초록 ▼

Each transport device contains at least two drive wheels which are driven at individual speeds VA and VB and which are pivotable by related steering angles ababB=(cosabA but the speed is automatically adjusted through the entire steering angle range of -90°to +90°. At abab

Each transport device contains at least two drive wheels which are driven at individual speeds VA and VB and which are pivotable by related steering angles ababB=(cosabA but the speed is automatically adjusted through the entire steering angle range of -90°to +90°. At abab

대표청구항 ▼

A control system for driving and steering a driverless transport device, comprising: at least two drive wheels; a predetermined number of free-wheeling support wheels; each one of said at least two drive wheels being provided with a substantially vertically extending steering axle and being pivotabl

A control system for driving and steering a driverless transport device, comprising: at least two drive wheels; a predetermined number of free-wheeling support wheels; each one of said at least two drive wheels being provided with a substantially vertically extending steering axle and being pivotable by predetermined steering angles through means of said steering axle; a predetermined one of said at least two drive wheels being freely controllable with respect to its drive speed; said at least two drive wheels being provided with essentially identical servo-drive units; each said servo-drive unit comprising a d.c.-electromotor, a speed regulation loop, an armature current regulation loop and a switch device; each said servo-drive unit assuming a preselectable configuration and mode of operation; said switch device adapting said configuration and said mode of operation of its associated servo-drive unit to predetermined values of said steering angle of its associated one of said at least two drive wheels; said switch devices associated with the related servo-drive units of said at least two drive wheels, adapting said configuration and mode of operation of their associated servo-drive units such that a MASTER/MASTER configuration is formed which constitutes an optimum configuration at predetermined values of about ±90°for said steering angles of said at least two drive wheels; each said MASTER servo-drive unit operatively associated with one of said at least two drive wheels constituting a motor-driving speed regulation loop; and said MASTER servo-drive units being operated independently of each other.