CN209176446U - A kind of servo-actuated universal wheel suitable for AGV trolley - Google Patents
A kind of servo-actuated universal wheel suitable for AGV trolley Download PDFInfo
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- CN209176446U CN209176446U CN201821409446.XU CN201821409446U CN209176446U CN 209176446 U CN209176446 U CN 209176446U CN 201821409446 U CN201821409446 U CN 201821409446U CN 209176446 U CN209176446 U CN 209176446U
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Abstract
The utility model discloses a kind of servo-actuated universal wheels suitable for AGV trolley, belong to castor field.The universal wheel includes runner assembly, bracket and castor assembly；Universal wheel further includes connector；Runner assembly includes the first ball set, cover board, the second ball set and lower wave disk；Bracket includes platform, by the fixed part of platform extension；It is equipped with cover board above platform, is equipped with lower wave disk below platform；Connector tool is there are two end, and successively sandwiched is between the two ends by cover board, platform, lower wave disk for connector；It is folded with the first ball set between cover board and platform, the second ball set is folded between platform and lower wave disk；Bracket has rotation axis, and bracket is suitable for rotating around rotation axis；Castor assembly includes the body of rod, spacer and two wheel bodys, and the body of rod passes through wheel body, and spacer is set between two wheel bodys, and the body of rod is affixed with fixed part.The universal wheel rotary resistance is small, and rotational stability is high, and bearing capacity is big.
Description
Technical field
The utility model relates to a kind of castor more particularly to a kind of servo-actuated universal wheels suitable for AGV trolley.
Background technique
Currently, in daily life, in order to facilitate mobile certain heavier objects, in furniture, household electrical appliances, luggage case, shipping
Castor is arranged at trolley bottom.Castor is generally divided into directional wheel and universal wheel, and universal wheel is more flexible due to turning to, and application is wider
It is general.
And universal wheel is also installed in Intelligent logistics field, on AGV trolley, its flexible delivery function is realized with cooperation
Energy.AGV trolley refers to magnetically or optically waiting homing guidances device equipped with electricity, can travel, have along defined guide path
There is the transport vehicle of safeguard protection and various transfer functions, AGV trolley can control its travelling route and behavior by computer.
But existing universal wheel has the following defects, it is made to be not suitable for being mounted on AGV trolley:
(1) bearing capacity is small: the chassis of general AGV trolley is all lower, and reserved installation space is limited, when conventional universal wheel
When reducing its height to be mounted on the chassis of AGV trolley, then its bearing capacity also reduces therewith, makes it that can not be suitable for holding
On the big AGV trolley of carrying capacity；
(2) stability is poor: since AGV dolly chassis is low, and requiring turning radius small, deviates set road to avoid when turning to
Line too far, causes AGV trolley that can not receive in real time signal in given area；In order to be able to satisfy universal wheel, total height is low, turns to
The small characteristic of radius is adapted to be mounted on AGV trolley, if directly subtracting the total height of existing universal wheel and radius of turn
It is installed on after small on AGV trolley, and without other improvements, then will lead to that rotational resistance is excessive, rotation is unstable, wheel body abrasion
The problems such as big, will affect the normal carrying or normal walking of AGV trolley.
Utility model content
For overcome the deficiencies in the prior art, a kind of the purpose of this utility model is to provide steering resistences small, bearing capacity
Servo-actuated universal wheel big, suitable for AGV trolley.
The purpose of this utility model adopts the following technical scheme that realization:
A kind of servo-actuated universal wheel suitable for AGV trolley, including runner assembly, bracket and castor assembly；The rotating group
Part includes the first ball set, cover board, the second ball set and lower wave disk；The bracket includes platform, is consolidated by what the platform extended
Determine portion；It is equipped with the cover board above the platform, is equipped with the lower wave disk below the platform；The cover board and the platform it
Between be folded with first ball set, the second ball set is folded between the platform and the lower wave disk；The universal wheel is also
Including connector；For the connector tool there are two end, the cover board, the lower wave disk are folded in two institutes by the connector
It states between end；The bracket has rotation axis, and the bracket is suitable for rotating around the rotation axis；The castor assembly packet
The body of rod, spacer and two wheel bodys are included, the body of rod passes through the wheel body, and the spacer is set between two wheel bodys,
The body of rod and the fixed part are affixed.
