CN113351563A - Caster cleaning machine and method for cleaning casters of AGV (automatic guided vehicle) - Google Patents

Abstract

The invention discloses a caster wheel cleaning machine and a method for cleaning a caster wheel of an AGV. Wherein, truckle cleaning machine for wash the truckle of AGV car, include: at least one first support wheel set supporting a drive wheel of the caster wheel, the support wheel of the first support wheel set rotating with the drive wheel when the drive wheel is driven by the AGV; the second supporting wheel set supports a driven wheel in the caster wheel and is connected with the first supporting wheel set through a transmission mechanism; a cleaning part configured to clean the caster. According to the caster cleaning machine disclosed by the invention, the casters of the AGV can be rotated by the power of the AGV, so that the casters can be cleaned, the casters of the AGV can be easily cleaned, and the cleaning efficiency is improved.

Description

Caster cleaning machine and method for cleaning casters of AGV (automatic guided vehicle)

Technical Field

The invention relates to the technical field of cleaning equipment, in particular to a caster wheel cleaning machine and a method for cleaning a caster wheel of an AGV.

Background

In a dust-free production workshop, the AGV carries materials back and forth among different workshops or among various processes in the same workshop. Over time, the wheels of an AGV vehicle may become contaminated with dust, debris, etc., which may leave wheel marks on the clean floor during operation. This not only affects the aesthetics of the plant, but may also be undesirable in a cleanroom plant.

Thus, AGV vehicles operating in a clean room facility require frequent cleaning. At present, the casters of the AGV are cleaned manually, and the casters are cleaned when an operator lifts the AGV. Because the body weight of the AGV is very large, this way of manually lifting the AGV and cleaning the casters is very laborious.

Disclosure of Invention

The present invention aims to solve at least to some extent one of the problems of the prior art. Therefore, the invention provides a caster wheel cleaning machine which can easily clean the caster wheels of an AGV. In addition, the invention also provides a method for cleaning the caster wheels of the AGV.

According to a first aspect of the present invention, a caster wheel cleaning machine for cleaning a caster wheel of an AGV vehicle, comprises: at least one first support wheel set supporting a drive wheel of the caster wheel, the support wheel of the first support wheel set rotating with the drive wheel when the drive wheel is driven by the AGV; the second supporting wheel set supports a driven wheel in the caster wheel and is connected with the first supporting wheel set through a transmission mechanism; a cleaning part configured to clean the caster.

According to the caster cleaning machine of the first aspect of the present invention, the following advantageous effects are provided: thereby can make the truckle of AGV car rotate and wash the truckle through the power of AGV car itself, can wash the truckle of AGV car easily, improve cleaning efficiency.

In some embodiments, the cleaning part includes: a plurality of cleaning liquid nozzles disposed at least beside the first and second support wheel sets; and/or a plurality of wipers provided at least beside the first supporting wheel group and the second supporting wheel group, the wipers provided beside the first supporting wheel group abutting against the driving wheel, the wipers provided beside the second supporting wheel group abutting against the driven wheel, in a state where the driving wheel is supported by the first supporting wheel group and the driven wheel is supported by the second supporting wheel group.

In some embodiments, the transmission is selected from one of a gear transmission, a belt transmission, and a chain transmission.

In some embodiments, the first support wheel set comprises two, wherein one of the first support wheel sets supports the drive wheel on one side of the AGV vehicle and the other of the first support wheel sets supports the drive wheel on the other side of the AGV vehicle.

In some embodiments, the second support wheel set comprises two, wherein one of the second support wheel sets supports the driven wheel on one side of the AGV and the other of the second support wheel sets supports the driven wheel on the other side of the AGV; the transmission mechanism comprises two transmission mechanisms, wherein one transmission mechanism is connected with one first supporting wheel set and one second supporting wheel set, and the other transmission mechanism is connected with the other first supporting wheel set and the other second supporting wheel set.

In some embodiments, further comprising: and a holding unit for holding the AGV so that the caster of the AGV is suspended.

In some embodiments, the retaining portion retains the AGV vehicle by a lift plate of the AGV vehicle.

In some embodiments, further comprising: a conveying part, wherein the first supporting wheel set and the second supporting wheel set are respectively arranged on the conveying part and are conveyed by the conveying part; the AGV includes a first supporting wheel set and a second supporting wheel set, wherein the first supporting wheel set and the second supporting wheel set are carried to the lower part of the AGV by the carrying part and respectively support the driving wheel and the driven wheel.

In some embodiments, the carrying portion carries the first supporting wheel set and the second supporting wheel set in a horizontal direction.

