JP3539071B2 - Automatic guided vehicle wheel unit - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic guided vehicle, and more particularly to a wheel unit capable of running and steering control of wheels.

[0002]

2. Description of the Related Art An unmanned guided vehicle conventionally used for transporting a logistics at a production site or the like is small in size compared to a general vehicle, and is manufactured while correcting a traveling direction by a control signal sent from a control device. In order to travel in a narrow space such as a site, it is desired to reduce the size of the traveling and steering mechanism so that the floor space and the size of the automatic guided vehicle are reduced.

In response to such demands, conventionally, as shown in FIGS. 13 and 14, the traveling / steering mechanism of the automatic guided vehicle is integrated with wheels (drive wheels and the like) to form a wheel unit. Attempts have been made to reduce the size of the traveling / driving mechanism of a transport vehicle. 13 and 14, the wheel unit 204 of the automatic guided vehicle 201 includes a driving motor 210 for driving the driving wheels 203 (wheels) and a steering motor 215 for changing the traveling direction of the driving wheels 203. The steering motor 215 is attached to the lower part of the body 202 of the automatic guided vehicle 201. The driving wheel 203 has a driving motor 2 inside this annular wheel 208.
10 are integrated and rotatably supported by a wheel bracket 240 via a drive shaft 235. And
The drive wheel 203 is provided with a steering motor 21 projecting to the ground X side.
5, the wheel bracket 240 on the inner part 216 (rotation side).
Are combined with the steering motor 215 to form the wheel unit 204.

However, the vehicle body 2 of the automatic guided vehicle 201
02 and the ground X, the drive wheel 203 and the steering motor 21
5 is connected in series (overlap) with the wheel unit 2.
In the case of configuring the automatic guided vehicle 04, the size in the height direction of the automatic guided vehicle 201 is also increased because the size in the height direction of the wheel unit 204 is increased and the miniaturization cannot be achieved. Can not be realized.

[0005]

As described above, as means for suppressing the size of the automatic guided vehicle in the height direction, the wheels are rotated via a wheel case for supporting the wheels and a driving mechanism provided in the wheel bracket. A driving motor for driving, a wheel bracket is attached to the automatic guided vehicle via a casing, and a steering motor for changing a steering angle of a wheel via a steering mechanism provided on the casing. It is conceivable to attach the steering motor to the vehicle body in parallel with the wheels so as to reduce the height dimension of the automatic guided vehicle.

[0006] However, in the case of suppressing the dimension in the height direction as in the prior art, the dimension in the height direction of the automatic guided vehicle is reduced by mounting the wheel case supporting the wheels and the steering motor in parallel on the vehicle body. Although it is suppressed, the steering motor is arranged in parallel with the wheel case, so that a corresponding mounting space is required on the lower plane of the vehicle body. As a result, even if the floor height of the automatic guided vehicle is reduced, a large amount of mounting space is required in the width direction of the automatic guided vehicle, so that the size of the automatic guided vehicle cannot be reduced.

The wheel unit of the automatic guided vehicle according to the present invention has been made to solve this problem, and a part of the wheels is housed in a space for the steering motor to reduce the floor of the automatic guided vehicle. And miniaturization.

[0008]

According to the present invention, there is provided an automatic guided vehicle wheel unit according to the present invention.
In, in the wheel unit of the automatic guided vehicle having a wheel, a steering motor that changes the steering angle by rotating the wheel, the steering unit can independently control the steering of the wheel of the automatic guided vehicle, the steering motor is , A hollow space is formed
Inner part, and a hollow shape externally fitted to the inner part.
And an outer part, and one of the inner part and the outer part has no
The fixed side fixed to the human carrier, the other is
A motor that is rotatable and rotatable, wherein a part of the wheel is housed in the space. This makes it possible to reduce the height of the automatic guided vehicle by storing a part of the wheels in a space formed in the steering motor. In addition, since a part of the wheel is rotatably supported on the steering motor while being housed in the empty space, there is no need to separately provide a member for supporting the wheel and connecting the wheel to the steering motor. .

