchange of items if necessary, resulting in a lack of compatibility, and there are always two
The disadvantage was that different types of transport vehicles had to be prepared.

(3) Purpose This invention was created in view of the above circumstances.
The purpose of the present invention is to provide a compatible automatic guided vehicle that can achieve its purpose by replacing one drive wheel and performing simple modification work.

(4) Configuration The automated guided vehicle of the present invention includes a steering wheel rotated by a steering motor, two drive wheels driven by a drive motor via differential gears, and a detection device that detects a preset route. a brake for locking the input shaft of the differential gear; a spin-turn motor; a transmission mechanism for turning on and off the rotational output of the spin-turn motor to any one of the drive wheels; The control device controls the brake, the spin-turn motor, the transmission mechanism, and the steering motor based on the turn signal, and controls the steering angle of the steering wheel based on the output of the detection device. While traveling by the drive motor, the steering angle is controlled by the steering motor, and after stopping traveling during a spin turn, the steered wheels are rotated 90 degrees, while the input shaft of the differential gear is locked, and the transmission mechanism Rotating a spin turn motor provided on one of the drive wheels,
When the detection device detects a new route due to the spin turn, the spin turn motor is stopped, the steering angle is returned to the original angle, the transmission mechanism is disconnected, and the drive motor is rotated. Further, the transmission mechanism includes a clutch pulley having external teeth provided on the outer peripheral surface of the boss portion of one drive wheel and internal teeth provided on the inner peripheral surface, an external gear meshing with the internal teeth of the clutch pulley on the outer peripheral surface, and an internal gear. It is equipped with a clutch gear on its circumferential surface that has an internal gear that meshes with the external teeth of the boss section, and the clutch pulley is pivotally supported on the outer circumferential surface of the boss section via a bearing and is connected to the spin turn motor via a belt. The clutch gear is characterized in that it is configured to slide in the direction of the drive shaft so that its external gear meshes with or disengages from the internal teeth of the clutch pulley.

(5) Embodiment FIG. 1 is an external perspective view showing an embodiment of the present invention, in which 10 is a truck, 20 is a chassis, 30 is a detection device, and 111 and 112 are drive wheels (drive wheels 112
(shown in Figure 2), 200 is a gearbox, 21
0 is a steering wheel, 220 is a fork, 230 is a steering motor, and 60 is a route formed by pasting tape on the floor.

FIG. 2 is a plan view of the chassis 20 seen from below, in which a drive shaft 122 is rotatably supported by a bearing 21 fixed to the right side of the chassis 20, and a bearing 22 fixed to the left side of the chassis 20 will be described later. A drive shaft 121 is pivotally supported via an end plate 124 as shown in FIG.

One end of the drive shafts 121 and 122 is a differential gear 130
The differential gear 130 is driven by the drive motor 140 via the pinion 142 and the ring gear 131, so the side gears 132 and 133 rotate via the bevel gear 134, and the drive motor 140 of torque is transmitted to the drive wheels 111 and 112.

When the automatic guided vehicle turns, the left and right drive wheels 111, 112 run at rotational speeds corresponding to their respective turning curves according to the well-known differential gear theory.

In addition to the pinion 142, a brake disc 143 is fixedly attached to the drive shaft 141 of the drive motor 140, and by pressing this disc with the brake 150, the casing of the differential gear 130 is locked and does not rotate. Hold it like this.

A drive shaft 121 driven by a differential gear 130 is provided with a spline 123 at its tip, and is fixed to the boss portion 113 of the drive wheel 121 via an end plate 124 that meshes with the spline 123. Torque from the differential gear 130 is transmitted to the drive wheels 12
1.