In some embodiments, the AGV further comprises a restraint configured to limit movement of the AGV relative to the first and second support wheel sets.

According to a second aspect of the present invention, a caster wheel cleaning machine for cleaning a caster wheel of an AGV vehicle, comprises: the supporting wheel set is provided with a plurality of supporting wheels, the supporting wheels support the caster wheels of the AGV car, and when the caster wheels are driven to rotate by the AGV car, the supporting wheels rotate along with the rotation of the caster wheels; a cleaning part configured to clean the caster.

According to the caster cleaning machine of the second aspect of the present invention, the following advantageous effects are provided: thereby can make the truckle of AGV car rotate and wash the truckle through the power of AGV car itself, can wash the truckle of AGV car easily, improve cleaning efficiency.

A method of cleaning the casters of an AGV according to a third aspect of the present invention comprises: enabling the casters of the AGV car to be supported on a support wheel set of a caster washing machine; the AGV drives the trundles to rotate; the caster is cleaned by a cleaning part.

The method for cleaning the caster wheels of the AGV according to the third aspect of the invention has the following advantages: thereby can make the truckle of AGV car rotate and wash the truckle through the power of AGV car itself, can wash the truckle of AGV car easily, improve cleaning efficiency

In some embodiments, having the AGV cart's casters supported on a set of support wheels of a caster washer, further comprises: a holding unit for holding the AGV car by a lifting plate of the AGV car so that the casters of the AGV car are suspended; the carrying part of the caster cleaning machine is used for carrying the supporting wheel set to the lower part of the AGV, and the supporting wheel set is used for supporting the casters of the AGV.

In some embodiments, causing a holding portion of the caster wheel washing machine to hold the AGV vehicle by a lifting plate of the AGV vehicle in such a manner that the caster wheels of the AGV vehicle are suspended includes: the AGV car drives the lifting plate to lift, the AGV car moves towards the holding part in a mode that the lifting plate is located above the holding part, and the AGV car drives the lifting plate to retract and abut against the holding part so that the caster wheels of the AGV car are suspended; make the transport portion of truckle cleaning machine will support the wheelset transport extremely the below of AGV car, and make support the wheelset support the AGV car the truckle includes: the lift board butt keep portion, the AGV car the truckle is by under the unsettled state, transport portion will support the wheelset transport to the below of AGV car, the AGV car drive the lift board lifts, so that the AGV car is relative the keep portion descends and the AGV car the truckle is supported by the support wheelset.

Drawings

Fig. 1 is a perspective view of an embodiment of a caster washer (hood omitted) of the present invention.

Fig. 2 is a top view of the caster cleaning machine of fig. 1.

Fig. 3 is a plan view showing each supporting wheel set.

Fig. 4 is a perspective view showing each supporting wheel set.

Fig. 5 is a schematic view of the key part in fig. 4.

Fig. 6 is an external view of the caster washing machine (including a hood) of fig. 1.

FIG. 7 is a bottom view of one embodiment of an AGV.

FIG. 8 is a side view of the AGV of FIG. 7.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.

FIG. 7 is a bottom view of the AGV car 200 and FIG. 8 is a side view of the AGV car 200. Referring to fig. 7 and 8, before describing the caster wheel washing machine 100 of the present embodiment, an AGV vehicle 200 corresponding to the caster wheel washing machine 100 will be described first. Specifically, the AGV vehicle 200 includes, for example, a main body 202, a lifting plate 203 provided on an upper portion of the main body 202, and a plurality of casters 201 provided on a lower portion of the main body 202. The structure of the casters 201 of the AGV vehicle 200 is not particularly limited, and for example, the plurality of casters 201 of the AGV vehicle 200 may include two driving wheels 201a and two driven wheels 201 b. The two drive wheels 201a are respectively located on the left and right sides of the bottom of the main body 202 of the AGV car 200, and are located in the middle of the main body 202 in the front-rear direction. Of the two driven wheels 201b, one driven wheel 201b is located on the front side of the bottom of the main body 202 and on the left, and the other driven wheel 201b is located on the rear side of the bottom of the main body 202 and on the right.

Fig. 1 is a perspective view of the caster washing machine 100 (the hood 134 is omitted), fig. 2 is a plan view of the caster washing machine 100, fig. 3 and 4 are layout views showing the respective support wheel sets 106, and fig. 5 is a schematic view of essential parts in fig. 4. Referring to fig. 1 to 5, a caster wheel washer 100 for washing an AGV 200 of this type will be described below as an example.