According to a second aspect of the present invention , a wheel and the wheel
Equipped with a steering motor that changes the steering angle,
Unit of an automatic guided vehicle that can independently control the steering
In the above, the steering motor has an inner portion, and an outer portion rotatably supported by the inner portion,
An outer rotor type motor in which the inner portion is a fixed side fixed to an automatic guided vehicle and the outer portion is a rotating side, wherein a hollow space is formed in the inner portion, and the outer The part rotatably supports the wheel while a part of the wheel is stored in a space of the inner part. Thereby, by storing a part of the wheel in the inner part of the steering motor, the dimension in the height direction of the automatic guided vehicle can be suppressed, and the member for rotatably supporting the wheel is provided by the steering motor. Since the outer portion is also used, it is not necessary to separately provide a member for supporting the wheel as in the prior art.

In a third aspect, a wheel and the wheel
Equipped with a steering motor that changes the steering angle,
Unit of an automatic guided vehicle that can independently control the steering
In the above, the steering motor has an outer portion, and an inner portion rotatably supported by the outer portion,
An inner rotor type motor in which the outer portion is a fixed side fixed to the automatic guided vehicle and the inner portion is a rotating side, wherein the inner portion has a hollow space formed therein, And a part of the wheel is housed so as to rotatably support the wheel. Thereby, by storing a part of the wheel in the inner part of the steering motor, the dimension in the height direction of the automatic guided vehicle can be suppressed, and the member for rotatably supporting the wheel is provided by the steering motor. Since the inner portion is also used, there is no need to separately provide a member for supporting the wheel as in the prior art.

[0011] According to a fourth aspect, in the third aspect,
The cavity of the inner portion has a tapered portion expanding in diameter toward the wheel, and a part of the wheel is housed in the tapered portion. Thus, without forming a cavity of extra dimensions to the inner portion of the steering motor, the strength of the inner portion can hold part of the coercive one wheel.

[0012] In claim 5, claim 1 to claim
3 is provided with an attachment member for fixing the steering motor to the automatic guided vehicle on the fixed side of the steering motor, and supports the wheel on the rotating side of the steering motor. Support member is integrally formed. Accordingly, the steering motor can be easily attached to the automatic guided vehicle via the attachment member, and the support member that supports the wheel is integrally formed on the rotation side of the steering motor, so that the wheel is supported. There is no need to separately provide members. Therefore, it is possible to unitize the steering motor and the wheels and reduce the weight.

[0013] In claim 6 is that of, respectively it claims 1 to 3, inside of the wheel, has a drive motor for driving the wheels against the wheel of the AGV The drive control is possible. Thereby, even if it has a steering motor for adjusting the steering angle of the wheel and a drive motor capable of controlling the drive of the wheel, a part of the wheel can be stored in the space of the steering motor.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a wheel unit of an automatic guided vehicle according to the present invention will be described with reference to the drawings.

5 and 6, reference numeral 1 denotes an automatic guided vehicle. A pair of drive wheel units 4 (wheel units) having drive wheels 3 and a pair of caster wheels 5 are provided at four lower corners of a vehicle body 2. Are mounted, and each drive wheel unit 4 and each caster wheel 5 are respectively disposed one before and after the vehicle body 2. A pair of sensors 6a and 6b are provided between the drive wheel unit 4 and the caster wheels 5 between the wheels of the vehicle body 2, respectively.
Further, inside the vehicle body 2, in addition to a traveling power supply (not shown), a control device 7 for controlling traveling of the automatic guided vehicle 1, and various devices such as a wireless communication device and an optical communication device for transmitting and receiving signals to and from a station. Is provided.

Next, a specific structure of the drive wheel unit 4 (wheel unit) will be described with reference to FIGS.
The types of drive wheel units 4 will be described. 1 to 4
, The same reference numerals have the same configuration. First, in FIGS. 1 and 2, the driving wheel unit 4 is configured to include a driving motor 10 for driving the driving wheels 3 and a steering motor 15 for changing a steering angle of the driving wheels 3.

The steering motor 15 has an inner portion 16 (fixed side) attached to a lower portion of the vehicle body 2 and a hollow outer portion 18 rotatably fitted to the inner portion 16 via a bearing 17. (Rotating side), in which an annular motor core 19A and an annular rotating resolver 19B are arranged in an annular space B defined by an inner portion 16 and an outer portion 18. Motor core 19A
Are excited by a signal (power) input of the control device 7 to rotate the outer portion 18 forward and reverse. The resolver 19B detects the rotation angle of the outer portion 18 that is rotated forward and reverse and feeds it back to the control device 7, and the feedback causes the control device 7 to rotate the outer portion 18 (drive wheel 3).
Is controlled to an appropriate steering angle.

