CN103465729B - A kind of unidirectional, two-way and in length and breadth to switch caster units and AGV device - Google Patents

Abstract

The invention provides a kind of unidirectional, two-way and in length and breadth to switch caster units, comprise main body, controller, reducing motor, power-transfer clutch and castor mechanism; Described controller is connected with described reducing motor, described power-transfer clutch respectively; Described castor mechanism comprises foot wheel carrier and foot wheel carrier axle, and described foot wheel carrier beam warp bearing is connected to described main body; The output shaft of described reducing motor is connected with described foot wheel carrier axle through described power-transfer clutch.Also provide a kind of AGV device, it comprises above-mentioned unidirectional, two-way and in length and breadth to the caster units switched.The invention has the beneficial effects as follows: foot wheel carrier done 90 ° of rotary motions or rotary motion at any angle and castor is done directed and universal mutual switching, making caster units be common to any installation position of AGV device.Realize all directions free-running operation, compact conformation, floor area are little, use flexibly, can be applicable to narrow space, reduce the requirement to environment for use.

Description

A caster unit with one-way, two-way and vertical and horizontal switching and its AGV device

technical field

The invention relates to the technical field of automatic control, in particular to a one-way, two-way and vertically and horizontally switchable caster unit and an AGV device thereof.

Background technique

There are two types of existing casters, one is movable and the other is fixed. Swivel casters are often called universal wheels, and its structure can rotate freely 360 degrees; fixed casters have no rotating structure and cannot be rotated. Usually the two casters are used together. For example, the structure of the trolley is two fixed casters at the front, and two movable universal wheels at the back close to the push armrest. For other similar electric vehicles, the front two are universal wheels, and the back two are positioning wheels. That is to say, the end used to control the walking direction of the car must be a universal wheel, and the other end is a directional wheel, so as to control the walking direction of the car and ensure the straight line operation of the car. According to the current casters on the market, if the car runs in the opposite direction, its direction cannot be controlled and runs in a straight line. According to the above principles, if the casters can switch between orientation and universal direction according to the running direction of the car, it will solve this problem. question.

Contents of the invention

In order to solve the above-mentioned existing technical problems, the present invention provides a one-way, two-way and vertically and horizontally switchable caster unit and its AGV device, which can switch the caster from directional, universal, and vertically and horizontally, thereby solving problems caused by changing operation. The direction causes the problem that the AGV device cannot operate.

The present invention solves the above-mentioned existing technical problems, and provides a caster unit with one-way, two-way and vertical and horizontal switching, including a main body, a controller, a reduction motor, a clutch and a caster mechanism; the controller is respectively connected with the reduction motor, The clutch is connected; the caster mechanism includes a caster frame and a caster shaft, and the caster shaft is connected to the main body through a bearing; the output shaft of the geared motor is connected to the caster shaft through the clutch.

Further improvements of the present invention are as follows.

The main body includes a motor mounting plate, and the geared motor is arranged on the motor mounting plate.

The main body includes a bearing mounting plate, and the bearing is arranged on the bearing mounting plate.

The caster mechanism includes a caster, and the caster is installed on the caster frame; the caster frame shaft is synchronously reversing with the caster.

There are two bearings.

The bearings are respectively an upper deep groove ball bearing and a lower tapered roller bearing.

The caster unit includes an angle detection mechanism; the angle detection mechanism is a main shaft gear arranged on the caster frame shaft, a driven gear meshed with the main shaft gear, a detection shaft and an angle sensor; the detection shaft and the slave The moving gear co-rotates the center line; the angle sensor is connected with the controller.

The present invention solves the above-mentioned existing technical problems, and also provides an AGV device, which includes the above-mentioned one-way, two-way and vertically and horizontally switchable caster units.

Compared with the prior art, the beneficial effect of the present invention is that the caster frame can be rotated at 90° or rotated at any angle, and the caster can be switched between orientation and universal direction, so that the caster unit can be used for any installation of AGV devices. bit. It realizes free running in all directions, compact structure, small footprint, flexible use, can be applied to narrow spaces, and reduces the requirements for the use environment.

Description of drawings

Fig. 1 is a schematic structural view of a caster unit for one-way, two-way and vertical and horizontal switching according to the present invention.

