Transport vehicle
A transport vehicle includes a body including a first wheel and a second wheel, a first drive device that drives the first wheel, a second drive device that drives the second wheel, and a control device, the control device controlling the first drive device and the second drive device in such a manner that a torque ratio of a wheel with increased load, which is a ratio of a torque transmitted to the wheel with increased load to a sum of a first wheel torque and a second wheel torque, is higher while the body is accelerating and decelerating than while the body is traveling at constant velocity, where the wheel with increased load is one of the first wheel and the second wheel that is subjected to an increase in vertical downward load that increases in response to acceleration or deceleration of the body.
1 . A transport vehicle configured to travel in a travel direction along a travel rail, comprising:
a body comprising a first wheel and a second wheel disposed at different positions to each other in the travel direction and configured to roll on the travel rail;
a first drive device configured to drive the first wheel;
a second drive device configured to drive the second wheel; and
a control device configured to control the first drive device and the second drive device,
wherein the control device controls the first drive device and the second drive device in such a manner that a torque ratio of a wheel with increased load, which is a ratio of a torque transmitted to the wheel with increased load to a sum of a first wheel torque and a second wheel torque, is higher while the body is accelerating and decelerating than while the body is traveling at constant velocity,
wherein where the first wheel torque is a torque transmitted from the first drive device to the first wheel, the second wheel torque is a torque transmitted from the second drive device to the second wheel, and the wheel with increased load is one of the first wheel and the second wheel that is subjected to an increase in vertical downward load that increases in response to acceleration or deceleration of the body, and
wherein the control device:
determines the second wheel torque based on multiplication of the first wheel torque by a setting coefficient;
sets the setting coefficient to a predetermined reference value, while the body is traveling at constant velocity; and
sets the setting coefficient to a value smaller than the reference value in response to the first wheel being the wheel with increased load, and to a value larger than the reference value in response to the second wheel being the wheel with increased load, while the body is accelerating or decelerating.
2 . The transport vehicle according to claim 1 , wherein:
the control device controls the first drive device and the second drive device in such a manner that the torque ratio of the wheel with increased load is higher while the body is accelerating and decelerating than while the body is traveling at constant velocity, within a range in which slippage between the wheel with increased load and the travel rail is not greater than while the body is traveling at constant velocity.
3 . The transport vehicle according to claim 1 , wherein:
the control device continuously or incrementally increases the torque ratio of the wheel with increased load, as an absolute value of acceleration of the body increases.
4 . The transport vehicle according to claim 1 , wherein:
the body further comprises a holding section configured to hold an article to be transported,
the body has a center of gravity lower than the travel rail while the holding section is holding the article,
the wheel with increased load while the body is accelerating is one of the first wheel and the second wheel that is on a front side in the travel direction, and
the wheel with increased load while the body is decelerating is one of the first wheel and the second wheel that is on a rear side in the travel direction.
5 . The transport vehicle according to claim 1 , wherein the control device:
determines the first wheel torque based on at least either a target position or a target velocity of the body.
6 . The transport vehicle according to claim 5 , wherein:
the control device sets the setting coefficient to zero in response to a rotational speed of the first wheel being less than or equal to a predetermined threshold.
7 . The transport vehicle according to claim 5 , wherein:
the control device, when changing the first wheel torque, matches a change period of the setting coefficient to a change period of the first wheel torque.
8 . The transport vehicle according to claim 7 , wherein:
the control device, when changing the first wheel torque, smooths a change in the first wheel torque with a moving average in a predetermined setting period, and smooths a change in the setting coefficient with a moving average in a period of identical length to the setting period.