JPH057609Y2 - - Google Patents

Description

[Detailed explanation of the invention] Industrial application field This invention detects the magnetic field generated in the guiding wire,
The present invention relates to a guiding device for a guided vehicle that controls traveling of the guided vehicle based on this detection output.

Conventional technology A guided vehicle that generates a magnetic field by passing direct current or alternating current through a guide wire laid on the floor, etc., detects this magnetic field with a detection coil, and runs unmanned along the guide wire while controlling the steering wheels. are known (for example, Japanese Patent Publication No. 53-26753, Utility Model Publication No. 1983-26753,
It is disclosed in Publication No. 125932. ).

Problems to be Solved by the Invention In this type of guided vehicle guidance device, the detection coil is installed as follows. For example, the
In the transport vehicle disclosed in Japanese Patent No. 26753, as shown in FIG.
6, a pair of detection coils 17a and 17b are connected to the front wheel 1.
8 and are arranged symmetrically with respect to the front wheel 18. Also, Utsukai Showa 50-125932
In the transport vehicle disclosed in the publication, as shown in FIG. 7, a triangular frame-shaped arm 20 is swingably attached to the vehicle body 19 so as to extend from the front thereof, and the tip end of the arm 20 is located at both sides. A pair of detection coils 21a and 21b are arranged.

By the way, there is a relationship as shown in FIG. 5 between the distance between the detection coil and the guide wire and the output voltage of the detection coil generated by the magnetic field of the guide wire. According to the figure, range A where the detection coil approaches the guide wire
In this case, the slope of the output characteristic curve is steep, and in the distant range B, the slope of the output characteristic curve becomes gentle. In other words, in range A where the detection coil is close to the guide wire, even if the distance between the detection coil and the guide wire changes slightly, the output voltage fluctuates greatly (high sensitivity to deviation), and the detection coil is close to the guide wire. In the distant range B, even if the distance between the detection coil and the guide wire changes, the fluctuation in the output voltage is small (the sensitivity to deviation is low).

Due to these characteristics of the detection coil, when the guide wire runs along the immediately laid part (straight part), that is, when the steering wheel is not turned, the deviation is made to avoid unnecessary movement (meandering). It is desirable to lower the sensitivity to deviations and increase the sensitivity to deviations when traveling along a curved part of the guide line (curved part), that is, when the steering wheel is turned significantly, to avoid derailment. .

However, with conventional guided vehicle guidance devices,
A pair of detection coils 17a, 17b, 21a, 21
The distance between b and b is fixed, and as shown in Fig. 8, this distance (l ₁ + l ₂ ) does not change whether the conveyance vehicle travels on a straight section or a curved section, and the distance between the detection coils 17a, 17b, 21a, 21b
The distances l ₁ and l ₂ between the guide line 22 and the guide line 22 are the same.
In other words, the sensitivity to deviation is the same for both straight and curved sections. For this reason, if the sensitivity to deviations is improved so that driving on curved sections can be performed optimally, the steering wheel will be turned greatly to correct even the slightest deviation. As shown by the dotted line, the conveyance vehicle meanders relative to the guide line (shown by the solid line) and may derail in some cases. Therefore, when attempting to run smoothly on curved sections, it was not possible to increase the traveling speed on straight sections, posing a problem in terms of conveyance efficiency.

The purpose of this invention is to solve the above-mentioned conventional problems and to provide a guiding device for a transport vehicle that can increase the traveling speed in a stable state and improve transport efficiency.

Means for solving the problem This idea uses a simple link mechanism linked to the rotation of the steering wheel to keep the detection coil away from the guide wire in straight sections (to reduce sensitivity to deviations). At the curved portion, the detection coil is brought closer to the guide wire (higher sensitivity to deviations).

That is, the magnetic field generated in the guide wire is detected by a pair of detection coils located on both sides of the guide wire, and the rotation of the steering wheel is controlled by the detection output of the detection coil, thereby moving the guided vehicle along the guide wire. In the guiding device for a guided vehicle that is caused to travel along the It is characterized by being provided with a pair of detection coils.

Operation When the conveyance vehicle approaches a curved portion, the distance between the detection coil and the guide wire changes, so the steering wheels are rotated to correct this and come to follow the guide wire. At this time, the pair of links rotates in conjunction with the steering wheel while maintaining a parallel state in the same direction, the gap between the pair of links narrows, the detection coil approaches the guide wire, and as a result , the sensitivity to deviations is increased and it is possible to run around curves without derailing.

When the conveyance vehicle moves from a curved section to a straight section, the steering wheel is rotated in the opposite direction (returning direction) to the previous direction. At this time as well, the pair of links rotate in conjunction with the steering wheel while maintaining a parallel state in the same direction, but the gap between the pair of links widens from a narrow state, and the detection coil moves away from the guide wire. As a result, the sensitivity to deviations becomes lower, and the vehicle can travel on straight sections at higher speeds.

Embodiment Hereinafter, an embodiment of this invention will be described with reference to the drawings.

FIG. 1 is a perspective view of the guiding device of this invention, and FIG. 2 is a schematic plan view thereof. Reference numeral 1 in the figure is a vehicle frame, and a steering wheel 3 that is controlled to run along a guide line 2 is rotatable at the front central portion of the vehicle frame 1 via a U-shaped frame member 4. installed.