The caster wheel washer 100 according to embodiment 1 for washing the caster wheels 201 of the AGV vehicle 200 includes: at least one first supporting wheel set 101, at least one second supporting wheel set 102, and a washing part 103. The first supporting wheel set 101 supports the driving wheel 201a of the caster 201, and the supporting wheel 104 of the first supporting wheel set 101 rotates along with the driving wheel 201a when the driving wheel 201a is driven by the AGV 200. The second supporting wheel set 102 supports the driven wheel 201b of the caster 201, and the second supporting wheel set 102 is connected to the first supporting wheel set 101 through the transmission mechanism 105. The cleaning unit 103 is provided to clean the caster 201.

Referring to fig. 1, 2, and 3, according to the caster cleaning machine 100 of the present embodiment, the caster 201 of the AGV 200 can be rotated by the power of the AGV 200 itself to clean the caster 201, and the caster 201 of the AGV 200 can be easily cleaned, thereby improving the cleaning efficiency. Specifically, since there is a possibility that dust, waste, and the like may be attached to each position in the circumferential direction of the caster 201, the cleaning efficiency can be improved by cleaning the caster 201 while the caster 201 is rotated. Further, since the casters 201 of the AGV 200 are supported by the first support wheel set 101 and the second support wheel set 102, when the AGV 200 drives the casters 201 to operate, the first support wheel set 101 and the second support wheel set 102 rotate relative to the casters 201, and therefore, the AGV 200 does not move relative to the caster washing machine 100 and remains in an idling state. Further, the caster 201 can be operated only by the power of the AGV vehicle 200 itself without installing an additional driving power for driving the supporting wheel set 106 on the caster washing machine 100, so that the structure of the caster washing machine 100 can be simplified and the cost of the caster washing machine 100 can be reduced.

The caster cleaning machine 100 of the present embodiment includes, for example, a support frame 107, and the first support wheel set 101, the second support wheel set 102 (the structure of the first support wheel set 101 and the structure of the second support wheel set 102 are substantially the same, and for convenience of describing common features of the first support wheel set 101 and the second support wheel set 102, the first support wheel set 101 and the second support wheel set 102 may be simply referred to as a support wheel set 106), and the cleaning unit 103 are provided on the support frame 107, respectively. The support frame 107 may be formed by welding, screwing, or other known methods using a steel material such as a square tube, a flat tube, or a channel steel.

Referring to fig. 5 in addition to fig. 4, one support wheel set 106 has, for example, two support wheels 104, and the support wheels 104 are arranged in parallel and spaced apart along a radial direction thereof. The two support wheels 104 support caster wheels 201, respectively. When the caster 201 (e.g., the driving wheel 201a) is driven by the AGV 200, the two supporting wheels 104 rotate along with the rotation of the caster 201. The method of attaching the support wheels 104 is not particularly limited, and for example, the support frame 107 may be provided with a first bearing housing 108, the first bearing housing 108 may be provided with a rotating shaft 109, and the support wheels 104 may be fixed to the rotating shaft 109.

In some embodiments, the cleaning portion 103 includes: a plurality of cleaning liquid nozzles 110, the nozzles 110 being disposed at least beside the first supporting wheel set 101 and the second supporting wheel set 102. Specifically, the nozzle 110 may be a commercially available nozzle 110, and the nozzle 110 and a commercially available water jet pump (not shown) may be connected to each other through a water pipe (not shown), for example. In one support wheel set 106 (e.g., one of the first support wheel set 101 and the second support wheel set 102), one nozzle 110 may be disposed beside each of the two support wheels 104. The mounting manner of the nozzle 110 is not particularly limited, and may be, for example, mounted on the support bracket 107 via the first mounting bracket 111.

The cleaning unit 103 may further include a plurality of wipers 112, the wipers 112 may be disposed at least near the first support wheel group 101 and the second support wheel group 102, and the wipers 112 disposed near the first support wheel group 101 may abut against the drive wheels 201a, and the wipers 112 disposed near the second support wheel group 102 may abut against the driven wheels 201b in a state where the drive wheels 201a are supported by the first support wheel group 101 and the driven wheels 201b are supported by the second support wheel group 102. In particular, the wiper 112 may be mounted between two support wheels 104 of the support wheel set 106 by a second mounting bracket 113. The material of the wiper 112 is not particularly limited, and for example, a commercially available cleaning cotton material, cleaning cloth material, or the like can be selected.

The cleaning portion 103 may include only the nozzle 110, only the wiper 112, or both the nozzle 110 and the wiper 112. The cleaning unit 103 may further include air nozzles (not shown), for example, which are disposed beside the first and second supporting wheel sets 101 and 102. Specifically, a commercially available air nozzle may be selected as the air nozzle. After the cleaning of the caster 201 is completed, the air nozzle may blow high-pressure air to the caster 201 to quickly dry the caster 201.

