JPH06191203A - Swivel wheel for automated guided vehicle - Google Patents

Abstract

PURPOSE:To lower the whole height of a swivel wheel for an automated guided vehicle in order enclose it in the lower part of a body, and allow the distance between center lines of twin tires and the distance between a wheel grounding point and a turning shaft to be designed freely and independently according to the requirements of the body side without being restricted by the size of a spring. CONSTITUTION:A horizontal axle 1 for supporting wheels 4, 4 rotatably is oscillatingly supported by a horizontal second shaft (horizontal supporting shaft 5b) orthogonal to the axle 1. A supporting body (caster arm 5) for supporting the second shaft is rotatable around a vertical third shaft (longitudinal shaft 5a), and a supporting body (wheel supporting body 9) for supporting the third shaft rotatably can be vertically oscillated around a horizontal fourth shaft (supporting pin 16) supported to a body and elastically supported by a elastic member (spring 12) supported onto the body side.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a universal wheel for an automated guided vehicle, which can change its traveling direction freely.

[0002]

2. Description of the Related Art In a free wheel of an automated guided vehicle that travels in a factory or a warehouse by unmanned operation, it is necessary to attach a spring to the free wheel in order to maintain a stable running state even on an uneven transport road surface. It is known as disclosed in JP-A-59-223559.

Further, a connecting point of a spring elastically supporting the bogie, a spring receiving member provided at a lower end of the spring, and a balance member swingably connected to the spring receiving member is located below the axle. It has already been proposed to lower the overall height of the swivel wheel by positioning the swivel wheel. (JP-A-61
(See Japanese Patent No. 241201)

However, the former prior art described above has a problem in that the height of the free wheel is increased by the amount of the spring inserted. In the latter prior art, the height can be lowered, but the spring is reduced. Since the entire device including the spring and the spring receiving member is rotatably supported around the vertical axis, the distance between the compound wheels and the distance between the wheel contact point and the vertical axis of rotation are limited by the size (outer diameter) of the spring. However, there is a problem in that it is restricted to freely design these dimensions in accordance with the requirements as an automated guided vehicle.

[0005]

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and
In order to maintain a stable traveling condition even on uneven road surfaces, a flexible wheel for an automated guided vehicle that is elastically supported by mounting springs, etc. And the distance between the compound wheels and the contact point of the wheel and the turning axis can be freely designed independently of the size of the spring in accordance with the requirements of the vehicle body. That is the purpose.

[0006]

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and has a horizontal axle 1 for rotatably supporting wheels 4 and 4 at both ends thereof. Horizontal second axis (horizontal support shaft 5
The support (caster arm 5) that swingably supports by b) and supports the second shaft is rotatable about the vertical third shaft (vertical axis 5a), and The support body (wheel support body 9) that rotatably supports the shaft is vertically swingable about a horizontal fourth shaft (support pin 16) supported by the vehicle body, and is supported on the vehicle body side. The purpose of the invention is a free wheel for an automated guided vehicle, which is elastically supported by a supported elastic member (spring 12).

The horizontal fourth shaft may be a shaft having an oval cross section (oval shaft 9c), and may be elastically supported by an elastic member (elastic body 19) such as synthetic rubber supported on the vehicle body side. it can.

[0008]

According to the present invention, the horizontal axle 1 which rotatably supports the wheels 4 and 4 at both ends is swingable by the second horizontal shaft (horizontal support shaft 5b) which intersects the axle 1 at a right angle. Since it is supported, even if there is unevenness on the road surface between the left and right compound wheels,
It can be absorbed by swinging the axle 1.

Since the support body (caster arm 5) supporting the second horizontal shaft is rotatable about the vertical third shaft (vertical axis 5a), it can be freely moved in the traveling direction of the automatic guided vehicle. The direction of the wheels 4, 4 can be changed.

The support body (wheel support body 9) for rotatably supporting the vertical third shaft is vertically swingable about the fourth horizontal shaft (support pin 16) supported by the vehicle body. In addition, since it is elastically supported by the elastic member (spring 12, elastic body 19) supported on the vehicle body side, even if the entire traveling road surface has irregularities, it can be absorbed.

