JPH09286338A - Self-propelled carrier car - Google Patents

Abstract

PROBLEM TO BE SOLVED: To turn a turn table connected to a carrier body at an unfixed position without turning the carrier body. SOLUTION: A carrier body 1 having a plurality of caster wheels 3, 3 at the front and rear portions is turnably connected to a turn table 4, having a pair of driving wheels 5, 5 which are independently driven, around a vertical shaft in the center of the pair of driving wheels 5, 5. A locking mechanism 13 for locking the turn table 4 and the carrier body 1 such that they can be released is mounted and a driving and lifting device 14 for lifting a grounding tool 15 is mounted to the carrier body 1 and the driving wheels 5, 5 can be individually lifted and put into contact with the ground by energizing means, respectively.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled carrier vehicle capable of changing the traveling direction of a cargo receiving vehicle body without changing the direction of the cargo receiving vehicle body.

[0002]

2. Description of the Related Art As the above-mentioned self-propelled carrier vehicle, a cargo receiving vehicle body having a plurality of caster wheels at the front and rear and a turntable having a pair of drive wheels that are independently driven are provided between the pair of drive wheels. A lock mechanism that locks the turntable and the cargo receiving vehicle body in a releasable manner is rotatably connected around the central vertical axis of the, and a positioning pin that can move up and down is provided on the cargo receiving vehicle body side. There is one in which a concave portion to be fitted is provided on the floor surface of the transport vehicle stop position (see Japanese Patent Publication No. 4-8332).

According to the self-propelled guided vehicle having such a structure, at a predetermined stopped position of the guided vehicle, the lock between the turntable and the cargo receiving vehicle body is released, and the positioning pin is fitted into the concave portion to drive the pair of driving vehicles. When the wheels are driven and rotated in opposite directions, only the turntable turns while leaving the cargo receiving vehicle body.

Therefore, if the turning angle is set to, for example, 90 degrees, and the positioning pin is pulled out from the recess to lock the turntable and the cargo receiving vehicle body, after this, the cargo receiving vehicle body is not changed in direction, and this cargo receiving vehicle body is not changed. Can be traversed laterally.

In the self-propelled guided vehicle having such a configuration, the positioning pin and the floor-side recess into which the positioning pin is fitted are used for turning only the turntable while leaving the load receiving vehicle body at a fixed position. , Necessary and indispensable.

In other words, in the self-propelled guided vehicle having the above-described structure, since most of the weight of the transported object is held by the drive wheels via the turntable in addition to the weight of the vehicle body itself, the turntable turns. In that case, a large frictional force is applied to the rotating shaft portion between the receiving vehicle body and the turntable,
Moreover, since this frictional force becomes a force for turning the load-receiving vehicle body as the turntable turns, in order to keep the load-receiving vehicle body in a fixed position against the force, the positioning pin and the mounting pin are fitted. It is provided with a concave portion.

[0007]

For this reason, not only the turning position of the turntable is limited to the place where the recess is installed, but also a considerable skill is required to align the positioning pin with the recess, or the self-propelled device is used. If the automated guided vehicle is configured as an unmanned vehicle, in addition to the need for means for altitude alignment control, if the traveling route of the unmanned vehicle is changed due to a change in the layout in the factory, Every time, the installation work of the recess and the adjustment work of the alignment control were required.

Further, since dust or the like is likely to collect in the concave portion, it becomes impossible to fit the positioning pin,
There was also concern that it would be impossible to change the traveling direction of the receiving vehicle.

[0009]

In order to solve the above-mentioned problems, the present invention further reduces the force for turning the load-receiving vehicle body, which occurs with the turning of the turntable, and further, The present invention provides a self-propelled guided vehicle that enables turning of a turntable at an indefinite position and does not require any installation work of a concave portion on a floor surface.

[0010]

BEST MODE FOR CARRYING OUT THE INVENTION That is, a self-propelled carrier according to the present invention comprises a cargo receiving vehicle body having a plurality of caster wheels at the front and rear, and a turntable having a pair of drive wheels that are independently driven. A drive lifting device for connecting the pair of drive wheels so as to be rotatable about a central vertical axis, a lock mechanism for releasably locking the turntable and the load receiving vehicle, and a drive lifting device for lifting the grounding tool. It is characterized in that it is provided on the vehicle body side, while the drive wheels are provided so as to be able to move up and down separately, and further that the drive wheels are configured to be urged and grounded by urging means.