Further, the washing section 103 includes a fresh water storage tank 114 and a sewage storage tank (not shown). The sewage storage tank is mounted to the lower portion of the support frame 107 and covers all the support wheel sets 106 under the support frame 107. This allows water to be stored, which has been washed by the casters 201 (i.e., the drive wheels 201a and the driven wheels 201b) supported by the support wheels 106. The fresh water storage tank 114 may be located on the support bracket 107 or elsewhere as desired.

In some embodiments, the transmission 105 is selected from one of a gear transmission, a belt transmission, and a chain transmission. Taking a gear transmission as an example, a gear transmission as the transmission 105 includes: a transmission shaft set and a transmission gear set. Wherein the set of drive shafts comprises a rotation shaft 109 for supporting the support wheel 104 and a central rotation shaft 115. The drive gear set includes a first bevel gear 116 mounted on the rotating shaft 109 and a second bevel gear 117 mounted on the intermediate rotating shaft 115 and meshing with the first bevel gear 116. Specifically, one first bevel gear 116 is bridged over one end of the rotating shaft 109 (also referred to as a first rotating shaft 109a for convenience of description) that supports the support wheels 104 of the first support wheel group 101. A first bevel gear 116 is also bridged on one end of the rotating shaft 109 (also referred to as the second rotating shaft 109b for convenience of description) that supports the support wheels 104 of the second support wheel group 102. The axial direction of the intermediate rotation shaft 115 is perpendicular to the axial direction of the first rotation shaft 109a and the axial direction of the second rotation shaft 109b, respectively. In addition, a second bearing seat 118 is further embedded on the support frame 107, the second bearing seat 118 is embedded on the section bar of the support frame 107, and the middle rotating shaft 115 is erected on the second bearing seat 118. The second bevel gear 117 includes two bevel gears, which are respectively disposed at both axial ends of the middle rotation shaft 115. A second bevel gear 117 at one end in the axial direction of the rotation shaft 115 meshes with a first bevel gear 116 provided at one end of the first rotation shaft 109 a. The second bevel gear 117 at the other axial end of the middle rotating shaft 115 is engaged with the first bevel gear 116 provided at one end of the second rotating shaft 109 b.

Thus, the driving power of the driving wheel 201a of the AGV 200 is transmitted to the first supporting wheel group 101, and the driving power of the driving wheel 201a is transmitted to the second supporting wheel group 102 via the transmission mechanism 105, and further transmitted to the driven wheel 201b of the AGV 200, so that the driving wheel 201a is driven by the AGV 200 and the driven wheel 201b is driven. Thus, there is no need to additionally provide the driving power of the second supporting wheel set 102 on the caster washing machine 100.

Further, since the support bracket 107 is formed by profile welding, the transmission 105 can be easily arranged by fitting the second bearing housing 118 on the profile of the support bracket 107 and mounting the central shaft 115 on which the second bevel gear 117 is mounted on the second bearing housing 118. Specifically, for example, as the support frame 107 that supports the AGV vehicle 200 as a whole, in order to improve the strength of the support frame 107, a reinforcing profile 119 is further provided between the first support wheel group 101 and the second support wheel group 102, and the transmission mechanism 105 can be easily arranged by providing the second bearing housing 118 that supports the rotation shaft 115 in the reinforcing profile 119.

When a belt transmission mechanism is selected as the transmission mechanism 105, pulleys (not shown) may be provided on the first turning shaft 109a and the second turning shaft 109b, respectively. Since the belt is in a closed loop shape, an escape groove (not shown) for allowing the belt to pass therethrough may be provided in the reinforcing member 119 so that the belt can smoothly pass over the reinforcing member 119. Furthermore, tensioning means (not shown) are provided, for example, on the reinforcing profile 119, in order to tension the belt of the belt drive.

When a chain transmission mechanism is selected as the transmission mechanism 105, sprockets (not shown) may be respectively mounted on the first and second turning shafts 109a and 109 b. Since the links of the chain are detachable, the chain (not shown) can be connected by its connecting fastener after it has passed over the reinforcing section bar 119. Furthermore, tensioning means (not shown) are provided, for example, on the reinforcing profile 119, in order to tension the belt of the chain drive.

