PROBLEM TO BE SOLVED: To provide an unmanned carrier capable of stably transporting a carriage.SOLUTION: An unmanned carrier 20 transporting a carriage includes: a vertically freely stretched/shrunk fluid pressure cylinder 22 applying an upward pushing force to a floor surface of a carriage 10; a fluid pressure supply device 70 for supplying fluid to the fluid pressure cylinder 22; pressure adjusting means 50 for adjusting fluid pressure of the fluid supplied to the fluid pressure cylinder 22 from the fluid pressure supply device 70; a control substrate 40 for outputting a command value of the fluid pressure to the pressure adjusting means 50; and a pressure sensor 100 for detecting the fluid pressure of the fluid supplied to the fluid pressure cylinder 22. The control substrate 40 is characterized by calculating a differential value of the fluid pressure detected by the pressure sensor 100, estimating the timing the carrier starts floating up on the basis of a calculated pattern of the differential value, and calculating a command value by multiplying a factor less than 1 with the fluid pressure detected by the pressure sensor 100 at the estimated timing.SELECTED DRAWING: Figure 1

    【課題】台車を安定して搬送できる無人搬送車に関する。【解決手段】台車を搬送する無人搬送車20において、台車10の床面に上向きの押上力を作用させる上下方向に伸縮自在な流体圧シリンダ22と、流体圧シリンダ22に対して流体を供給する流体圧供給装置70と、流体圧供給装置70から流体圧シリンダ22に供給される流体の流体圧を調整する圧力調整手段50と、圧力調整手段50に流体圧の指令値を出力する制御基板40と、流体圧シリンダ22に供給される流体の流体圧を検出する圧力センサ100とが設けられ、制御基板40は、圧力センサ100で検出された流体圧の微分値を算出し、算出された微分値のパターンに基づいて、台車が浮き上がり始めたタイミングを推定し、推定されたタイミングにおける圧力センサ100で検出された流体圧に1未満の係数を乗算して指令値を算出することを特徴とする。【選択図】図1


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    Title :

    UNMANNED CARRIER


    Additional title:

    無人搬送車


    Contributors:

    Publication date :

    2018-11-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B61D Einzelheiten oder Arten des Wagenaufbaus von Eisenbahnfahrzeugen , BODY DETAILS OR KINDS OF RAILWAY VEHICLES / B60P Fahrzeuge zum Transport von Lasten oder zum Befördern, Tragen oder Aufnehmen besonderer Lasten oder Gegenstände , VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS / B61B RAILWAY SYSTEMS , Eisenbahnanlagen



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