Further, the castor assembly further includes bearing；Two wheel bodys all have installation through-hole, two peaces
The bearing is installed in dress through-hole；The body of rod passes through the bearing inner race, the body of rod and the fixed company of the fixed part
It connects.
Further, the universal wheel further includes screw rod and nut；The fixed part includes two-wheeled frame plate, two-wheeled frame plate it
Between formed walking space, the wheel body be set to the walking space in；First round frame aperture is respectively equipped on two wheel frame plates
With the second wheel frame aperture, the body of rod is hollow stem, the screw rod sequentially pass through the first round frame aperture, inside the hollow stem,
The second wheel frame aperture, the screw rod other end are fixed on the wheel frame plate by the nut.
Further, the spacer is collar, and the collar is sheathed on the body of rod.
Further, the first ball set described in first ball set and second ball set are coaxially disposed.
Further, first ball set includes several first balls, and second ball set includes several second rollings
Pearl；Successively line can form the first circle between adjacent first ball, successively line between adjacent second ball
The second circle can be formed, the second circular radius is less than the described first circular radius.
Further, the diameter of first ball is greater than the diameter of second ball.
Further, the bracket further includes upper wave disk, and the upper wave disk is fixed at the upper side of the platform, described
Upper wave disk has the first track, and first ball set is set in first track, and first ball is suitable for described the
It is freely rolled in one track.
Further, the lower wave disk has the second track, and second ball set is set in second track, described
Second ball can be in second track, and second ball is suitable for freely rolling in second track.
Compared with prior art, the utility model has the beneficial effects that:
By the cooperation of double roll structures and Double-wheel structure, the rotary resistance of universal wheel is considerably reduced, improves and turns
Dynamic stability, while being conducive to increase carrying, therefore be more suitable for being mounted on AGV trolley and use.
Detailed description of the invention
Fig. 1 is the structural decomposition diagram of the universal wheel of the utility model；
Fig. 2 is the sectional structure chart of the universal wheel of the utility model；
In figure: 11, the first ball set；12, the second ball set；13, cover board；14, lower wave disk；21, platform；22, fixed part；
221, frame plate is taken turns；23, upper wave disk；31, wheel body；32, the body of rod；33, spacer；41, connector；42, screw rod；43, nut；44,
Washer.
Specific embodiment
In the following, being described further in conjunction with attached drawing and specific embodiment to the utility model, it should be noted that
Under the premise of not colliding, it can be formed in any combination between various embodiments described below or between each technical characteristic new
Embodiment.
It should be noted that the nouns of locality such as "upper" mentioned in this article, "lower" are only used for referring to the phase between different components
To position；And " abutting " mentioned in this article, it can be directly abutting and be also possible to abut indirectly.
It should also be noted that, " the servo-actuated universal wheel suitable for AGV trolley " refers to that total height is low, radius of turn setting
When smaller, also there is bearing capacity is big, steering resistence is small universal wheel, steering resistence is small be in order to improve steering flexibility because
AGV trolley at runtime, needs to constantly detect signal to determine its own position, if steering is not flexible in turning, can lead
Sigal transfering lag is caused, its normal work is influenced；Certainly, the bearing capacity is big, and steering resistence is small, operates stable universal wheel, also
It can be used for other industrial equipments wheel, be not only limited to the use of AGV trolley.
As shown in Fig. 1 to 2, a kind of servo-actuated universal wheel suitable for AGV trolley provided by the utility model, including rotating group
Part, bracket and castor assembly；Wherein, bracket and runner assembly cooperatively form truck assembly, and it is multidirectional certainly that the universal wheel may be implemented
By the function of rotating, and cooperated by truck assembly and castor assembly, the walking function of the universal wheel may be implemented.