The inner portion 16 is formed with a hollow hole 20 (vacant space) penetrating from the vehicle body 2 toward the ground X side, and the lower side of the hollow hole 20 gradually increases in diameter toward the ground Y side. It is a tapered portion 20A. Also, the inner part 16
The outer portion 18 without contacting the outer portion 18.
An annular mounting member 32 that covers the upper end opening side of is fixed by a plurality of bolts 33. The outer part 18 is
A support member 21 having a pair of support frames 21A extending to the X side of the ground is integrated with a plurality of bolts 22, and supports the drive wheel 3 and the drive motor 10 between the support frames 21. ing.

The steering motor 15 is connected to the inner section 1.
The bolts are passed through a plurality of through holes (not shown) formed in the attachment member 32 integrated with the fixing member 6 (fixed side), and attached to a predetermined position of the vehicle body 2 as shown in FIG.

The driving wheel 3 has a rubber tire 9 mounted around the outer periphery of the annular wheel 8. A pair of covers having concave cross sections so as to cover the inner diameter are provided on both side surfaces of the annular wheel 8. The members 23A and 23B are fixed with a plurality of bolts 24. And an annular wheel 8 of the drive wheel 3;
A drive motor 10 and a brake 25 of the drive wheel 3 are arranged in a storage space C defined by the cover members 23A and 23B.

The drive motor 10 has an annular motor core 26 fitted in the wheel 8 of the drive wheel 3 and an annular motor core 26 fitted in a storage chamber C1 defined between the wheel 8 and one cover member 23B. The motor core 26 is configured to be excited by a signal (power) input of the control device 7 to rotate the drive wheel 3 forward and reverse. The resolver 27 detects the rotation angle of the drive wheel 3 rotated forward and backward and feeds it back to the control device 7, and the control device 7 appropriately drives and controls the drive wheel 3 by the feedback.

The brake 25 of the drive wheel 3 is provided in a storage chamber C2 defined between the wheel 8 and the other cover member 23A.
, An annular armature 28, an annular yoke 29 having an electromagnet coil (not shown), and a pair of annular brake linings 30. The armature 28 is partially fixed to the bottom of the cover member 23A with a plurality of bolts 31 and faces a yoke 29 fixed between the arm 8 and the wheel 8 at a predetermined interval. A pair of brake linings 30 are provided between the armature 28 and the yoke 29.
Is attached to each of the armature 28 and the yoke 29
To have. Then, the brake 25 generates the braking force by engaging the respective brake linings 30 by demagnetization (non-excitation) of the electromagnet coil of the yoke 29, and separates the armature 28 from the yoke 29 by excitation of the electromagnet coil. The brake is released by operating as follows.

The driving wheel 3 is a driving shaft 3 for rotatably supporting the outer portion 18 of the steering motor 15.
Five. The drive shaft 35 is provided with the cover member 23A, the armature 28,
The yoke 29, the motor core 26, the rotary resolver 27, and the cover member 23B penetrate in this order, and each cover body 23
The drive wheel 3 is rotatably supported via a pair of bearings 36 press-fitted into a cylindrical portion 23C protruding from the bottoms of A and 23B. The yoke 29 of the brake 25 is externally fitted to the drive shaft 35 and is fixed by being pressed against the step of the drive shaft 35 by a bush 37 arranged between the drive shaft 35 and the bearing 36 of the cover member 23B.

As described above, the driving wheel 3, the driving motor 10
The drive shaft 3 is rotatably supported by the outer portion 18 of the steering motor 15 in an assembly 38 in which the drive wheel 3 is integrated with the drive shaft 35. The assembly 38 connects both ends of the drive shaft 35 to the outer portion 18 with a part of the drive wheel 3 protruding into the tapered portion 20A of the hollow hole 20 from below the inner portion 16 of the steering motor 15. It is attached to the outer part 18 of the steering motor 15 by being fitted and fixed in each of the mounting holes 21B formed in each support frame 21A. As a result, the drive wheel 3 is rotatably supported on the outer portion 18 (support member 21) of the steering motor 15 with a part of the drive wheel 3 housed in the tapered portion 20A of the hollow hole 20. become.