With continued reference to fig. 2 and 3, in some embodiments, the first support wheel set 101 includes two, wherein one first support wheel set 101 supports a drive wheel 201a on one side (e.g., left side) of the AGV vehicle 200 and the other first support wheel set 101 supports a drive wheel 201a on the other side (e.g., right side) of the AGV vehicle 200. The length of the support wheels 104 of each first support wheel group 101 in the axial direction may be greater or less than the length of the drive wheels 201a of the AGV vehicle 200 in the axial direction, as long as the drive wheels 201a of the AGV vehicle 200 can be reliably supported. The supporting wheels 104 of the first supporting wheel group 101 supporting the driving wheels 201a of the left side of the AGV vehicle 200, and the supporting wheels 104 of the first supporting wheel group 101 supporting the driving wheels 201a of the right side of the AGV vehicle 200 may be disposed coaxially in the left-right direction. By providing two first support wheel sets 101 and independently supporting the drive wheels 201a of the AGV 200, the overall weight of the support frame 107 can be reduced. In addition, the space between the two first support wheel sets 101 can be saved, and the layout of the transmission mechanism 105 is facilitated. For example, the transmission 105 connected to the first supporting wheel set 101 may be disposed between the two first supporting wheel sets 101, thereby facilitating installation and maintenance of the transmission 105.

Further, although the example in which the first supporting wheel group 101 includes two is described above, it is not limited thereto. For example, only one first supporting wheel group 101 may be provided, and the axial length of the supporting wheels 104 of the first supporting wheel group 101 may be set to be capable of crossing the left and right sides of the AGV vehicle 200 to support the driving wheels 201a on the left and right sides of the AGV vehicle 200.

With continued reference to fig. 2 and 3, likewise, in some embodiments, the second supporting wheel set 102 also includes two, wherein one second supporting wheel set 102 supports the driven wheel 201b on one side (front) of the AGV vehicle 200, and the other second supporting wheel set 102 supports the driven wheel 201b on the other side (rear) of the AGV vehicle 200. The transmission mechanism 105 also includes two transmission mechanisms, wherein one transmission mechanism 105 connects one first supporting wheel set 101 and one second supporting wheel set 102, and the other transmission mechanism 105 connects the other first supporting wheel set 101 and the other second supporting wheel set 102. For example, one of the transmission mechanisms 105 connects the second support wheel set 102 on the front side of the support frame 107 and the first support wheel set 101 on the left side of the support frame 107. And the other one connects the second supporting wheel set 102 at the rear side of the supporting frame 107 and the first supporting wheel set 101 at the right side of the supporting frame 107. Thereby, the transmission 105 can be easily arranged.

In addition, although the example in which the single transmission mechanism 105 is connected to the first supporting wheel set 101 and the second supporting wheel set 102 has been described above, the present invention is not limited thereto. For example, after the power of the supporting wheels 104 of one first supporting wheel set 101 is transmitted to one second supporting wheel set 102, the power of the supporting wheels 104 of the second supporting wheel set 102 may be transmitted to the supporting wheels 104 of the other second supporting wheel set 102.

With continued reference to fig. 1 and 2, in some embodiments, in order for the AGV vehicle 200 to be easily supported to the support wheel sets 106, the caster washer 100 of this embodiment further comprises: and a holding unit 120 for holding the AGV 200 by the holding unit 120 so that the casters 201 of the AGV 200 are suspended. For example, the caster washer 100 may include a separate frame 121, and the holding portion 120 is provided on an upper portion of the frame 121 to hold the AGV 200 by the lifting plate 203 of the AGV 200. The holding part 120 includes a plurality of lift blocks 122 installed at an upper portion of the frame 121. An accommodation space 123 is provided directly below the holding portion 120, and the AGV 200 travels into the accommodation space 123 with the lifting plate 203 driven to rise. When the AGV 200 travels into the accommodating space 123 in a state where the lifting plate 203 is driven to be raised, the lifting plate 203 is located above the lift block 122. After the AGV 200 travels to a predetermined position, the lift plate 203 is driven to descend, and the lift plate 203 abuts against the lift pad 122. As the lift plate 203 continues to descend, the body 202 of the AGV car 200 is raised relative to the lift blocks 122. Thus, the casters 201 of the AGV car 200 are suspended.