Specifically, runner assembly is the double-deck rotational structure, and runner assembly includes the first ball set 11, the rolling of cover board 13, second
Pearl group 12 and lower wave disk 14；The fixed part 22 that bracket includes platform 21, is extended by platform 21；Cover board 13 is fixed on platform 21
Side, lower wave disk 14 are fixed at 21 lower section of platform, and the first ball set 11 is located between cover board 13 and platform 21, the second ball set
12 are located between platform 21 and lower wave disk 14；Wherein, which further includes connector 41, and there are two ends for the tool of connector 41
Portion, cover board 13,14 sandwiched of lower wave disk are between the two ends；Bracket has rotation axis, and bracket is suitable for rotating around rotation axis；
Castor assembly includes two wheel bodys 31, the body of rod 32 and spacer 33, and the body of rod 32 passes through wheel body 31, and spacer 33 is set to two wheel bodys
Between 31, the body of rod 32 and fixed part 22 are affixed.
Specifically, which is equipped with through-hole, and cover board 13 and lower wave disk 14 all have the interconnecting piece for extending protrusion, peace
When filling the universal wheel, the interconnecting piece of cover board 13 and lower wave disk 14 mutually abuts in the through-hole at 21 center of platform, two interconnecting pieces
With centre bore, connector 41 passes through the centre bore of cover board 13 and lower wave disk 14, the two is connected.Wherein connector 41 can
To be nest nail, nest nail can cooperate plain cushion to use, to reinforce connective stability.
Specifically, which during installation, is generally fixedly connected by cover board 13 with trolley equipment chassis；When this is universal
When the cover board 13 of wheel is carried and rotated, cover board 13 applies the rotatory force of downward pressure and steering to platform 21, and platform 21 is covering
It rotates under the effect of plate 13 with it, fixed part 22 drives castor assembly to change direction of travel, at this time the first ball set 11
Relative rolling can also occur for the first interior ball, due to the rolling action of ball, reduce and turn between cover board 13 and platform 21
Dynamic friction can reduce the rotary resistance of platform 21, both realizes universal rotational, also can reduce rotary resistance；But generally
For, when trolley carries overweight, i.e., when the pressure transmitted of cover board 13 is excessive, the first ball set 11 bears most of pressure,
When turning to, the rotation axis of the first ball set 11 may be deviateed universal wheel due to the excessive generation of carrying pressure, i.e. cover board 13
Bias will occur for the relative rotation between platform 21, and platform 21 will deflect at this time, and bracket will deflect, and lead
Universal wheel walking is caused to deflect, relative to lower wave disk 14 relative eccentric (deviateing rotation axis) movement occurs for platform 21 at this time, leads to
The setting of the second ball set 12 is crossed, so that the rolling of the second ball is played the role of sharing pressure and correction center of rotation, so that
Rack platform 21, which is able to maintain, rotates about the stable rotation of axis, and the steering of bracket is also more more smooth.Cover board 13 and platform
It is to generate rolling friction between 21, frictional force is small, smooth running, is conducive to improve bearing capacity.
Specifically, the setting of double layers of rolling balls group is depended merely on, can't guarantee that universal wheel is carrying larger and total height well
It is small to can have steering resistence when lower, turns to flexible characteristic, so pass through Double-wheel structure and runner assembly in castor assembly
The cooperation of the setting of interior double layers of rolling balls group improves the universal wheel steering flexibility, by the way that two-wheel is arranged, and by between spacer 33
Every two wheel bodys 31, to guarantee the independence of its work, avoid two wheel bodys 31 when turning to, it is close to each other to interfere, make
The universal wheel when turning to, the wheel body 31 by turning center side inverts, and 31 turn of wheel body far from turning center side can be with
Reducing the pressure that wheel body 31 applies ground, the frictional force of wheel body 31 and bottom surface, greatly reduces rotary resistance when reducing commutation,
Rotation flexibility is improved, so that being suitable for the biggish AGV trolley of bearing capacity.
Preferably, in order to guarantee castor rotation stability, castor assembly further includes bearing；Two wheel bodys 31 all have
Installation through-hole is installed with bearing in two installation through-holes；The body of rod 32 passes through bearing inner race, the body of rod 32 and the fixed company of fixed part 22
It connects.Wherein, bearing can select the upper common bearing in market according to actual needs；And bearing and wheel body 31 are by integrated note
Mould molding, connective stability is more preferable；31 matte surface of wheel body has fine sand line, turns to more stable, it is not easy to skid.