The tapered portion 20A formed in the inner portion 16 of the steering motor 15 and the mounting holes 21B formed in the outer portion 18 contact a part of the driving wheel 3 with the tapered portion 20A. And more drive wheels 3
In the hollow hole 20 so that the tapered portion 20A is at a very narrow position with respect to the tapered portion 20A.
The shape of A and the formation position of each mounting hole 21B are determined. Thereby, the inner portion 16 of the steering motor 15 is
The strength of the inner portion 16 can be maintained without forming the hollow hole 20 of an extra size in the automatic guided vehicle 1.
Therefore, even if the outer portion 18 of the steering motor 15 is rotated, the driving wheel 3 rotates together with the outer portion 18 without contacting the inner portion 16 (fixed side), thereby steering the automatic guided vehicle 1. Control can be performed.

3 and 4, the drive wheel unit 4 (wheel unit) includes a drive motor 10 for driving the drive wheel 3 and a steering motor 45 for changing the steering angle of the drive wheel 3. It is configured.

The steering motor 45 has a hollow outer portion 48 (fixed side) attached to a lower portion of the vehicle body 2 and an inner portion 46 (rotatably fitted to the outer portion 48 via a bearing 47). (Rotating side), and an annular motor core 49A and an annular rotating resolver 49B are arranged in an annular space E defined by an inner portion 46 and an outer portion 48. The motor core 49A is
The motor is excited by input of a signal (power) of the control device 7 to rotate the inner portion 46 forward and reverse. Also, the resolver 49
B is for detecting the rotation angle of the inner portion 46 that is rotated forward and reverse and feeding it back to the control device 7, and the control device 7 controls the inner portion 46 (drive wheel 3) to an appropriate steering angle by this feedback. It is.

The inner portion 46 is a pair of support frames 51A projecting from the lower end of the outer portion 18 and extending toward the ground X.
And the driving wheels 3 and the driving motor 10 are supported between the support frames 51. Further, a hollow hole (vacant space) penetrating from the vehicle body 2 toward the ground X side is formed inside the inner portion 46, and this hollow hole 50 is formed in the drive wheel 3.
It is a space that can accommodate. An annular mounting member 52 that covers the upper end opening side of the outer portion 48 without contacting the inner portion 46 has a plurality of bolts 53 on the outer portion 48.
It is fixed at.

The steering motor 45 is connected to the outer section 4.
The bolts are passed through a plurality of through holes (not shown) formed in a mounting member 52 integrated with the fixing member 8 (fixed side), and are mounted at predetermined positions of the vehicle body 2 as shown in FIG.

FIGS. 3 and 4 also have a drive wheel 3, a drive motor 10, a brake 25 and a drive shaft 35. These members 3 are provided in the same manner as shown in FIGS. , 10, 25 and 35 are integrated into an assembly 3
8.

As described above, the driving wheel 3 and the driving motor 1
An assembly 38 in which the brake 0, the brake 25, and the drive shaft 35 are integrated is supported by an inner portion 46 of a steering motor 45 so that the drive wheels 3 can rotate freely. The assembly 38 connects both ends of the drive shaft 35 to the support frames 51 of the inner portion 48 in a state in which a part of the drive wheel 3 projects from the lower side of the inner portion 46 of the steering motor 45 into the hollow hole 50. The steering motor 15 is inserted into and fixed to the formed mounting hole 51A.
Is attached to the inner part 46 of the main body. Thus, the drive wheel 3 is rotatably supported on the inner portion 46 (the support frame 51) of the steering motor 45 with a part of the drive wheel 3 housed in the hollow hole 50.

Each of the mounting holes 51A formed in the inner portion 46 of the steering motor 45 allows a part of the
Without contacting the lower surface 2 </ b> A of the
The mounting position of each mounting hole 51A is determined so that the mounting hole 51A is located at a very close position with respect to the lower surface 2A of the vehicle body 2 in order to store the inside of the hollow hole 50. Thus, more drive wheels 3 can be accommodated in the inner portion 46 of the steering motor 45 as compared with the driving wheel unit 4 shown in FIGS. 1 and 2.

