JPH1165652A - Traversa - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reset a guide line without any labor, even when a advancing route is changed. SOLUTION: This traverser is provided with a detecting means 2 for detecting a relative position relation with a guide line 20 provided continuously for guiding along the continuing direction of the guide line 20 in a non-contact state, and both wheels 3 provided as a pair at the both sides of the continuing direction of the guide line 20, so that they can be speed-controlled and driven based on the relative position relation with the guide line 20.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[0001] 1. Field of the Invention [0002] The present invention relates to a traverser driven according to a guide line provided continuously for guiding.

[0002]

2. Description of the Related Art Conventionally, there are the following traversers of this type. This is equipped with wheels that are driven along a rail as a guide line provided continuously. The rail for forcibly following the wheels has a mechanically strong structure.

[0003]

In the above-mentioned conventional traverser, the wheels are forcibly driven along the rails which are installed with a lot of trouble in order to obtain a mechanically strong structure. Because of this, if the course of the course changes, every time the course changes, the rails must be rebuilt with extra effort.

The present invention has been made in view of the above points, and an object of the present invention is to provide a traverser capable of resetting a guideline without any trouble even when a traveling route is changed. It is in.

[0005]

In order to solve the above-mentioned problem, the invention according to claim 1 is directed to a method of determining a relative positional relationship between a guide line continuously provided for guiding and a guide line in a continuous direction of the guide line. And a pair of wheels provided in pairs on both sides in the continuous direction of the guide line so that the speed is controlled and driven based on the relative positional relationship with the guide line. It has a configuration.

According to a second aspect of the present invention, in the first aspect of the present invention, the two wheels are driven by controlling the speed independently of each other.

According to a third aspect of the present invention, in the first aspect of the present invention, the two wheels are provided at the front end and the rear end in the driving direction. The wheels are provided as wheels, and both the front-end side wheels and the rear-end side wheels are configured to be speed-controlled and driven.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to FIGS. The traverser 10 is driven along a guide line 20 provided continuously for guiding, and includes a traverser body 1, a detection sensor (detection means) 2, and both wheels 3, 3. .

The traverser body 1 is formed in a substantially rectangular parallelepiped shape, and has a control device (not shown) mounted therein.

The detection sensor (detection means) 2 comprises a pair of first and second sensor blocks 21 and 22. The detection sensor (detection means) 2 is located on one side of the traverser body 2, that is, from the top and center of the left side in the traveling direction. It has been extended. The first sensor block 21 is provided with first to fourth detection units 21a, 21b, 21c, 21d along the extending direction, and the second sensor block 22 is provided with the first sensor block 21. Fifth to eighth detectors 22a, 22b, 22c, 22d are provided to face the first to fourth detectors 21a, 21b, 21c, 21d, respectively. These first to eighth detectors 21a, 21b, 21c, 21
d, 22a, 22b, 22c, 22d, between the detecting units facing each other, that is, between the first detecting unit 21a and the fifth detecting unit 22a,
Between the second detector 21b and the sixth detector 22b, between the third detector 21c and the seventh detector 22c, and between the fourth detector 21d and the fourth detector 21d.
For example, a detection line such as an infrared ray is transmitted and received between the and the eighth detection unit 22d, and the detection line is blocked, so that there is an object that blocks the detection line between the opposed detection units. Is detected.

The two wheels 3, 3 are provided on both ends of the traverser body 1 in the longitudinal direction at one end and the other end thereof, that is, at the front and rear ends in the driving direction in the driving state, the two front wheels 3a, 3a. And the rear end side wheels 3b, 3b
1 is provided at the bottom. These front two wheels 3a, 3
The a and the rear end side wheels 3b, 3b are both driven with their speeds controlled by the above-described control device. Further, the respective wheels 3a constituting the front-end side wheels 3a, 3a are driven independently at a controlled speed, and the respective wheels 3b constituting the rear-end side wheels 3b, 3b are also independently provided from each other. Driven with speed control.

Next, guidelines for guiding this
20 will be described. These guidelines 20
a and the other piece 20b are formed to have an L-shaped cross section. For example, one piece 20a is fixed to the wall surface 30 and the other piece 20b is projected so as to be continuously provided.

Next, the operation of this device will be described. This is placed on the floor surface 40 with the other piece 20b of the guide line 20 positioned between the first and second sensor blocks 21 and 22 of the detection sensor 2. And detection sensor 2
However, by detecting the relative positional relationship with the guide line 20 in a non-contact state along the continuous direction of the guide line 20, both the front-end side wheels 3a, 3a and the rear-end side wheels 3b, 3b are
The speed is controlled by the control device based on the relative positional relationship with the guide line 20, and the drive is performed, and the vehicle travels along the guide line 20 as shown by a two-dot chain line in FIG.

