CN103465729B - A kind of unidirectional, two-way and in length and breadth to switch caster units and AGV device - Google Patents
A kind of unidirectional, two-way and in length and breadth to switch caster units and AGV device Download PDFInfo
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- CN103465729B CN103465729B CN201310434166.XA CN201310434166A CN103465729B CN 103465729 B CN103465729 B CN 103465729B CN 201310434166 A CN201310434166 A CN 201310434166A CN 103465729 B CN103465729 B CN 103465729B
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- wheel carrier
- foot wheel
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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
Technical field
The present invention relates to automatic control technology field, particularly a kind of unidirectional, two-way and in length and breadth to switch caster units and AGV device.
Background technology
Existing castor has two types, and one is movable, and one is fixed type.Movable castor is exactly the cardan wheel often said, its structure can free 360 degree of rotations; Rigid castors does not have rotational structure, can not rotate.Usually these two kinds of castor collocation use, and the structure of such as hand barrow is two, front rigid castors, and back is two movable cardan wheels near what promote handrail.Other similar battery-driven car, before two be cardan wheel, after two be locating wheel.That is that head being used for controlling car direction of travel must be cardan wheel, and other end is directional wheel, could control the direction of travel of car like this and ensure the linear running of car.By current castor on the market, if by car reverse direction operation, its direction is uncontrollable and press linear running, and by above principle, if castor can do directed and universal switching according to car service direction, that will address this problem.
Summary of the invention
In order to solve above-mentioned existing technical matters, the invention provides a kind of unidirectional, two-way and in length and breadth to switch caster units and AGV device, by castor from directed, universal and vertical and horizontal any switching laws, thus the problem causing AGV device to run because changing service direction can be solved.
The present invention solves above-mentioned existing technical matters, provide 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.
Further improvement of the present invention is as described below.
Described main body comprises motor mounting plate, and described reducing motor is arranged at described motor mounting plate.
Described main body comprises bearing adapter plate, and described bearing is arranged at described bearing adapter plate.
Described castor mechanism comprises castor, and described castor is installed on described foot wheel carrier; Described foot wheel carrier axle is with described castor synchronous communicating.
Described bearing is two.
Described bearing is respectively deep groove ball bearing and lower tapered roller bearing.
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.
The present invention solves above-mentioned existing technical matters, also provides a kind of AGV device, and it comprises above-mentioned unidirectional, two-way and in length and breadth to the caster units switched.
Compared to prior art, 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.
Accompanying drawing explanation
Fig. 1 is that the present invention is unidirectional, two-way and in length and breadth to the structural representation of caster units switched.
| Motor mounting plate 121 | Bearing adapter plate 122 |
| Reducing motor 13 | Output shaft 131 |
| Power-transfer clutch 14 | Foot wheel carrier 151 |
| Foot wheel carrier axle 152 | Castor 153 |
| Upper deep groove ball bearing 161 | Lower tapered roller bearing 162 |
| Reaction gear 171 | Driven gear 172 |
| Angular transducer 173 | Detection axis 174 |
Detailed description of the invention
Illustrate below in conjunction with accompanying drawing and detailed description of the invention the present invention is further described.
As shown in Figure 1, a kind of unidirectional, two-way and in length and breadth to switch caster units, comprise main body, controller, reducing motor 13, power-transfer clutch 14 and castor mechanism; Main body provides installation foundation; Controller changes running state; Reducing motor 13 provides propulsion source; Controller is connected with reducing motor 13, power-transfer clutch 14 respectively, for the running state of the output state and power-transfer clutch 14 that change reducing motor 13; Castor mechanism comprises foot wheel carrier 151 and foot wheel carrier axle 152, and foot wheel carrier axle 152 is connected to main body through bearing, and foot wheel carrier axle 152 can rotate by opposing body; The output shaft 131 of reducing motor 13 is connected with foot wheel carrier axle 152 through power-transfer clutch 14.When power-transfer clutch 14 is energized suddenly, the output shaft 131 of reducing motor 13 rotates with foot wheel carrier axle 152; When power-transfer clutch 14 power-off, foot wheel carrier axle 152 opposing body freely rotates; When power-transfer clutch 14 continues energising, the output shaft 131 of reducing motor 13 stops operating.So just achieve the switching that foot wheel carrier axle 152 is in orientation, universal, arbitrarily angled commutation.Such caster units can be common to any installation position of mobile device (as AGV device).
Main body of the present invention comprises motor mounting plate 121, and reducing motor 13 is arranged at motor mounting plate 121.Also comprise bearing adapter plate 122, bearing is arranged at bearing adapter plate 122.
Castor mechanism of the present invention comprises castor 153, and castor 153 is installed on foot wheel carrier 151; Foot wheel carrier axle 152 is with castor 153 synchronous communicating.
Bearing of the present invention is two, and this bearing is respectively deep groove ball bearing 161 and lower tapered roller bearing 162.
Caster units of the present invention comprises angle detection mechanism; Angle detection mechanism is the reaction gear 171 that foot wheel carrier axle 152 is arranged, the driven gear 172, detection axis 174 and the angular transducer 173 that engage with this reaction gear 171; Detection axis 174 and driven gear 172 rotary centerline altogether; Angular transducer 173 is connected with controller.