As described above, by storing a part of the drive wheel 3 in the inner portions 16 and 46 of the steering motors 15 and 45, the height dimension of the drive wheel unit 4 (wheel unit) is suppressed. It is possible to reduce the size of the automatic guided vehicle 1,
A low floor can be realized. Also, since the member for rotatably supporting the drive wheel 3 is also used as the outer portion 18 of the steering motor 15 or the inner portion 46 of the steering motor 45, the drive wheel 3 is separately pivoted as in the prior art. Since there is no need to provide supporting members, the number of parts of the drive wheel unit 4 (wheel unit) can be reduced and the weight can be reduced.
The cost and weight of the automatic guided vehicle 1 can be reduced.

By the way, in addition to the automatic guided vehicles described in FIGS. 5 and 6, there are those shown in FIGS. 11 and 12, which will be described below. 11 and 12
In the figure, reference numeral 101 denotes an automatic guided vehicle, which has a drive wheel unit 4 having a drive wheel 3 in the center of the lower part of the vehicle body 2 on the front side.
(Wheel unit) and a pair of driven wheel units 104 (wheel units) having driven wheels 103 at two rear corners, and the drive wheel unit 4 and each driven wheel unit 104 have a triangular shape in front and rear of the vehicle body 2. Are arranged. The driving wheel unit 4 and each driven wheel unit 10
A pair of sensors 6a and 6b are provided between the four wheels in front, rear, left and right of the vehicle body 2, respectively. Further, inside the vehicle body 2, in addition to a traveling power supply (not shown) and a control device 7 for controlling traveling of the automatic guided vehicle 101, various devices such as a wireless communication device and an optical communication device for transmitting and receiving signals to and from a station. Is provided. Note that FIG.
The drive wheel unit 4 in the automatic guided vehicle 101 shown in FIG. 12 has a configuration similar to that shown in FIGS. 1 and 2 or FIGS. 3 and 4.

Next, two types of driven wheel units 104 will be described with reference to FIGS. 7 to 10 for the specific structure of the driven wheel unit 104 (wheel unit). 7 and 8, the same reference numerals as those in FIGS. 1 and 2 have the same configuration, and in FIGS. 9 and 10, the same reference numerals as in FIGS. 3 and 4 have the same configuration. The description is omitted. First, in FIGS. 7 and 8, the driven wheel unit 104 includes a driven wheel 103 and a steering motor 115 that changes a steering angle of the driven wheel 103.

The steering motor 115 has the same configuration as the steering motor 15 described with reference to FIGS.
An outer rotor type motor having an inner portion 16 (fixed side) fixed to a lower portion of the housing and a hollow outer portion 18 (rotating side) rotatably fitted to the inner portion 16 via a bearing 17. In addition, an annular motor core 19A and an annular rotating resolver 19B are arranged in an annular space B between the respective parts 16 and 18. Inside the inner portion 16, the hollow bore 20 has a tapered portion 20A (space) is formed. The outer part 18 covers the inner part 16 and
The support member 21 having a pair of support frames 21A extending to the side is integrated by a plurality of bolts 22, and supports the driven wheel 103 between the support frames 21A. Then, the steering motor 115 passes bolts through a plurality of through holes (not shown) formed in the attachment member 32 integrated with the outer portion 18 (fixed side), and passes the predetermined position of the vehicle body 2 as shown in FIG. Attached to.

The driven wheel 103 has a rubber tire 109 mounted around the outer periphery of the annular wheel 108, and a driven shaft 135 passes through the center of rotation of the wheel 108. The driven wheel 103 is rotatable with respect to the driven shaft 135 by a pair of bearings 136 interposed between the driven wheel 135 and the driven shaft 135.

Then, the driven shaft 13 with respect to the driven wheel 103
5 is integrated with the steering motor 115
The driven shaft 103 is rotatably supported by the outer portion 18. The assembly 138 is configured such that a portion of the driven wheel 103 projects from the lower side of the inner portion 16 of the steering motor 115 into the tapered portion 20A of the hollow hole 20, and the driven shaft 13
5 is fitted into each of the mounting holes 21B formed in each support frame 21A of the outer portion 18, and nuts 139 are screwed and fastened to both ends of the driven shaft 135 projecting from each support frame 21A. Outer portion 18 of steering motor 115
Attached to. As a result, the driven wheel 103
A part thereof is rotatably supported on the outer portion 18 (support member 21) of the steering motor 115 in a state of being housed in the tapered portion 20A of the hollow hole 20.