The predetermined position mentioned above is a position at which the caster 201 of the AGV 200 can be accurately supported by the support wheel set 106. The method of accurately moving the AGV 200 to a predetermined position is not particularly limited, and for example, a sensor 124 capable of detecting a position, such as a photoelectric sensor, a displacement sensor, a proximity sensor, or a travel switch, may be provided on the rack 121. Further, the frame 121 may be provided with a positioning portion 125 for accurately positioning the AGV 200. The structure of the positioning portion 125 is not particularly limited, and the positioning portion 125 may include a positioning cylinder 126 and a positioning block 127 driven to extend and contract by the positioning cylinder 126, for example. The positioning portion 125 includes a plurality of positioning portions, for example, and the positioning portion 125 may be disposed on a front side of the frame 121 in the accommodating space 123, or may be disposed on a left side or a right side of the frame 121 in the accommodating space 123. This enables the AGV vehicle 200 to be accurately positioned in the accommodating space 123. Further, in the case where the friction between the casters 201 and the support wheels 104 is large, the AGV 200 may move relative to the support wheel sets 106 while the AGV 200 drives the casters 201 to rotate. By providing these positioning portions 125, the AGV 200 can be restricted from moving relative to the first and second support wheel sets 101 and 102 at the same time as a restricting member for restricting AGVs. The AGV vehicle 200 is prevented from rushing out of the support wheel sets 106. Further, in order to prevent the AGV 200 from shaking, the frame 121 may be provided with a clamp portion 128 above the holding portion 120, the clamp portion 128 may include, for example, a clamp cylinder 129 and a clamp block 130, and when the lifting plate 203 of the AGV 200 is held by the holding portion 120, the clamp cylinder 129 drives the clamp block 130 to abut against the lifting plate 203 from above the lifting plate 203 so as to reliably clamp the lifting plate 203 in the vertical direction together with the lift blocks 122 of the holding portion 120, thereby preventing the AGV 200 from shaking.

With continuing reference to fig. 3 and 4 and with additional reference to fig. 2 and 1, in some embodiments, to facilitate the AGV vehicle 200 being supported by the support casters 201, the AGV includes: the conveying unit 131, the first support wheel set 101 and the second support wheel set 102 are respectively disposed on the conveying unit 131, and are conveyed by the conveying unit 131. In a state where the AGV vehicle 200 is suspended, the first support wheel set 101 and the second support wheel set 102 are conveyed to the lower portion of the AGV vehicle 200 by the conveying portion 131, and support the driving wheel 201a and the driven wheel 201b, respectively. Specifically, for example, the carrying unit 131 is disposed at a lower portion of the frame 121 and is located at one side (e.g., a right side in the drawing) of the accommodating space 123 at the lower portion of the frame 121. The carrying unit 131 includes a support rail 132 mounted on the frame 121, and the support frame 107 supporting the first support wheel set 101 and the second support wheel set 102 is horizontally mounted on the support rail 132 and is slidable along the support rail 132. The carrying unit 131 further includes a carrying cylinder 133 for driving the support frame 107 to slide in the horizontal direction. The conveying unit 131 conveys the support frame 107 in the horizontal direction by the conveying cylinder 133 to convey the first support wheelset 101 and the second support wheelset 102 in the horizontal direction.

Before the AGV vehicle 200 travels to the accommodating space 123, the carrying cylinder 133 drives the supporting frame 107 to retract from the accommodating space 123 in the horizontal direction. In a state where the support bracket 107 is retracted from the accommodating space 123, the AGV 200 travels to the accommodating space 123 in a state where the lifting plate 203 is lifted. After the AGV 200 travels to a predetermined position in the storage space 123, the lifting plate 203 is lowered to abut against the lift block 122, and the AGV 200 is lifted with respect to the lift block 122. At this time, the casters 201 of the AGV vehicle 200 are suspended. In a state where the casters 201 of the AGV 200 are suspended, the transport cylinder 133 of the transport unit 131 drives the support frame 107 to horizontally extend toward the accommodating space 123 and is located below the AGV 200. The AGV 200 then drives the lift plate 203 to lift, whereby the AGV 200 descends relative to the lift blocks 122 and accurately descends into the support wheel set 106.

By providing the transport portion 131 capable of transporting the support frame 107 and combining the lifting plate 203 of the AGV 200, the casters 201 of the AGV 200 can be easily supported by the support wheel sets 106, and there is no need to add another lifting device or the like for lifting the AGV 200 to the caster washing machine 100. This simplifies the structure of the caster washing machine 100, and reduces the cost of the caster washing machine 100.

Although the above description has been given by taking as an example the case where the carriage 107 is driven by the conveying unit 131 to move horizontally, the present invention is not limited to this. For example, the carrying unit 131 may be provided directly below the holding unit 120, and may drive the supporting frame 107 to lift it in the vertical direction.

Although the caster washers 100 of the AGV vehicles 200 have been described above in which the driving wheels 201a are provided on both the right and left sides of the main body 202 and the driven wheels 201b are provided on both the front and rear sides of the main body 202, the present invention is not limited to this. The position of each support wheel set 106 of the caster cleaning machine 100 can be finely adjusted according to the AGV vehicle 200 having a different configuration of the caster 201.