Above the axle 1, no spring or any other element for increasing the height is mounted, so that the overall height of the universal wheel can be reduced.

No springs or other elements for increasing the gap are mounted between the wheels 4 and 4, so that the gap between the multiple wheels and the contact point between the wheels and the turning axis are adjusted according to the requirements of the vehicle body. The distance can be freely designed independently without being restricted by the size of the spring or the like.

[0013]

1 to 4 show a first embodiment of the present invention. 1 is a front view, FIG. 2 is a plan view, FIG. 3 is a side view, and FIG.
[Fig. 3] is an explanatory diagram when traveling on an uneven road surface.

In the figure, reference numeral 1 denotes a horizontal axle, which rotatably supports wheels 4 and 4 via bearings 2 and 3 on both left and right sides.

Reference numeral 5 denotes an L-shaped caster arm whose upper end vertical axis portion 5a is rotatably supported by bearings 6 and 7.
A horizontal support shaft 5b is provided at the bent portion at the lower end, and swingably supports the central portion of the axle 1 via a bearing 8. Reference numeral 5c is a stopper provided at an appropriate position of the arm 5,
Is for regulating the swing angle so that the swing does not occur more than necessary.

Reference numeral 9 denotes a wheel support, the base end side of which is rotatably supported by a bearing member 18 fixed to a vehicle body (not shown) via a support pin 16 and a bearing 17. The support pin 16 in the horizontal direction can be turned up and down.

Bearings 6 and 7 for rotatably supporting the upper end vertical axis portion 5a of the L-shaped arm 5 are provided on the tip side of the boss portion 9a of the wheel support 9.

On the base end side of the boss portion 9a of the wheel support 9, there is provided a pin receiving portion 9b whose upper surface has an arcuate cross section, and a connecting rod 10 having a pin portion 10a at its upper end is swingably suspended. There is.

The connecting rod 10 penetrates a spring receiver 11 fixed to a vehicle body (not shown) and extends downward, and a spring receiving washer 13 is attached to a lower end of the connecting rod 10 by a nut 14 so as to be vertically movable.
The spring 12 is sandwiched between the spring receiver 11 and the spring receiver washer 13 to elastically support the wheel support 9.

Reference numeral 15 denotes a stopper bolt which is provided at an appropriate position on the vehicle body and which is capable of adjusting the vertical position, and serves to regulate the downward movement of the wheel support 9.

According to the above-mentioned embodiment, the free wheel 4 composed of multiple wheels can be turned around the vertical axis portion 5a of the caster arm 5 in accordance with the traveling direction of the automatic guided vehicle.

Further, as shown in FIG. 4, even when there is unevenness on the road surface between the plurality of wheels 4 and 4 supported by the axle 1, the axle 1 swings around the support shaft 5b, so It is possible to absorb the unevenness difference.

Further, the unevenness of the road surface at the wheel position of the entire automated guided vehicle is absorbed by the wheel support 9 elastically supported by the spring 12 swinging up and down about the support pin 16.

Above the axle 1, no spring or any other element for increasing the height is mounted, so that the height of the universal wheel can be reduced.

A plurality of wheels 4 supported at both ends of the axle 1.
No springs or other elements for increasing the interval are attached between the four, so that the distance between the compound wheels and the distance between the ground contact point of the wheel and the turning axis can be adjusted according to the requirements of the vehicle body. It is possible to design freely independently without being restricted by size.

A second embodiment of the present invention is shown in FIGS. 5 is a front view and FIG. 6 is a plan view. The description of the same parts as those in the first embodiment will be omitted.

In the first embodiment, the spring 12 is used as the elastic member for elastically supporting the wheel support 9, but in the second embodiment, an elastic body such as elastic rubber is used instead of the spring. Used.

In the figure, 9c is the support pin 16
Instead of an elastic body 19 such as an elastic synthetic rubber or the like, a support body 20 fixed to a vehicle body (not shown) is a shaft that has an elliptical cross-section that is horizontally provided at the base end portion of the wheel support body 9. Is supported through.