Next, the operation of each of the first to eighth detection units 21a, 21b, 21c, 21d, 22a, 22b, 22c, 22d of the detection sensor 2 will be described in more detail. Although the detection line between the first detecting portion 21a and the fifth detecting portion 22a located at the base end side in the most extending direction, that is, the leading end side in the protruding direction of the other side of the guide line, is not blocked, When the detection line between the first detection unit 21b and the sixth detection unit 22b is interrupted, the control device determines that the other end of the guide line is the second detection unit 21b because the traverser 10 approaches the guide line. When it is determined that the traverser 10 has entered the gap slightly with the sixth detection unit 22b, and the wheels 3a and 3b far from the guide line 20, that is, the wheels 3a and 3b on the right side in the traveling direction are decelerated, the traverser 10 advances Change the direction of travel to the right,
10 moves away from guideline 20.

Further, the detection line between the fourth detection portion 21d and the eighth detection portion 22d located on the distal end side in the most extending direction, that is, on the proximal end side in the protruding direction of the other piece 20b of the guide line 20, is electrically connected. The third detector 21c and the seventh detector 22c
When the detection line between the traverser 10 and the traverser 10 is separated from the guide line 20, the control device determines that the other end 20b of the guide line 20 has the third detection unit 21c and the seventh detection unit.
When it is determined that the vehicle has not entered the space between 22c and the acceleration of the wheels 3a and 3b far from the guideline 20,
The traverser 10 changes its traveling direction to the left in the traveling direction, and the traverser 10 approaches the guideline 20.

In the meantime, during the progress, the first detecting unit
When the detection line between the first traverser 21a and the fifth detector 22a is interrupted, the control device determines that the traverser 10 has come very close to the guide line 20, and the other side 20b of the guide line 20
Is determined to have entered between the first detection unit 21c and the fifth detection unit 22c, and the travel of the traverser 10 is stopped.
The drive of all the wheels 3a, 3a, 3b, 3b is stopped and controlled.

In the meantime, during the progress, the fourth detection unit 21
When the interruption of the detection line between the first traverser 10d and the eighth detector 22d is released, the control device determines that the traverser 10 is far away from the guideline 20 and the other one 20
It is determined that b has not entered between the fourth detecting unit 21d and the eighth detecting unit 22d, and control is performed to stop driving of all the wheels 3a, 3a, 3b, 3b.

In the traverser 10, the guide lines 20 provided continuously for guiding are detected only by detecting the relative positional relationship between the guide lines 20 in a non-contact state by the detection sensor 2. However, unlike the conventional example, since the wheels 3a, 3a, 3b, and 3b are not forcibly moved along, there is no need to use a mechanically strong structure that must be provided with trouble. Therefore, even if the progress course is changed, the guideline 20 can be set again without any trouble.

If one of the wheels 3, 3 is driven at a lower speed than the other, it is possible to quickly turn to the wheel that is driving at a lower speed.

The front wheels 3a, 3a and the rear wheels 3a
Since both b and 3b are speed-controlled, the driving state can be quickly controlled. In particular, when the traverser 10 is controlled to bend in the above-described procedure, the driving state can be quickly controlled. .

In the present embodiment, the driving direction is controlled by the speed control so that the two wheels 3 and 3 are driven by the speed control independently of each other. In the case where the driving direction itself is controlled, the driving direction may not be controlled independently of each other.

In this embodiment, the front wheels 2a, 3a
a and both rear end side wheels 3b, 3b are configured to be driven with speed control.For example, when the driving state can be controlled quickly enough, both front end side wheels 3a, 3b
Alternatively, only one of the rear wheels a and the rear end side wheels 3b may be driven under speed control.

In the present embodiment, the detection line is infrared rays, but is not limited to infrared rays, and may be radio waves, ultrasonic waves, or the like.

[0024]

According to the first aspect of the present invention, the guide lines continuously provided for guiding are detected only by detecting the relative positional relationship between the guide lines in a non-contact state by the detecting means. In addition, unlike the conventional example, the wheels are not forced to follow each other. Therefore, it is not necessary to use a mechanically strong structure that requires time and effort, and the traveling course is changed. Can set a new guideline without any hassle.

According to the second aspect of the present invention, in addition to the effect of the first aspect, when one of the two wheels is driven at a lower speed than the other, the wheels are promptly moved to the wheel driving at a lower speed. You can bend.

According to a third aspect of the present invention, in addition to the effects of the first or second aspect of the present invention, since the front-end wheel and the rear-end wheel are both speed-controlled, the driving state can be quickly increased. Can be controlled.

[Brief description of the drawings]

FIG. 1 is a front view showing an embodiment of the present invention.

FIG. 2 is a plan view showing a traveling state of the above.

[Explanation of symbols]

 2 Detection sensor (detection means) 3,3 Both wheels 3a, 3a Front both wheels 3b, 3b Rear both wheels 20 Guideline

Claims (3)

[Claims] 1. A detecting means for detecting a relative positional relationship with a guide line provided continuously for guiding in a non-contact state along a continuous direction of the guide line, and a relative positional relationship with the guide line. A traverser comprising: a pair of wheels provided on both sides in a continuous direction of the guide line so as to be driven with speed control based on the traverser. 2. The traverser according to claim 1, wherein the two wheels are driven with speed control independently of each other. 3. The two wheels are provided at the front and rear ends in the driving direction as front two wheels and rear two wheels, respectively. The traverser according to any one of claims 1 to 2, wherein both wheels are driven under speed control.