The bearing 11 is located on the outer periphery of the left end portion of the bearing 22.
The boss portion 113 is coaxially supported via the shaft 4. A cylindrical portion 162a of a clutch pulley 162 is coaxially supported on the outer periphery of the boss portion 113 via a bearing 115. Further, external teeth 116 are formed on the outer peripheral surface of the boss portion 113 near the inner end thereof. Furthermore, internal teeth 164 are formed on the inner peripheral surface of the clutch pulley 162. Reference numeral 160 denotes a spin-turn motor, and a pulley 161 is attached to a drive shaft, and the pulley 161 and clutch pulley 162 are connected by a belt 163. 180 is a clutch gear formed in a ring shape, and the bearing 22
It is slidably provided on the outer peripheral surface of the shaft in the axial direction.
An external gear 181 that meshes with the internal teeth 164 is formed on the outer peripheral surface, and the external tooth 181 is formed on the inner peripheral surface.
An internal gear 182 that meshes with 61 is formed. At the terminal position where the clutch gear 180 slides, the external gear 181 and the internal gear 164 are connected to each other, and the internal gear 18
2 and the external teeth 116 are configured to mesh with each other, and the meshing between the two is released at the sliding starting end position. 190 is a solenoid, 191 is an iron core, 192 is a bracket provided on the solenoid 190, 193 is a bell crank, 194 is an L-shaped fitting, and 195 is a shifter. bell crank 19
3 is formed in an L shape, one end of which is connected to the iron core 1.
At the tip of 91, a bent portion is pin-coupled to a bracket 192, and the other end is pin-coupled to an L-shaped metal fitting 194.

The shifter 195 is formed in a ring shape,
It is fixed to the L-shaped fitting 194 and is provided adjacent to the internal teeth 182 and slidably in the axial direction on the outer periphery of the bearing 22 . Boss portion 113, clutch pulley 162, clutch gear 180, solenoid 190, bell crank 193, shifter 1
95 constitutes a transmission mechanism.

170 is an encoder that meshes with the ring gear 131. Reference numeral 210 denotes a steering wheel, and a vertical shaft (not shown) is erected on the upper surface of a fork 220 that rotatably holds the steering wheel, and is rotated by a steering motor 230 via a gear box 200 to perform steering. 240 is an encoder linked to steering.

When the spin-turn motor 160 is driven, the rotation rotates a clutch pulley 162 via a pulley 161 and a belt 163. Here solenoid 1
When 90 is excited, the iron core 191 protrudes, and the bell crank 193, L-shaped fitting 194, and shifter 19
The clutch gear 180 connects to the external gear 181 via
is pushed into the internal teeth 164 of the clutch pulley 162 while sliding. Pushed clutch gear 1
The internal gear 182 of 80 is the external gear 11 of the boss portion 113.
It meshes with 6. The rotation of the clutch pulley 162 is transmitted to the clutch gear 180 and the boss portion 113 in this order, thereby rotating the drive wheel 111.

On the other hand, since the casing of the differential gear 130 is locked from rotating by the brake 150 as described above, the rotation of the drive wheel 111 is limited to the side gear 132, the bevel gear 134, and the side gear 133.
Rotation in the opposite direction at the same rotation speed is transmitted to the drive wheels 112 via the drive shaft 122 and the drive shaft 122 .

Therefore, a spin turn can be performed by rotating the steering wheel 210 by 90 degrees, as shown by the broken line in FIG.

The detection device 30 includes a light receiving element 31 that detects the route.
Contains 1,312. FIG. 4 shows the control device 40.
2 is a block diagram illustrating the operation of the computer, and includes a central processing unit 400, a storage device 410, an adder circuit 420, synchronization circuits 430, 440, and the like.

The path signals detected by the light receiving elements 311 and 312 are input to the central processing unit 400 via an adding circuit 420 and an A/D converter 421, and are processed according to a processing routine stored in a storage device 410. If there is a need for steering, the synchronization circuit 43
A steering signal is input to the steering motor 230 via the D/A converter 431 and the control circuit 433, and the steered wheels 210 are rotated at a predetermined angle. Further, the running signal is sent from the central processing unit 400 to the synchronization circuit 440, D/
It is applied to the drive motor 140 via the A converter 441, the control circuit 442, and the switching circuit 443, and is applied to the drive wheels 111, 11 via the differential gear 130.
2 is driven.