Although the AGV 200 has been described above as having two driving wheels 201a and two driven wheels 201b, the present invention is not limited to this. For example, the AGV car 200 may be a four-wheel drive AGV car, i.e., each caster 201 may have independent drive power. In this case, the caster washing machine 100 may include: a support wheel set 106 and a cleaning part 103. The supporting wheel set 106 has a plurality of supporting wheels 104, the supporting wheels 104 support the casters 201 of the AGV 200, and when the casters 201 are driven by the AGV 200 to rotate, the supporting wheels 104 rotate along with the rotation of the casters 201. The cleaning unit 103 is provided to clean the caster 201. Specifically, the supporting wheel set 106 may be set with reference to the above supporting wheel set 106 (e.g., the first supporting wheel set 101 and the second supporting wheel set 102), except that the supporting wheels 104 are directly driven by the power of the caster 201 of the AGV 200 itself without being connected by the transmission 105 between the different supporting wheels 104.

The following describes a method of cleaning the casters 201 of the AGV 200 in the caster cleaning machine 100. Specifically, a method of cleaning the casters 201 of an AGV car 200 includes the steps of:

step S11, the casters 201 of the AGV car 200 are supported on the support wheel sets 106 of the caster washers 100.

Step S12: the AGV car 200 drives the casters 201 to rotate.

Step S13: the caster 201 is cleaned by the cleaning unit 103.

By the method for cleaning the casters 201 of the AGV 200 according to the embodiment, the casters 201 of the AGV 200 can be rotated by the power of the AGV 200 itself to clean the casters 201, so that the casters 201 of the AGV 200 can be easily cleaned, and the cleaning efficiency is improved.

In step S11, the process includes: in the step of supporting the casters 201 of the AGV vehicle 200 on the support wheel sets 106 of the caster washing machine 100, the following steps are further included:

step S14: the retaining part 120 of the wheel washer 100 retains the AGV 200 so that the wheels 201 of the AGV 200 are suspended by the lifting plate 203 of the AGV 200.

Step S15: the transport unit 131 of the caster washing machine 100 transports the support wheel set 106 to the lower side of the AGV 200, and the support wheel set 106 supports the caster 201 of the AGV 200.

Further, in step S14: the step of holding the AGV 200 by the holding portion 120 of the wheel washer 100 via the lifting plate 203 of the AGV 200 so that the wheels 201 of the AGV 200 are suspended further includes the steps of:

step S16: the AGV 200 drives the lifting plate 203 to lift, the AGV 200 moves toward the holding portion 120 so that the lifting plate 203 is positioned above the holding portion 120, and the AGV 200 drives the lifting plate 203 to retract and abut against the holding portion 120 so that the caster 201 of the AGV 200 is suspended.

Further, in step S15: the step of causing the transport unit 131 of the caster washing machine 100 to transport the support wheel set 106 to the lower side of the AGV 200 and causing the support wheel set 106 to support the caster 201 of the AGV 200 further includes the steps of:

step S17: and a step in which the transport portion 131 transports the support wheel set 106 to the lower side of the AGV vehicle 200 in a state in which the lifting plate 203 abuts on the holding portion 120 and the casters 201 of the AGV vehicle 200 are suspended, the AGV vehicle 200 drives the lifting plate 203 to lift, and the AGV vehicle 200 is lowered with respect to the holding portion 120 and the casters 201 of the AGV vehicle 200 are supported by the support wheel set 106.

Although the steps are indicated by specific reference numbers for convenience of description, the order of the steps can be adjusted by those skilled in the art according to the actual situation.

Although the caster washing machine 100 has been described above as having the holding unit 120 and the conveying unit 131, the present invention is not limited thereto. For example, the rack 121 may be provided with a guide device (not shown) for guiding the AGV 200 into the accommodating space 123, and a vertical drive device (not shown) for driving the guide device to move up and down. The support wheel set 106 is provided below the guide device, and after the guide device guides the AGV vehicle 200 to a predetermined position in the storage space 123, the guide device is lowered by the vertical driving device, whereby the AGV vehicle 200 is lowered and supported by the support wheel set 106.