Preferably, in order to which preferably castor assembly is installed on bracket, universal wheel further includes screw rod 42 and nut 43；Gu
Determining portion 22 includes two-wheeled frame plate 221, and walking space is formed between two-wheeled frame plate 221, and wheel body 31 is set in walking space；Two wheels
First round frame aperture and the second wheel frame aperture are respectively equipped on frame plate 221, the body of rod 32 is hollow stem, and screw rod 42 sequentially passes through the first wheel carrier
Inside hole, hollow stem, second wheel frame aperture, 42 other end of screw rod by nut 43 be fixed on wheel frame plate 221.Frame plate is taken turns by two sides
The structural strength of bracket entirety can be improved in 221 setting.Wherein, hollow stem material can be duroplasts either steel, this
The preferred steel bushing of hollow stem in embodiment.
Specifically, cooperated by steel bushing outer wall and bearing inner race, then steel bushing hollow space is passed through by screw rod 42, by steel
Cover locking on wheel frame plate 221 (i.e. by 31 component of wheel body lock), relative to directly adopt screw rod 42 across bearing inner race with into
The structure of row locking can cause screw rod 42 to rotate to avoid due to the rotation of wheel body 31, and cause to lock the phenomenon that loosening, that is, pass through
The cooperation of steel bushing and screw rod 42 can influence 31 component of wheel body to avoid the rotation due to wheel body 31 and take turns the locking of frame plate 221
Effect.
Preferably, castor assembly further includes two washers 44, washer 44 be placed on wheel body 31 and wheel 221 inner wall of frame plate it
Between, prevent wheel body 31 from rubbing when operating with wheel 221 inner wall of frame plate.
Preferably, in order to facilitate the adjustment and installation of spacer 33, spacer 33 is collar, and collar is sheathed on the body of rod 32
On.
Preferably, in order to enable the second ball set 12 can be better compensated for due to causing to put down when 13 bearing capacity of cover board is excessive
21 eccentric rotary of platform, the first ball set 11 and the second ball set 12 are coaxially disposed.
Preferably due to the second ball set 12 only carried in cover board 13 it is excessive, when causing the first ball set 11 eccentric, the
Two ball sets 12 are just for sharing 21 weight of platform, and the second ball set 12 is just for assisting the work of the first ball set 11, the first rolling
Pearl group 11 includes several first balls, and the second ball set 12 includes several second balls；Successively connect between the first adjacent ball
Line can form the first circle, and successively line can form the second circle between adjacent second ball, and the second circular radius is less than the
One circular radius, so that the second ball set 12 can preferably adjust the rotation axis of platform 21, it is made to reform.
Preferably due to the second ball is without carrying too big pressure, in order to save material, the diameter of the second ball is less than the
The diameter of one ball.
Preferably, in order to more preferably make the smooth running of the first ball set 11, bracket further includes upper wave disk 23, upper wave disk 23
It is fixed at the upper side of platform 21, upper wave disk 23 has the first track, and the first ball set 11 is set in the first track, the first rolling
Pearl is suitable for arbitrarily rolling in the first track.
Preferably, in order to more preferably make the smooth running of the second ball set 12, lower wave disk 14 has the second track, the second rolling
Pearl group 12 is set in the second track, and the second ball can be in the second track, and the second ball is suitable for arbitrarily rolling in the second track.
Wherein, upper wave disk 23 and lower wave disk 14 are thermally treated all by hot-forming, bracket can be made to turn to cleverer
It is living, track durable wear.
Above embodiment is only preferred embodiments of the present invention, cannot be protected with this to limit the utility model
Range, the variation of any unsubstantiality that those skilled in the art is done on the basis of the utility model and replacement belong to
In the utility model range claimed.
Claims (9)
1. a kind of servo-actuated universal wheel suitable for AGV trolley, including runner assembly, bracket and castor assembly, it is characterised in that:
The runner assembly includes the first ball set, cover board, the second ball set and lower wave disk；The bracket includes platform, by institute
State the fixed part of platform extension；It is equipped with the cover board above the platform, is equipped with the lower wave disk below the platform；The lid
It is folded with first ball set between plate and the platform, the second ball is folded between the platform and the lower wave disk
Group；
The universal wheel further includes connector；Connector tool there are two end, the connector by the cover board, it is described under
Wave disk folder is located between two ends；The bracket has rotation axis, and the bracket is suitable for turning around the rotation axis
It is dynamic；
The castor assembly includes the body of rod, spacer and two wheel bodys, and the body of rod passes through the wheel body, and the spacer is set to
Between two wheel bodys, the body of rod and the fixed part are affixed.