The inner portion 16 of the steering motor 115
The tapered portion 20A formed in the outer portion 18 and the mounting holes 21B formed in the outer portion 18 do not allow a part of the driven wheel 103 to come into contact with the tapered portion 20A. The shape of the tapered portion 20A and the formation position of each mounting hole 21B are determined so that the tapered portion 20A is located at a very close position with respect to the tapered portion 20A so as to be housed in the housing 20. Thus, the strength of the inner portion 16 can be maintained without forming an extra-sized hollow hole 20 in the inner portion 16 of the steering motor 115.
The steering motor 11 is used for steering control of the automatic guided vehicle 101.
Even when the outer portion 18 of the fifth embodiment rotates, the driven wheel 103 rotates together with the outer portion 18 without contacting the inner portion 16 (fixed side), and the steering control of the automatic guided vehicle 101 can be executed.

Next, in FIGS. 9 and 10, the driven wheel unit 104 (wheel unit) includes a driven wheel 103,
And a steering motor 145 for changing the steering angle of the driven wheel 103.

The steering motor 145 has the same configuration as the steering motor 45 described with reference to FIGS.
Outer part 48 (fixed side) attached to the lower part of
And an inner rotor (rotation side) rotatably fitted inside the outer portion 48 via a bearing 47, wherein an annular space E between the respective portions 46, 48 is provided.
Annular motor core 49A, annular rotating resolver 49B
And are arranged. The inner part 46 has a hollow hole 50 (vacant space) formed therein, and a pair of support frames 51 projecting from the lower end of the outer part 48 and extending toward the ground X side. I have. Then, the steering motor 145 passes bolts through a plurality of through holes (not shown) formed in the mounting member 52 integrated with the outer portion 48 (fixed side), and the predetermined position of the vehicle body 2 as shown in FIG. Attached to.

9 and 10 also have a driven wheel 103 and a driven shaft 135, and FIGS.
In the same manner as described above, these members 103 and 135 are integrated to form an assembly 138.

Then, the driven wheel 103 and the driven shaft 135
Is integrated with the steering motor 145.
The driven wheel 103 is rotatably supported by the inner portion 46. The assembly 138 connects a part of the driven wheel 103 to the hollow hole 50 from below the inner portion 46 of the steering motor 145.
With both ends of the driven shaft 135 being fitted into the mounting holes 51A formed in each support frame 51 of the inner portion 48 in a state where the driven shaft 135 is protruded from the inside, nuts 139 are provided at both ends of the driven shaft 135 projecting from each support frame 51. Is attached to the outer portion 18 of the steering motor 145 by screwing and tightening. As a result, the driven wheel 103 is rotatably supported by the inner portion 46 (support frame 51) of the steering motor 145 in a state where a part of the driven wheel 103 is housed in the hollow hole 50.

The inner portion 46 of the steering motor 145
The mounting holes 51A formed in the lower surface 2A of the vehicle body 2 do not contact a part of the driven wheel 103 with the lower surface 2A of the vehicle body 2 and accommodate more of the driven wheel 103 in the hollow hole 50. The position where each of the mounting holes 51A is formed is determined so as to be at the very last position. This allows more driven wheels 103 to be accommodated in the inner portion 46 of the steering motor 145 than the driven wheel unit 104 shown in FIGS. 7 and 8.

As described above, by storing a part of the driven wheel 103 in the inner portions 16 and 46 of the steering motors 115 and 145, the height dimension of the driven wheel unit 104 (wheel unit) is suppressed. Therefore, the size and the floor of the automatic guided vehicle 101 can be reduced.
Further, the member that rotatably supports the driven wheel 103 is provided by the outer portion 18 of the steering motor 115 or the steering motor 14.
Since the inner portion 46 is also used as the inner portion 5, it is not necessary to separately provide a member for supporting the driven wheel 103 as in the prior art, and the number of parts of the driven wheel unit 104 (wheel unit) can be reduced and the weight can be reduced. In addition, the cost and weight of the automatic guided vehicle 101 can be reduced.

Although the present invention has been described with respect to the drive wheel unit 4 and the driven wheel unit 104 (wheel unit) of the automatic guided vehicles 1 and 101, the present invention is not limited thereto. The same effect can be obtained by applying the present invention to a device equipped with a robot.

