| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a movable body such as a conveying vehicle or a stacker crane for preventing slipping between a wheel and a moving route and improving accelerating performance by applying an appropriate torque to all wheels under a condition having no slipping. <P>SOLUTION: The conveying vehicle 1 has driving wheels 19F, 19F, 19R and 19R on the front side and rear side in the moving direction. The conveying vehicle 1 comprises a travel control section 16F for controlling torque of the driving wheels 19F and 19F on the front side in the moving direction, and a travel control section 16R for controlling torque of the driving wheels 19R and 19R on the rear side in the moving direction. The conveying vehicle 1 comprises a torque distributing means 10a for making the torque of the driving wheels 19R and 19R on the rear side in the moving direction higher than the torque of the driving wheels 19F and 19F on the front side in the moving direction in acceleration of the conveying vehicle 1, and for making the torque of the driving wheels 19F and 19F on the front side in the moving direction higher than the torque of the driving wheels 19R and 19R on the rear side in the moving direction in deceleration of the movable body. <P>COPYRIGHT: (C)2005,JPO&NCIPI</p> |