The grounding tool elevating device is, for example, a vertical body which is moved up and down by a drive elevating means, and a grounding tool which is held so as to be movable up and down over a predetermined range with respect to the vertical body.
And a biasing means for biasing the grounding tool to ground. The lock mechanism can be configured using the vertical body of the grounding tool lifting device by providing a lock hole on the turntable side for engaging and disengaging the vertical body as the grounding tool moves up and down.

In the above structure, the urging grounding force of the drive wheel by the urging means is set to be smaller than the grounding force when the drive wheel is fixedly provided on the turntable, and it is particularly preferable that the wheel drive is performed. For example, when the maximum drive torque is generated in the motor, the urging grounding force is set to the necessary minimum level so that the drive wheels do not slip, so that the drive wheels not only carry the weight of the vehicle but also the weight of the transported object. The weight ratio of the caster wheels in the front and rear of the vehicle body increases accordingly, and the force to move the load-carrying vehicle, which occurs when the turntable turns, decreases. Become.

Therefore, if the lock by the lock mechanism is released and the grounding tool is lightly grounded, it is possible to rotate only the turntable at an indefinite position without causing the load receiving vehicle to rotate.

[0014]

Embodiments of the present invention will be described below with reference to the drawings. FIGS. 1 and 2 show a self-propelled carrier vehicle. In these figures, reference numeral 1 denotes a cargo receiving vehicle body, and front and rear vehicle body frames 2 are provided with caster wheels 3 and 3 on the left and right sides, respectively. There is.

Reference numeral 4 is a turntable provided with a pair of drive wheels 5 and 5 which are independently driven, and a vertical axis 6 is provided upright in the central portion between the pair of drive wheels 5 and 5, while the load receiving vehicle body 1 is provided. On the side, a cylindrical shaft 7 is provided concentrically with the vertical axis 6, and the vertical axis 6, the cylindrical shaft 7, and thus the turntable 4 and the cargo receiving vehicle body 1 are relatively arranged around the vertical axis 6 via a bearing 8. It is rotatably connected.

The drive wheels 5 and 5 are independently driven by, for example, a motor 9 using a battery as a drive source. The drive wheels 5 and 5 are mounted on frames 11 and 11 which are swingable around a horizontal support shaft 10 with respect to the turntable 4. Is installed, and
Between the free ends of the frames 11, 11 and the cargo receiving vehicle body 1, the biasing means 1 for biasing the drive wheels 5, 5 to the ground separately.
2, 12 are provided.

Reference numeral 13 denotes the turntable 4 and the cargo receiving vehicle body 1.
A lock mechanism for releasably locking the lock lever 14 and a drive lifting device 14 provided on the side of the cargo receiving vehicle body 1 for lifting the grounding tool 15. The drive lifting device 14 is, for example, an electric cylinder as shown in FIG. The drive means 16 is provided on the side of the cargo receiving vehicle body 1, the lower side of the vertical axis body 17 which is moved up and down by the drive means 16 is inserted into the grounding tool 15, and the vertical axis body 17 is provided.
A seat 18 is provided at the lower end of the grounding tool 15 to hold the grounding tool 15 in a predetermined range so that the grounding tool 15 can be lifted and held, and further, a biasing means (spring) 1 for biasing the grounding tool 15 to ground.
9 is provided.

The lock mechanism 13 is constructed by utilizing the vertical body 17 of the drive lifting device 14. That is,
A part of the turntable 4 is configured to face above the lifting guide 20 of the vertical body 17, and the grounding tool 15 is lifted on the surface of the turntable 4 facing the lifting guide 20. Accordingly, a lock hole 21 for engaging the upper end side of the vertical axis body 17 is formed. The lock hole 21 is formed around the rotation center of the turntable 4 by 9 degrees.
Two vertices are formed with a phase of 0 degree, and one of them is engaged with the vertical body 17 with the drive wheels 5 and 5 being directed in the front-rear direction of the cargo receiving vehicle 1. The position is set so that

According to the above construction, the pair of drive wheels 5,
By driving 5 in forward and backward directions in the same direction, the cargo receiving vehicle body 1 can travel straight forward and backward. Further, by stopping the driving of one of the driving wheels 5, the cargo receiving vehicle body 1 can be pivot-turned around the driving stopped wheels 5.
Moreover, the left and right drive wheels 5, 5 are driven in reverse to each other, so that the cargo receiving vehicle body 1 can be made to spin-turn around the center between the drive wheels 5, 5.

Further, the vertical body 17 is pulled out from the lock hole 21, the lock mechanism 13 releases the lock between the turntable 4 and the cargo receiving vehicle body 1, and the grounding tool 15 is grounded by being urged to the floor. Then, by driving and rotating the pair of drive wheels 5 and 5 in mutually opposite directions, only the turntable 4 can be turned with the cargo receiving vehicle body 1 left.