Fig. 6 is an external view of the caster washing machine 100 including the hood 134. Referring to fig. 6, as some peripheral devices of the caster washing machine 100, for example, a hood 134, a door opening/closing section 135, a touch panel 136 as a control device, and the like may be further provided.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims (14)

1. Truckle cleaning machine for wash the truckle of AGV car, its characterized in that includes:

at least one first support wheel set supporting a drive wheel of the caster wheel, the support wheel of the first support wheel set rotating with the drive wheel when the drive wheel is driven by the AGV;

the second supporting wheel set supports a driven wheel in the caster wheel and is connected with the first supporting wheel set through a transmission mechanism;

a cleaning part configured to clean the caster.

2. The caster wheel washer according to claim 1, wherein said washer section comprises:

a plurality of cleaning liquid nozzles disposed at least beside the first and second support wheel sets; and/or

A plurality of wipers provided at least beside the first supporting wheel group and the second supporting wheel group, the wipers provided beside the first supporting wheel group abutting against the driving wheel, the wipers provided beside the second supporting wheel group abutting against the driven wheel, in a state where the driving wheel is supported by the first supporting wheel group and the driven wheel is supported by the second supporting wheel group.

3. The caster wheel washer of claim 1, wherein said transmission is selected from one of a gear transmission, a belt transmission, and a chain transmission.

4. The caster wheel washer of claim 1, wherein said first set of support wheels comprises two, one of said first set of support wheels supporting said drive wheels on one side of said AGV vehicle and the other of said first set of support wheels supporting said drive wheels on the other side of said AGV vehicle.

5. The caster wheel washer of claim 4, said second set of support wheels comprising two, one of said second set of support wheels supporting said driven wheel on one side of said AGV car and the other of said second set of support wheels supporting said driven wheel on the other side of said AGV car;

the transmission mechanism comprises two transmission mechanisms, wherein one transmission mechanism is connected with one first supporting wheel set and one second supporting wheel set, and the other transmission mechanism is connected with the other first supporting wheel set and the other second supporting wheel set.

6. The caster wheel washer according to any one of claims 1 to 5, further comprising: and a holding unit for holding the AGV so that the caster of the AGV is suspended.

7. The caster washer according to claim 6, wherein said holding portion holds said AGV car by a lifting plate of said AGV car.

8. The caster wheel cleaning machine according to claim 7, further comprising: a conveying part, wherein the first supporting wheel set and the second supporting wheel set are respectively arranged on the conveying part and are conveyed by the conveying part;

the AGV includes a first supporting wheel set and a second supporting wheel set, wherein the first supporting wheel set and the second supporting wheel set are carried to the lower part of the AGV by the carrying part and respectively support the driving wheel and the driven wheel.

9. The caster wheel washer according to claim 8, wherein the carrying portion carries the first supporting wheel set and the second supporting wheel set in a horizontal direction.

10. The caster washer of claim 1, further comprising a limit disposed to limit movement of the AGV vehicle relative to the first and second support wheel sets.

11. Truckle cleaning machine for wash the truckle of AGV car, its characterized in that includes:

the supporting wheel set is provided with a plurality of supporting wheels, the supporting wheels support the caster wheels of the AGV car, and when the caster wheels are driven to rotate by the AGV car, the supporting wheels rotate along with the rotation of the caster wheels;

a cleaning part configured to clean the caster.

12. A method of cleaning the casters of an AGV vehicle, comprising:

enabling the casters of the AGV car to be supported on a support wheel set of a caster washing machine;

the AGV drives the trundles to rotate;

the caster is cleaned by a cleaning part.

13. The method of cleaning the casters of an AGV vehicle of claim 12, having the casters of the AGV vehicle supported on a support wheel set of a caster cleaning machine, further comprising:

a holding unit for holding the AGV car by a lifting plate of the AGV car so that the casters of the AGV car are suspended;

the carrying part of the caster cleaning machine is used for carrying the supporting wheel set to the lower part of the AGV, and the supporting wheel set is used for supporting the casters of the AGV.

14. The method of cleaning the casters of an AGV vehicle of claim 13, wherein holding the retention portion of the caster washer by a lifting plate of the AGV vehicle in a manner that the casters of the AGV vehicle are suspended comprises:

the AGV car drives the lifting plate to lift,

the AGV car moves toward the holding portion so that the lifting plate is positioned above the holding portion,

the AGV car drives the lifting plate to retract and abut against the retaining part, so that the caster wheels of the AGV car are suspended;

make the transport portion of truckle cleaning machine will support the wheelset transport extremely the below of AGV car, and make support the wheelset support the AGV car the truckle includes:

the transport unit transports the support wheel group to a position below the AGV car in a state where the lift plate abuts against the holding unit and the casters of the AGV car are suspended,

the AGV car drives the lifting plate to lift so that the AGV car descends relative to the holding portion and the caster of the AGV car is supported by the support wheel group.

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