Automated guided vehicle movable in all directions

• US 5,450,320 A
• Filed: 10/28/1993
• Issued: 09/12/1995
• Est. Priority Date: 10/28/1992
• Status: Expired due to Term

• Current Assignee: Shinko Electric Industries Company Limited (Fujitsu Limited)
• Original Assignee: Shinko Electric Industries Company Limited (Fujitsu Limited)
• Inventors: Kumehashi, Tatsuya, Tsubaki, Tatsuo
• Primary Examiner(s): ZANELLI, MICHAEL J
• Application Number:
  US08/142,087
• Time in Patent Office: 684 Days
• Field of Search: 364/424.01, 364/424.02, 180/167, 180/168, 180/169, 180/6.5, 318/587, 901/1
• US Class Current: 701/23
• CPC Class Codes: B60K 17/356 having fluid or electric motor, for driving one or more wheels disposition of motor in, or adjacent to, traction wheel B60K7/00
• CPC Class Codes: B60K 17/358 all driven wheels being steerable
• CPC Class Codes: B60K 2007/0046 the motor moving together with the vehicle body, i.e. moving independently from the wheel axle
• CPC Class Codes: B60K 2007/0092 the motor axle being coaxial to the wheel axle
• CPC Class Codes: B60K 7/0007 the motor being electric
• CPC Class Codes: B62D 1/28 non-mechanical , e.g. following a line or other known markers
• CPC Class Codes: B62D 7/026 characterised by comprising more than one bogie, e.g. situated in more than one plane transversal to the longitudinal centre line of the vehicle
• CPC Class Codes: H02J 5/00 Circuit arrangements for transfer of electric power between ac networks and dc networks H02J3/36 takes precedence

Abstract

An object of this invention is to provide an automated guided vehicle movable in all directions in which the cables will never be broken due to twisting, and it is unnecessary to perform a rest swing operation. The automated guided vehicle is movable in all directions and includes vehicle wheels and drive wheel mechanisms with drive mechanisms for driving the vehicle wheels, each of the drive wheel mechanisms being controlled by a steering mechanism so that the direction of movement of the automated guided vehicle is controlled with the vehicle body maintained unchanged in heading. Transmission of electric power between an electric power source unit on a vehicle body and the drive mechanism and/or steering mechanism, and transmission of signals between a control unit on the vehicle body and the drive mechanism and/or steering mechanism are carried out through a signal/power transmitting and receiving device which includes: a stationary electrode section provided on a member which is stationary with respect to the vehicle body and a rotary electrode section provided on a steering shaft of the steering mechanism in such a manner that the rotary electrode section is rotatable with respect to the stationary electrode section.

Claims

1. An automated guided vehicle having a plurality of wheels movable in all directions, comprising:

wheel drive means including a drive mechanism on each of said plurality of wheels for enabling the respective vehicle wheels to move said automated guided vehicle;

a steering means for each wheel for controlling a direction of the respective wheel to control a direction of movement of the automated guided vehicle without changing a heading of the automated guided vehicle; and

signal/power transmitting and receiving means for transmitting an electric power between an electric power source unit provided on a body of the automated guided vehicle and the respective wheel drive mechanisms and steering means and for transmitting control signals between a control unit provided on the body of the automated guided vehicle and the respective drive mechanisms and steering means, through a stationary electrode member provided on a member which is stationary with respect to the body of the automated guided vehicle and a rotary electrode member provided on a member which is rotatable with respect to the stationary electrode member, the stationary electrode member and the rotary electrode member being included into the signal/power transmitting and receiving means,

wherein each said steering means includes means for rotating a respective said drive wheel and drive mechanism in one direction about an axis through an angle of 360° and

said means for rotating the respective said drive wheel and drive mechanism includes a steering motor,

wherein the steering means further includes;

a steering shaft and a rotor on the steering shaft, the rotor being coupled with a respective drive mechanism, the rotor being positioned outside the steering shaft and movable in response to energization of a stator in response to said control signals to turn the drive mechanism and drive wheel around an axis of the steering shaft, and

wherein the rotary electrode member is a slip ring provided on the steering shaft and the stationary electrode member is a brush mounted in elastic slide contact with the slip ring.

2. An automated guided vehicle as claimed in claim 1, wherein the steering means include:

a motor disposed between the steering shaft and the rotor, the motor having a rotary shaft on which the slip ring is coaxially mounted,

wherein the rotary shaft of the motor comprises said steering shaft, and

wherein the steering shaft is hollow and cables of the electric power source unit and the control unit extend through the hollow steering shaft.

3. An automated guided vehicle as claimed in claim 1, wherein the slip ring is mounted on an outer periphery of the rotor, and the brush is mounted on a frame positioned outside the rotor.

4. An automated guided vehicle as claimed in claim 1, wherein the steering means is positioned parallel to the wheel drive means to drive the wheel drive means through a transmitting device.

5. An automated guided vehicle as claimed in claim 1, wherein the signal/power transmitting and receiving means includes a rotary transformer which performs a transmission of the control signals, and wherein the brush performs a transmission of the electric power.

8. An automated guided vehicle as claimed in claim 5, wherein the signal/power transmitting and receiving means includes a rotary transformer which performs a transmission of the control signals, and wherein the brush performs a transmission of the electric power.

6. An automated guided vehicle having a plurality of wheels movable in all directions, comprising:

wheel drive means including a drive mechanism on each of said plurality of wheels for enabling the respective vehicle wheels to move said automated guided vehicle;

a steering means for each wheel for controlling a direction of the respective wheel to control a direction of movement of the automated guided vehicle without changing a heading of the automated guided vehicle; and

signal/power transmitting and receiving means for transmitting an electric power between an electric power source unit provided on a body of the automated guided vehicle and the respective wheel drive mechanisms and steering means and for transmitting control signals between a control unit provided on the body of the automated guided vehicle and the respective drive mechanisms and steering means, through a stationary electrode member provided on a member which is stationary with respect to the body of the automated guided vehicle and a rotary electrode member provided on a member which is rotatable with respect to the stationary electrode member, the stationary electrode member and the rotary electrode member being included into the signal/power transmitting and receiving means,

wherein each said steering means includes means for rotating a respective said drive wheel and drive mechanism in one direction about an axis through an angle of 360°

,

wherein said means for rotating the respective said drive wheel and drive mechanism includes a steering motor,

wherein the steering means further includes;

a steering shaft and a rotor on the steering shaft, the rotor being coupled with a respective drive mechanism, the rotor being positioned outside the steering shaft and movable in response to energization of a stator in response to said control signals to turn the drive mechanism and drive wheel around an axis of the steering shaft, and

wherein the stationary electrode member is a slip ring provided on the steering shaft and the rotary electrode member includes brushes mounted in elastic slide contact with the slip ring.

7. An automated guided vehicle as claimed in claim 6, wherein

a motor is disposed between the steering shaft and the rotor, the motor having a rotary shaft on which the slip ring is coaxially mounted,

wherein the rotor includes the rotary shaft of the motor, and

wherein the rotor includes a hole for receiving cables of the electric power source unit and the control unit.