When the central processing unit 400 determines that the curve of the route based on the route signal from the detection device 30 is smaller than the minimum turning radius stored in the storage device 410, a spin turn signal is output.
This signal activates the switching circuit 443 to stop the drive motor 140. Furthermore, the switching circuit 450 is activated to drive the brake 150 and press the disc 143. As a result, the casing of the differential gear 130 is locked from rotating via the pinion 142 and ring gear 131. Furthermore, the spin turn signal is sent to the control circuit 433.
is also applied to drive the steering motor 230 to rotate the steering wheel 210 by 90 degrees.

On the other hand, the spin turn signal is sent to the switching circuit 4.
70 to the solenoid 190, the iron core 191 is projected, the clutch gear 180 is pushed in, and the clutch pulley 162 is coupled to the drive wheel 111 and drive shaft 121 as described above. Further, the spin turn signal is applied to the spin turn motor 160 via the switching circuit 460, and its rotation is transmitted to the clutch pulley 162 via the pulley 161 and belt 163, so that the automatic guided vehicle performs the spin turn.

Furthermore, the outputs of encoders 240 and 170 are passed through pulse counters 434 and 444 to respective synchronization circuits 430 and 440 and central processing unit 40.
It is fed back to 0 and used for stabilizing control and measuring the steering angle.

Note that in this embodiment, the drive during spin turn is 1
The torque of the spin turn motor may be transmitted to each drive wheel separately, but it may also be transmitted to both the left and right drive wheels separately.The torque of the spin turn motor is transmitted by a pulley and belt, but it can also be transmitted by a chain, sprocket, or gears. It is also good.

(6) Effects of the invention According to the invention, a conventional automatic guided vehicle can be easily modified into an automatic guided vehicle capable of spin-turning without major changes to its structure.
There is no need to prepare a separate spin-turn carrier, and it can be easily modified as needed, so the transport work can be carried out with just one set of automatic guided vehicles.

[Brief explanation of the drawing]

FIG. 1 is an external perspective view showing an embodiment of the present invention, FIG. 2 is a plan view of the chassis seen from below, FIG. 3 is a plan view of the transmission mechanism, and FIG. 4 is a block diagram. 10...Automated guided vehicle, 20...Shasi, 30
...Detection device, 60...Route, 111,112...
...Drive wheel, 210...Steering wheel.

Claims (1)

[Claims for Utility Model Registration] (1) A steering wheel rotated by a steering motor, two drive wheels driven by a drive motor via differential gears, and a detection device that detects a preset route. , a brake that locks the input shaft of the differential gear, a spin-turn motor, and a transmission mechanism that turns on and off the rotational output of the spin-turn motor to any one of the drive wheels;
The control device controls the brake, the spin-turn motor, the transmission mechanism, and the steering motor based on the spin-turn signal, and controls the steering angle of the steered wheels based on the output of the detection device. At times, the steering angle is controlled by the steering motor while traveling by the drive motor, and after stopping traveling during spin turns,
While the steered wheels are rotated 90 degrees, the input shaft of the differential gear is locked, and the transmission mechanism rotates the spin-turn motor provided on one of the drive wheels, and the spin-turn detects a new path. An automatic guided vehicle characterized in that, upon detection, the spin-turn motor is stopped, the steering angle is returned to the original angle, the transmission mechanism is disconnected, and the drive motor is rotated. (2) The transmission mechanism includes a clutch pulley having external teeth provided on the outer circumferential surface of the boss portion of one drive wheel, a clutch pulley having internal teeth provided on the inner circumferential surface, and an external gear that meshes with the internal teeth of the clutch pulley on the outer circumferential surface. , is equipped with a clutch gear having an internal gear on the inner circumferential surface that meshes with the external teeth of the boss section, and the clutch pulley is pivotally supported on the outer circumferential surface of the boss section via a bearing, and is connected to the spin turn motor via a belt. The clutch gear is configured to slide in the direction of the drive shaft so that its external gear meshes with or disengages from the internal teeth of the clutch pulley. The automated guided vehicle described in item 1.