2. being suitable for the servo-actuated universal wheel of AGV trolley as described in claim 1, it is characterised in that:
The castor assembly further includes bearing；Two wheel bodys all have installation through-hole, solid in two installation through-holes
Equipped with the bearing；The body of rod passes through the bearing inner race, and the body of rod is fixedly connected with the fixed part.
3. being suitable for the servo-actuated universal wheel of AGV trolley as claimed in claim 2, it is characterised in that:
The universal wheel further includes screw rod and nut；The fixed part includes two-wheeled frame plate, and it is empty to form walking between two-wheeled frame plate
Between, the wheel body is set in the walking space；
First round frame aperture and the second wheel frame aperture are respectively equipped on two wheel frame plates, the body of rod is hollow stem, the screw rod
Sequentially pass through the first round frame aperture, the hollow stem it is internal, it is described second wheel frame aperture, the screw rod other end pass through the spiral shell
Mother is fixed on the wheel frame plate.
4. being suitable for the servo-actuated universal wheel of AGV trolley as described in claim 1, it is characterised in that:
The spacer is collar, and the collar is sheathed on the body of rod.
5. the servo-actuated universal wheel according to any one of claims 1-4 suitable for AGV trolley, it is characterised in that:
First ball set described in first ball set and second ball set are coaxially disposed.
6. being suitable for the servo-actuated universal wheel of AGV trolley as claimed in claim 5, it is characterised in that:
First ball set includes several first balls, and second ball set includes several second balls；Adjacent is described
Successively line can form the first circle between first ball, and successively line can form the second circle between adjacent second ball
Shape, the second circular radius are less than the described first circular radius.
7. being suitable for the servo-actuated universal wheel of AGV trolley as claimed in claim 6, it is characterised in that:
The diameter of first ball is greater than the diameter of second ball.
8. the servo-actuated universal wheel suitable for AGV trolley as claimed in claims 6 or 7, it is characterised in that:
The bracket further includes upper wave disk, and the upper wave disk is fixed at the upper side of the platform, and the upper wave disk has the
One track, first ball set are set in first track, and first ball is suitable in first track freely
It rolls.
9. the servo-actuated universal wheel suitable for AGV trolley as claimed in claims 6 or 7, it is characterised in that:
The lower wave disk has the second track, and second ball set is set in second track, and second ball can be around
In second track, second ball is suitable for freely rolling in second track.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821409446.XU CN209176446U (en) | 2018-08-28 | 2018-08-28 | A kind of servo-actuated universal wheel suitable for AGV trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821409446.XU CN209176446U (en) | 2018-08-28 | 2018-08-28 | A kind of servo-actuated universal wheel suitable for AGV trolley |
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| Publication Number | Publication Date |
|---|---|
| CN209176446U true CN209176446U (en) | 2019-07-30 |
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ID=67359208
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821409446.XU Active CN209176446U (en) | 2018-08-28 | 2018-08-28 | A kind of servo-actuated universal wheel suitable for AGV trolley |
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| CN (1) | CN209176446U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113978575A (en) * | 2021-11-17 | 2022-01-28 | 铁力山（北京）控制技术有限公司 | AGV dolly and universal motion thereof |
| CN114394348A (en) * | 2022-02-14 | 2022-04-26 | 四川大学 | Anti-pollution intelligent classification garbage bin in biological laboratory |
-
2018
- 2018-08-28 CN CN201821409446.XU patent/CN209176446U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113978575A (en) * | 2021-11-17 | 2022-01-28 | 铁力山（北京）控制技术有限公司 | AGV dolly and universal motion thereof |
| CN114394348A (en) * | 2022-02-14 | 2022-04-26 | 四川大学 | Anti-pollution intelligent classification garbage bin in biological laboratory |
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