公开(公告)号：US4972917A

公开(公告)日：1990-11-27

申请号：US334887

申请日：1989-03-30

申请人： Yoshihiro Matsumoto ,  Yasutaka Nakajima ,  Haruo Tanioku ,  Kouichi Fujikawa ,  Norihide Higaki ,  Nobuo Mino

发明人： Yoshihiro Matsumoto ,  Yasutaka Nakajima ,  Haruo Tanioku ,  Kouichi Fujikawa ,  Norihide Higaki ,  Nobuo Mino

IPC分类号： B62D1/28 ,  B62D11/04 ,  G05D1/02

CPC分类号： B62D11/04 ,  B62D1/28 ,  G05D1/0263 ,  G05D2201/0216

摘要： A carriage conveying apparatus has a loaded carriage to be conveyed, and a driving vehicle for coupling, towing and conveying the carriage from below the carriage. Since the vertical load of the carriage is transmitted to the driving vehicle, controlled to a proper magnitude, the driving vehicle may be reduced in size and weight, and it is also possible to have stable travel if the carriage is empty. By designing all three wheels so as to be driven and steered, sideways and spin-turn motions are realized. By providing recognition marks and detecting means, it is possible to position the driving vehicle accurately if the setting position of the carriage deviates.

摘要翻译： 托架输送装置具有待运送的装载托架和用于从托架下方联接，牵引和运送托架的驱动车辆。 由于滑架的垂直载荷被传递到驾驶车辆，所以被控制到适当的大小，所以驾驶车辆的尺寸和重量可以减小，并且如果滑架是空的话也可以有稳定的行驶。 通过设计所有三个轮子以便被驱动和转向，实现了侧向和旋转运动。 通过提供识别标记和检测装置，如果滑架的设置位置偏离，则可以准确地定位驾驶车辆。

公开(公告)号：US4778024A

公开(公告)日：1988-10-18

申请号：US22934

申请日：1987-03-06

申请人： Yoshihiro Matsumoto ,  Nobuo Mino ,  Kouichi Fujikawa ,  Norihide Higaki

发明人： Yoshihiro Matsumoto ,  Nobuo Mino ,  Kouichi Fujikawa ,  Norihide Higaki

IPC分类号： B62D1/28 ,  B62D9/00 ,  G05D1/02 ,  B62D7/00

CPC分类号： B62D9/00 ,  B62D1/28 ,  G05D1/0244

摘要： An automatic guided vehicle having three wheels consisting a front wheel and a pair of rear wheels and being capable of travelling along a track formed on a floor by a white line or aluminum foil while detecting the track by means of an optical type track sensor. The front wheel of this vehicle can be turned relative to a main body of the vehicle in response to a steering operation and can be locked in the lateral direction. The position of the pair of rear wheels can be symmetrically changed from a paralleled state to an orthogonal state relative to the center line of the main body to be maintained in these states, thereby enabling the main body to turn or laterally travel with radii of gyration determined in accordance with turning angles of the rear wheels relative to the main body on the basis of the relative turning and driving operations of the front and rear wheels.

摘要翻译： 一种自动引导车，其具有由前轮和一对后轮组成的三个车轮，并且能够通过白色线或铝箔沿着形成在地板上的轨道行进，同时通过光学型轨道传感器检测轨道。 该车辆的前轮可以响应于转向操作而相对于车辆的主体转动，并且可以在横向被锁定。 一对后轮的位置可以相对于主体的中心线从平行状态对称地改变为正交状态，以保持在这些状态，从而使主体能够以旋转半径转动或横向移动 根据前轮和后轮的相对转动和驱动操作，根据后轮相对于主体的转角确定。