The present invention also provides a kind of AGV device, and it comprises above-mentioned unidirectional, two-way and in length and breadth to the caster units switched.This AGV device can realize all directions free-running operation, and compact conformation, floor area are little, uses flexibly, can be applicable to narrow space, reduce the requirement to environment for use.
Above content is in conjunction with concrete preferred implementation further description made for the present invention, can not assert that specific embodiment of the invention is confined to these explanations.For general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, some simple deduction or replace can also be made, all should be considered as belonging to 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310434166.XA CN103465729B (en) | 2013-09-23 | 2013-09-23 | A kind of unidirectional, two-way and in length and breadth to switch caster units and AGV device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310434166.XA CN103465729B (en) | 2013-09-23 | 2013-09-23 | A kind of unidirectional, two-way and in length and breadth to switch caster units and AGV device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103465729A CN103465729A (en) | 2013-12-25 |
| CN103465729B true CN103465729B (en) | 2016-01-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310434166.XA Expired - Fee Related CN103465729B (en) | 2013-09-23 | 2013-09-23 | A kind of unidirectional, two-way and in length and breadth to switch caster units and AGV device |
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| CN (1) | CN103465729B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105435418B (en) * | 2015-12-31 | 2023-08-25 | 中山盈亮健康科技有限公司 | Rolling wheel steering mechanism of body-building equipment |
| CN106314032B (en) * | 2016-09-30 | 2018-10-26 | 宁波介量机器人技术有限公司 | A kind of linear commutation supporting roller |
| CN106585274B (en) * | 2016-12-30 | 2023-04-21 | 无锡市中冠物流设备有限公司 | Damping type positioning universal wheel |
| CN107175990B (en) * | 2017-06-30 | 2023-06-13 | 广东嘉腾机器人自动化有限公司 | AGV roller mechanism and AGV carrying vehicle using same |
| CN107415904B (en) * | 2017-07-14 | 2020-10-09 | 深圳市招科智控科技有限公司 | Reversing system and method for horizontally carrying unmanned vehicles by port containers |
| CN108407547A (en) * | 2018-04-26 | 2018-08-17 | 深圳市爱途仕智能科技有限公司 | Electronic universal wheel |
| CN109397986B (en) * | 2018-12-07 | 2024-05-03 | 江苏悦达家纺制品有限公司 | Variable speed driving castor of textile transfer trolley |
| CN109893380A (en) * | 2019-04-02 | 2019-06-18 | 南京天奥医疗仪器制造有限公司 | A kind of electronic vehicle for medical use |
| CN111873710B (en) * | 2020-07-28 | 2022-04-01 | 广东博智林机器人有限公司 | Can lock universal wheel and AGV chassis |
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| JP2009173068A (en) * | 2008-01-22 | 2009-08-06 | Mitsuba Corp | Conveying device |
| JP2010184636A (en) * | 2009-02-13 | 2010-08-26 | Kanzaki Kokyukoki Mfg Co Ltd | Riding working vehicle |
| WO2010147100A1 (en) * | 2009-06-19 | 2010-12-23 | 国立大学法人豊橋技術科学大学 | Steerable drive mechanism and omnidirectional moving vehicle |
| CN102069678A (en) * | 2010-12-17 | 2011-05-25 | 东南大学 | Wheel rim drive-type omnidirectional wheel capable of measuring feedback by using inductance angle displacement |
| CN203172353U (en) * | 2013-04-12 | 2013-09-04 | 上海大学 | Universal wheel device |
| CN203580502U (en) * | 2013-09-23 | 2014-05-07 | 深圳市纳瑞科技有限公司 | Castor unit capable of switching among single direction, double directions and longitudinal and transverse directions and AGV (Automatic Guided Vehicle) device thereof |
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2013
- 2013-09-23 CN CN201310434166.XA patent/CN103465729B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009173068A (en) * | 2008-01-22 | 2009-08-06 | Mitsuba Corp | Conveying device |
| JP2010184636A (en) * | 2009-02-13 | 2010-08-26 | Kanzaki Kokyukoki Mfg Co Ltd | Riding working vehicle |
| WO2010147100A1 (en) * | 2009-06-19 | 2010-12-23 | 国立大学法人豊橋技術科学大学 | Steerable drive mechanism and omnidirectional moving vehicle |
| CN102069678A (en) * | 2010-12-17 | 2011-05-25 | 东南大学 | Wheel rim drive-type omnidirectional wheel capable of measuring feedback by using inductance angle displacement |
| CN203172353U (en) * | 2013-04-12 | 2013-09-04 | 上海大学 | Universal wheel device |
| CN203580502U (en) * | 2013-09-23 | 2014-05-07 | 深圳市纳瑞科技有限公司 | Castor unit capable of switching among single direction, double directions and longitudinal and transverse directions and AGV (Automatic Guided Vehicle) device thereof |
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| Publication number | Publication date |
|---|---|
| CN103465729A (en) | 2013-12-25 |
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Granted publication date: 20160113 Termination date: 20180923 |