At a position near the steering wheel 3 of the vehicle frame 1,
A steering shaft 5 is rotatably installed upright, and a transmission mechanism 6 (a pulley 6a provided on the steering shaft 5 and a pulley provided on the frame member 4) is connected between the steering shaft 5 and the steering wheels 3. A belt 6c is provided between the steering wheel and the steering wheel 6b, and the rotation of the steering shaft 5 is transmitted to the steering wheel 3 by the transmission mechanism 6.

Furthermore, a pair of links 7a and 7b of equal length are arranged in parallel to each other at both front positions of the vehicle frame 1. These links 7a and 7b are located on both sides of the guide line 2 when the steering wheel 3 is located on the guide line 2, and pins 8a and 8b are provided near one end of the links. ,8b
It is swingably supported by the vehicle frame 1 via. A pin 9 is connected between one end of the links 7a and 7b.
A link 10 is provided via a and 9b,
An arm 12 provided on the steering shaft 5 is connected to the intermediate portion of the link 10 via a pin 11.

Here, the links 7a and 7b act as levers that swing around the pins 8a and 8b, and the link 1
0 is a connecting rod that connects links 7a and 7b,
In addition, the vehicle frame 1 is a fixed link,
It constitutes a parallel motion mechanism, and the steering shaft 5
When the rotation is transmitted to the link 10 via the arm 12, the links 7a and 7b are rotated in the same direction as the steering shaft 5 (steering wheel 3) using the pins 8a and 8b as fulcrums while maintaining parallel states. Rotate.

Detection coils 13a and 13b for detecting the magnetic field generated in the guide wire 2 are attached to the other ends of the links 7a and 7b extending forward of the vehicle frame 1. These detection coils 13a, 13b are connected to the guide wire 2.
When the vehicle travels along the guide line 2, it is located on both sides of the guide line 2, and its output characteristics are the same as those shown in FIG.

Rear wheels 14a and 14b are attached to both rear positions of the vehicle frame 1, as shown in FIG.

Although not shown, the detection coils 13a, 1
After the output voltage of 3b is amplified by an amplifier, it is input to a differential amplifier, where the difference in output voltage (a signal proportional to the amount of deviation of the steering wheel 3 from the guide line 2) is amplified, and this signal is applied to a servo motor that steers the steering shaft 5 (steering wheel 3) via a motor drive amplifier, and the servo motor rotates forward or reverse, as in the conventional device.

In this embodiment, when the vehicle is traveling along the straight line of the guide line 2, the steering angle of the steering shaft 5 is 0°, and the links 7a and 7b are attached to the vehicle frame 1 as shown in FIG. On the other hand, it does not rotate,
The detection coils 13a, 13b are located away from the guide wire 2, and have low sensitivity to deviations.

When traveling along a curved portion, the links 7a and 7b rotate in the same direction as the steering wheels 3 in accordance with the steering angle, as shown in FIG.
The distance between links 7a and 7b (l ₁ ′+l ₂ ′) is smaller than when traveling on a straight section (l ₁ +l ₂ ),
The detection coils 13a, 13b are closer to the guide wire 2, and their sensitivity to deviations is increased.

Although the above embodiment has been described with respect to a case where the steerable wheel 3 is one wheel, the present invention can also be applied to a case where the steerable wheel 3 is two wheels, as shown in Fig. 4. In this case, the links 7a and 7b can be attached to the rocker arms of the steerable wheel 3.

Effects of the invention As explained above, according to this invention, a detection coil is provided on a pair of links that oscillate while keeping parallel to each other as the steering wheel rotates, so it is possible to drive around curved sections. In some cases, the detection coil can be moved closer to the guide wire to increase its sensitivity to deviations, allowing fine corrections to the steering angle and allowing the train to travel at higher speeds without derailing even when the turning radius is reduced. becomes possible. In addition, when moving to a straight section, the detection coil moves away from the guide wire, so the sensitivity to deviations becomes lower.
It is possible to control the steering angle while ignoring slight deviations, and it is possible to increase the running speed.

That is, according to this invention, it is possible to increase the traveling speed of the transport vehicle and significantly shorten the transport time.

[Brief explanation of the drawing]

Figures 1 to 3 show an embodiment of this invention, with Figure 1 being a partially omitted perspective view;
2 is a schematic plan view, FIG. 3 is an explanatory diagram of the operation, FIG. 4 is a schematic plan view showing another embodiment of this invention, and FIG. 5 is a diagram showing the output characteristics of the detection coil. Fig. 6 is a front view of a conventional device, Fig. 7 is a plan view of another conventional device, Fig. 8 is an explanatory diagram explaining the relationship between the detection coil and the guiding wire in the conventional device, and Fig. 9 is a straight line. FIG. 4 is an explanatory diagram illustrating a problem that occurs when sensitivity to deviation is increased when a portion of the vehicle travels. 1... Transport vehicle (vehicle frame), 2... Guide line,
3... Steering wheel, 5... Steering shaft, 7a,
7b...link, 13a, 13b...detection coil.

Claims (1)

[Claims for Utility Model Registration] By detecting the magnetic field generated in the guide wire with a pair of detection coils located on both sides of the guide wire, and controlling the rotation of the steering wheels according to the detection output of the detection coils. , a guiding device for a guided vehicle that causes the guided vehicle to travel along a guide line, wherein the guided vehicle is provided with a pair of links that swing while maintaining parallel states with each other by rotation of steering wheels; A guide device for a transport vehicle, characterized in that the pair of detection coils are provided on a pair of links.