To enable, in an unmanned running truck capable of moving in all directions, a running in a desired direction precisely by a simple structure even if the truck crosses a conveyer.SOLUTION: An unmanned running truck 1 includes: a truck body 2; fron and rear wheels 11, 12, 13 and 14 each including a mecanum wheel; and a control device 10. A speed detecting wheel 25 is provided at the front end of the truck body 2 so as to contact the forward floor surface and to be rotatable around an axial line that extends in the back-and-forth direction. The control device 10 determines whether or not it is in a conveyer traversing state in which some of the front and rear wheels are on a conveyer and the remaining of the front and rear wheels are on the fixed floor on the basis of the rotation of the speed detecting wheel 25 and on the positional relationship between the speed detecting wheel 25 and the front and rear wheels 11, 12, etc. When a determination is made that it is in the conveyer traversing state, the front and rear wheels 11, 12, etc., are controlled so as to continue travelling while a difference in speed between the conveyer and the fixed floor is canceled on the basis of the number of rotations of the speed detecting wheel 25.SELECTED DRAWING: Figure 1
【課題】全方向移動可能な無人走行台車において、コンベアを横断する場合でも、簡単な構成で精度良く、所望の方向への走行を可能にする。【解決手段】台車本体2と、各々メカナムホイールからなる前後輪11,12,13,14と、制御装置10とを備える無人走行台車1である。台車本体2の前端部に、前方の床面に接触し且つ前後に延びる軸線周りに回転可能に設けられた速度検出用車輪25を備えている。制御装置10は、速度検出用車輪25の回転および速度検出用車輪25と前後輪11,12,…との位置関係に基づき、前後輪の一部がコンベア上にあり、且つ、前後輪の他部が固定床上にあるコンベア跨ぎ状態か否かを判定する。コンベア跨ぎ状態であると判定したときに、速度検出用車輪25の回転数に基づいて、コンベアと固定床との速度差を打ち消しながら進行を継続するように、前後輪11,12,…を制御する。【選択図】図1
UNMANNED RUNNING TRUCK
無人走行台車
2019-10-10
Patent
Electronic Resource
Japanese