When the turntable 4 is turned, the turntable 4 is rotated through 90 degrees so that the other lock hole 21 is aligned with the vertical axis body 17, and the vertical axis body is inserted into the lock hole 21. The turntable 4 and the cargo receiving vehicle body 1 are locked by raising the grounding tool 15 so that the cargo receiving vehicle body 1 is laterally moved in a so-called traverse direction without changing the orientation of the cargo receiving vehicle body 1. Can be run.

Alternatively, there is 1 between the lock holes 21 and 21.
If one or more lock holes are added and the turntable 4 and the cargo receiving vehicle body 1 are locked at a turning angle other than 90 degrees, the cargo receiving vehicle body 1 can be run diagonally.

The force that tends to cause the cargo receiving vehicle body 1 to turn around, which is generated as the turntable 4 turns, is reduced, and in turn, the biasing grounding force of the grounding tool 15 by the drive lifting device 14 is weakened. In order to lightly prevent the skid of the cargo receiving vehicle body 1 from slipping, it is particularly preferable that the drive wheels are driven by the biasing means 12 to the extent that the drive wheels 5 and 5 do not slip when the maximum drive torque is generated in the motor 9. It is to set the urging grounding forces of 5 and 5 to the necessary minimum.

FIG. 4 shows another embodiment of the structure in which the drive wheels 5 and 5 are urged and grounded so that they can be moved up and down. In this embodiment, the wheel 5 driven by the motor 9 is provided on one vertical support shaft 22, while a slide bearing 23 penetrating the vertical support shaft 22 is provided on the table frame 24, and the vertical support shaft 22 is provided. A retaining metal fitting 25 is provided on the upper end of the shaft 22, and an urging means (spring) 12 for urging and grounding the drive wheel 5 is provided between the seat 25 on the drive wheel 5 side and the table frame 24 to drive the drive wheel 5. The wheel 5 is moved up and down in the axial direction of the vertical support shaft 22.

[0025]

The present invention is embodied in the form as described above, and the drive wheels are arranged so as to reduce the force that is generated when the turntable turns and that tends to cause the load receiving vehicle body to turn. It is possible to move the turntable only in an indefinite position without any turning of the receiving body by providing a grounding tool on the receiving body side so that it can be moved up and down. You can

Therefore, since the turning position of the turntable is not limited, it is possible to change the traveling direction of the receiving vehicle body without requiring skill, or even when the self-propelled transport vehicle is configured as an unmanned vehicle. The traveling direction of the cargo receiving vehicle body can be changed by a simple control means. In addition, even if the traveling route of the unmanned vehicle is changed due to the change of the layout in the factory, the traveling direction can be changed by a slight control adjustment, and further, due to dust etc. You do not have to worry about the situation where you cannot change the driving direction.

[Brief description of drawings]

FIG. 1 is a vertical sectional side view of a self-propelled carrier.

FIG. 2 is a plan view of the self-propelled transport vehicle, as seen through the cargo receiving vehicle.

FIG. 3 is a detailed view of a drive lifting device.

FIG. 4 is a detailed view showing a drive wheel lifting structure according to another embodiment.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Cargo receiving body, 3 ... Caster wheel, 4 ... Turntable, 5 ... Drive wheel, 6 ... Vertical axis, 12, 19 ... Biasing means,
13 ... Lock mechanism, 14 ... Drive lifting device, 15 ... Grounding tool, 17 ... Vertical body, 21 ... Lock hole.

Claims (2)

[Claims] 1. A cargo receiving vehicle body having a plurality of caster wheels at the front and rear, and a turntable having a pair of drive wheels that are independently driven, respectively, are rotated about a central vertical axis between the pair of drive wheels. A lock mechanism for releasably connecting the turntable and the cargo receiving vehicle body is provided, and a drive lifting device for raising and lowering the grounding tool is provided on the cargo receiving vehicle body side, while the drive wheels can be individually raised and lowered. The self-propelled transport vehicle is characterized in that the drive wheels are configured to be urged and grounded by urging means. 2. The grounding tool lifting device includes a vertical body which is lifted and lowered by a drive lifting means, a grounding tool which is held so as to be lifted and lowered in a predetermined range with respect to the vertical body, and the grounding tool is grounded. The lock mechanism is constituted by a biasing means for biasing, and a lock hole is provided on the turntable side for engaging and disengaging the vertical axis body as the grounding tool moves up and down. Self-propelled carrier.