[0047]

As described above, according to the wheel unit of the automatic guided vehicle of the present invention, according to the first aspect, the vehicle includes the wheels and the steering motor that changes the steering angle by rotating the wheels. In a wheel unit of an automatic guided vehicle capable of steering control independently of wheels, the steering motor has a hollow shape.
An inner part in which a void is formed, and an outer fitting to the inner part
And a hollow outer part, and the inner part and the
Fixed side one of the Songs section Ru is fixed to the automatic guided vehicle, the other
A motor on a rotating side rotatable with respect to the fixed side.
There is, part of the wheel in the cavity has not been stored
It is those that. As a result, by storing a part of the wheels in a space formed in the steering motor, the height dimension of the automatic guided vehicle can be suppressed, and the size and the floor of the automatic guided vehicle can be reduced. It can be realized. In addition, since a part of the wheel is rotatably supported on the steering motor while being stored in the empty space, there is no need to separately provide a member for supporting the wheel and connecting the wheel to the steering motor. Therefore, the number of parts for unitizing the steering motor and the wheels can be reduced to achieve a reduction in weight, thereby reducing the cost of the automatic guided vehicle,
It is possible to reduce the weight.

According to the second aspect, the wheel and the steering angle of the wheel
It has a steering motor that changes the
The wheel unit of an automatic guided vehicle that can be steered upright
The steering motor has an inner portion, and an outer portion rotatably supported by the inner portion, the inner portion being a fixed side fixed to the automatic guided vehicle, and the outer portion being An outer rotor type motor having a rotating side, wherein a hollow space is formed in the inner portion, and the outer portion accommodates a part of the wheel in the inner space. In this state, the wheels are rotatably supported on the wheels. As a result, by storing a part of the wheels in the steering motor inner part, the height dimension of the automatic guided vehicle can be suppressed, so that the size and the floor of the automatic guided vehicle can be reduced. It becomes possible. Further, since the member for rotatably supporting the wheel is also used as the outer portion of the steering motor, it is not necessary to separately provide a member for supporting the wheel as in the related art, so that the number of parts is reduced. It is possible to reduce the cost and weight of the automatic guided vehicle while achieving weight reduction.

According to the third aspect, the wheel and the steering angle of the wheel
It has a steering motor that changes the
The wheel unit of an automatic guided vehicle that can be steered upright
The steering motor has an outer portion and an inner portion rotatably supported by the outer portion, the outer portion being a fixed side fixed to the automatic guided vehicle, and the inner portion being The inner part has a hollow space formed therein, and a part of the wheel is housed in this space, and the wheel is rotatably pivoted. It is what supports. As a result, since a part of the wheels is housed in the steering motor inner part, the height dimension of the automatic guided vehicle can be suppressed, so that it is possible to reduce the size and the floor of the automatic guided vehicle. It becomes possible. Also, since the member for rotatably supporting the wheel is also used as the inner portion of the steering motor, it is not necessary to separately provide a member for supporting the wheel as in the prior art, so that the number of parts is reduced. It is possible to reduce the cost and weight of the automatic guided vehicle while achieving weight reduction.

According to a fourth aspect of the present invention, in the third aspect, the space of the inner portion has a tapered portion expanding in diameter toward the wheel, and a part of the wheel is formed in the tapered portion. Is stored. Thereby, without forming a space of an extra size in the inner part of the steering motor,
The strength of the inner portion can accommodate the part of the wheel while Chi coercive.

According to a fifth aspect of the present invention, in addition to the first to third aspects, a mounting member for fixing the steering motor to the automatic guided vehicle is provided on a fixed side of the steering motor. A support member for supporting the wheel is integrally formed on the rotating side of the motor for use. Accordingly, the steering motor can be easily attached to the automatic guided vehicle via the attachment member, and the support member that supports the wheel is integrally formed on the rotation side of the steering motor, so that the wheel is supported. There is no need to separately provide members. Therefore, it is possible to unitize the steering motor and the wheels and reduce the weight.

[0052] According to claim 6, in claims 1 to 3 as it <br/> Each of the inside of the wheel, has a drive motor for driving the wheels, of the AGV Drive control is possible for the wheels. Thereby, even if it has a steering motor for adjusting the steering angle of the wheel and a drive motor capable of controlling the drive of the wheel, a part of the wheel can be stored in the space of the steering motor.