Motor mounting plate 121 Bearing mounting plate 122 Gear motor 13 output shaft 131 Clutch 14 Caster frame 151 Caster shaft 152 Caster 153 Upper deep groove ball bearing 161 Lower tapered roller bearing 162 Main shaft gear 171 Driven gear 172 Angle sensor 173 Detection axis 174

detailed description

The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

As shown in Figure 1, a caster unit with one-way, two-way and vertical and horizontal switching includes a main body, a controller, a reduction motor 13, a clutch 14 and a caster mechanism; the main body provides an installation basis; the controller changes the operating state; the reduction motor 13 The power source is provided; the controller is connected with the reduction motor 13 and the clutch 14 respectively, and is used to change the output state of the reduction motor 13 and the running state of the clutch 14; Connected to the main body, the caster frame shaft 152 can rotate relative to the main body; the output shaft 131 of the reduction motor 13 is connected to the caster frame shaft 152 via the clutch 14 . When the clutch 14 was energized suddenly, the output shaft 131 of the reduction motor 13 rotated with the caster frame shaft 152; when the clutch 14 was powered off, the caster frame shaft 152 rotated freely relative to the main body; Shaft 131 stops rotating. In this way, the switching of the caster frame shaft 152 in orientation, universal direction and any angle reversing has been realized. Such a caster unit can be commonly used in any installation position of a mobile device (such as an AGV device).

The main body of the present invention includes a motor mounting plate 121 , and the geared motor 13 is arranged on the motor mounting plate 121 . A bearing installation plate 122 is also included, and the bearing is arranged on the bearing installation plate 122 .

The caster mechanism of the present invention includes a caster 153 installed on a caster frame 151;

There are two bearings of the present invention, which are respectively an upper deep groove ball bearing 161 and a lower tapered roller bearing 162 .

Caster unit of the present invention comprises angle detection mechanism; Angle detection mechanism is the main shaft gear 171 that is provided with on the caster frame shaft 152, the driven gear 172 that meshes with this main shaft gear 171, detection shaft 174 and angle sensor 173; Detection shaft 174 and slave The moving gear 172 rotates the centerline; the angle sensor 173 is connected with the controller.

The present invention also provides an AGV device, which includes the above-mentioned one-way, two-way and vertically and horizontally switchable caster units. The AGV device can run freely in all directions, has a compact structure, a small footprint, flexible use, can be applied to narrow spaces, and reduces the requirements for the use environment.

The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be assumed that the specific implementation of the present invention is limited to these descriptions. For those of ordinary skill in the technical field of the present invention, without departing from the concept of the present invention, some simple deduction or replacement can be made, which should be regarded as belonging to the protection scope of the present invention.

Claims (8)

1. unidirectional, two-way and in length and breadth to switch a caster units, it is characterized in that: comprise main body, controller, reducing motor, power-transfer clutch and castor mechanism;

Described controller is connected with described reducing motor, described power-transfer clutch respectively;

Described castor mechanism comprises foot wheel carrier and foot wheel carrier axle, and described foot wheel carrier beam warp bearing is connected to described main body;

The output shaft of described reducing motor is connected with described foot wheel carrier axle through described power-transfer clutch;

When described power-transfer clutch is energized suddenly, the output shaft of described reducing motor rotates with foot wheel carrier axle; When power-transfer clutch power-off, described foot wheel carrier axle rotates relative to described subject freedom; When power-transfer clutch continues energising, the output shaft of described reducing motor stops operating.

2. according to claim 1 unidirectional, two-way and in length and breadth to switch caster units, it is characterized in that: described main body comprises motor mounting plate, described reducing motor is arranged at described motor mounting plate.

3. according to claim 2 unidirectional, two-way and in length and breadth to switch caster units, it is characterized in that: described main body comprises bearing adapter plate, described bearing is arranged at described bearing adapter plate.

4. according to claim 3 unidirectional, two-way and in length and breadth to switch caster units, it is characterized in that: described castor mechanism comprises castor, described castor is installed on described foot wheel carrier; Described foot wheel carrier axle is with described castor synchronous communicating.

5. according to claim 4 unidirectional, two-way and in length and breadth to switch caster units, it is characterized in that: described bearing is two.

6. according to claim 5 unidirectional, two-way and in length and breadth to switch caster units, it is characterized in that: described bearing is respectively deep groove ball bearing and lower tapered roller bearing.

7. according to claim 1 unidirectional, two-way and in length and breadth to switch caster units, it is characterized in that: described caster units comprises angle detection mechanism; Described angle detection mechanism is the reaction gear that described foot wheel carrier axle is arranged, the driven gear, detection axis and the angular transducer that engage with this reaction gear; Described detection axis and described driven gear rotary centerline altogether; Described angular transducer is connected with described controller.

8. an AGV device, it comprises unidirectional, two-way described in claim 1-7 any one and in length and breadth to the caster units switched.