Therefore, the wheel support 9 is elastically supported at its base end side by the elastic body 19 and has a horizontal elliptical shaft 9c.
It is possible to swing up and down about the axis, and it is possible to achieve the same effect as that of the first embodiment.

[0030]

According to the present invention, the directions of the wheels 4 and 4 can be freely changed according to the traveling direction of the automatic guided vehicle, and the axle 1 sways even if there is unevenness on the road surface between the left and right compound wheels. It can be absorbed by moving, and even if there is unevenness on the entire traveling road surface, since the wheel support 9 is elastically supported by the elastic member supported on the vehicle body side, it can be absorbed, and moreover, Above the axle 1, no springs or any other element for increasing the height is mounted, so that the overall height of the universal wheel can be lowered, and between the wheels 4, 4, Since no springs or other elements that increase the distance are attached, the distance between the compound wheels and the distance between the ground contact point of the wheel and the turning axis are adjusted according to the requirements of the vehicle body.
There is an effect that it can be freely designed independently without being restricted by the size of the spring or the like.

[Brief description of drawings]

FIG. 1 is a front view of a first embodiment of the present invention.

FIG. 2 is a plan view of the same.

FIG. 3 is likewise a vertical side view.

FIG. 4 is an explanatory diagram during traveling on an uneven road surface.

FIG. 5 is a front view of the second embodiment of the present invention.

FIG. 6 is a plan view of the same.

[Explanation of symbols]

 1 axle 2 bearing (of axle 1) 3 bearing (of wheel 1) 4 wheel 5 caster arm 5a vertical axis 5b horizontal support shaft 5c stopper 6 bearing (of vertical axis 5a) 7 bearing (of vertical axis 5a) 8 bearing (horizontal) 9) Wheel support 9a Boss portion 9b Pin receiving portion 9c Oval shaft 10 Connecting rod 11 Spring bearing (vehicle body side) 12 Spring 13 Spring bearing washer 14 Nut 15 Stopper bolt 16 Support pin 17 Bearing (support pin) 18 Bearing member (vehicle body side) 19 Elastic body 20 Support

Claims (7)

[Claims] 1. A horizontal axle (1) rotatably supporting wheels (4, 4) at both ends is swingably supported by a horizontal second shaft intersecting at right angles with the axle (1), The support body that supports the second shaft is rotatable around a vertical third shaft, and the support body that rotatably supports the third shaft is a horizontal fourth support body supported by the vehicle body. A free wheel for an automated guided vehicle, which is capable of swinging in the vertical direction about the axis of the vehicle and is elastically supported by an elastic member supported on the vehicle body side. 2. The horizontal second shaft is a horizontal support shaft (5b) provided at the lower end of the L-shaped caster arm (5), and the horizontal axle (1) is connected via a bearing (8). The free wheel for an automated guided vehicle according to claim 1, which is swingably supported. 3. The vertical third axis is a vertical axis (5a) provided at the upper end of the L-shaped caster arm (5), and the bearing
A free wheel for an automated guided vehicle according to claim 1 or 2, which is rotatably supported by a wheel support (9) via (6, 7). 4. The horizontal fourth shaft is a support pin (16) projecting from the base end of the wheel support (9), and the bearing (17)
A free wheel for an automated guided vehicle according to any one of claims 1 to 3, which is swingably supported by a bearing member (18) on the vehicle body side via a shaft. 5. The flexible wheel for an automated guided vehicle according to claim 1, wherein the elastic member supported by the vehicle body is a spring (12). 6. The flexible wheel for an automated guided vehicle according to claim 1, wherein the elastic member supported by the vehicle body is an elastic body (19) such as synthetic rubber. 7. A horizontal fourth shaft is an elliptical shaft (9c) projecting from the base end of the wheel support (9) and fixed to the vehicle body via an elastic body (19). A free wheel for an automated guided vehicle according to claim 6, which is supported by a support body (20).