[Brief description of the drawings]

FIG. 1 is a sectional view showing a configuration of a drive wheel unit of an automatic guided vehicle according to the present invention.

FIG. 2 is a side view showing a configuration of a drive wheel unit of the automatic guided vehicle of the present invention.

FIG. 3 is a cross-sectional view illustrating a configuration of another drive wheel unit of the automatic guided vehicle of the present invention.

FIG. 4 is a side view showing the configuration of another drive wheel unit of the automatic guided vehicle of the present invention.

FIG. 5 is a bottom view showing the automatic guided vehicle.

FIG. 6 is a view taken in the direction of arrows AA in FIG. 5;

FIG. 7 is a sectional view showing a configuration of a driven wheel unit of the automatic guided vehicle according to the present invention.

FIG. 8 is a side view showing a configuration of a driven wheel unit of the automatic guided vehicle of the present invention.

FIG. 9 is a cross-sectional view illustrating a configuration of another driven wheel unit of the automatic guided vehicle of the present invention.

FIG. 10 is a side view showing the configuration of another driven wheel unit of the automatic guided vehicle of the present invention.

FIG. 11 is a bottom view showing the automatic guided vehicle.

FIG. 12 is a view taken in the direction of arrows AA in FIG. 11;

FIG. 13 is a cross-sectional view showing a configuration of a wheel unit of a conventional automatic guided vehicle.

FIG. 14 is a side view showing a configuration of a wheel unit of a conventional automatic guided vehicle.

[Explanation of symbols]

1,101 Automatic guided vehicle 2 Body 3 drive wheels (wheels) 4 Drive wheel unit (wheel unit) 10 Drive motor 15,45,115,145 Steering motor 16, 46 Inner part 18, 48 Outer part 20, 50 hollow hole (vacant space) 20A tapered section 32, 52 Mounting member

Claims (6)

(57) [Claims] 1. A wheel unit of an automatic guided vehicle having a wheel and a steering motor for changing a steering angle of the wheel, the steering unit being capable of independently controlling the steering of the automatic guided vehicle, wherein the steering motor is hollow. It has an inner part in which a void of a shape is formed, and a hollow outer part externally fitted to the inner part.
One of the inner and outer parts is fixed to the automatic guided vehicle.
Fixed side, the other is rotatable relative to the fixed side
A wheel unit for an automatic guided vehicle , wherein the motor is a turning side motor, and a part of the wheel is housed in the space. 2. An operation for changing a wheel and a steering angle of the wheel.
It has a rudder motor and independently controls the automatic guided vehicle
In a wheel unit of an automatic guided vehicle that can be controlled, the steering motor has an inner portion and an outer portion rotatably supported on the inner portion, and fixes the inner portion to the automatic guided vehicle. An outer rotor type motor in which the outer side is a rotating side and the outer side is a rotating side, wherein a hollow space is formed in the inner part, and the outer part forms a part of the wheel. The wheel unit of an automatic guided vehicle, wherein the wheel is rotatably supported in a state where the wheel is accommodated in a cavity of the inner portion. 3. An operation for changing a steering angle of a wheel and the wheel.
It has a rudder motor and independently controls the automatic guided vehicle
In a wheel unit of an automatic guided vehicle that can be controlled, the steering motor has an outer portion and an inner portion rotatably supported on the outer portion, and fixes the outer portion to the automated guided vehicle. An inner rotor type motor having a fixed side to be rotated and the inner portion being a rotating side, wherein the inner portion has a hollow space formed therein, and a part of the wheel is housed in the hollow space. A wheel unit of the automatic guided vehicle, wherein the wheel is rotatably supported on the wheel. 4. A space in the inner portion has a tapered portion expanding in diameter toward the wheel, and a part of the wheel is housed in the tapered portion. The wheel unit of the automatic guided vehicle according to claim 3. 5. A fixing member for fixing the steering motor to the automatic guided vehicle is provided on a fixed side of the steering motor, and the wheel is supported on a rotating side of the steering motor. 請 the support member for is characterized in that it is integrally formed
The wheel unit of an automatic guided vehicle according to claim 1 to claim 3 . 6. The automatic guided vehicle according to claim 1, further comprising a drive motor for driving the wheels inside the wheels, wherein the wheels of the automatic guided vehicle can be driven and controlled. Item 4. The wheel unit of the automatic guided vehicle according to Item 3.