AUTOMATIC STEERING CONTROL DEVICE FOR RUNNING WHEEL FOR STEERING

摘要

PURPOSE:To enhance work efficiency by providing a running cart with running wheels to which steering angles are given in a direction to make a tilt angle zero by means of a motor for steering when the running cart is tilted. CONSTITUTION:Controlling a steering motor 2 so that a steering angle thetas of running wheels 4a and 4b for steering is always proportional to a tilt angle thetai of a running cart 7, namely always an equation thetai=kthetas (k denotes a constant) holds, even if the running cart 7 tilts in a straight portion of a tube, the tilt is automatically corrected so that the cart 7 can run back and forth while maintaining its horizontal condition. In a curved portion of the tube 6 on the other hand, the running cart 7 can run back and forth while maintaining automatically optimum tilt angle and steering angle which satisfy the equation thetai=kthetas.