JP6361124B2 - Automated guided vehicle - Google Patents

Description

  The present invention relates to a structure of an automatic guided vehicle.

  2. Description of the Related Art Conventionally, automatic guided vehicles (AGVs) have been widely used as means for conveying articles in production lines and the like in factories. Self-propelled vehicles equipped with a battery are mainly used for this automatic guided vehicle, and there are operating systems that run according to a program stored in advance, or those that are comprehensively controlled by wireless communication.

  Such an automatic guided vehicle includes a power supply unit such as a battery, a drive unit that receives power from the power supply unit to generate driving force, a control unit that controls the operation of the drive unit, and a traction unit that pulls other carts, etc. Etc. are provided.

Japanese Patent Laid-Open No. 11-194823

In a conventional automatic guided vehicle, two wheels provided in a drive unit run while being rotated by a driving force from a motor. However, each wheel is provided with a motor, and unmanned conveyance is performed depending on the rotational speed difference of each motor. Car direction control is performed. In addition, each wheel moves up and down following the unevenness of the road surface, but since each wheel is driven by a separate motor, both wheels must be constantly grounded. However, there is a problem that the number of parts increases and the cost increases.
SUMMARY OF THE INVENTION It is an object of the present invention to provide an automatic guided vehicle that solves the above-mentioned problems, has a simple structure, has a small number of parts, and can support each wheel up and down while being grounded without increasing the cost. .

The invention according to claim 1 is attached between two motors, two motors provided corresponding to each of the wheels, each of which supports each of the wheels and is driven separately, and each of the motors. A motor support member, a first support member connected to the motor support member via a swing pin, and supporting the wheels together with the motor support member so as to swing up and down around the swing pin; And a second support member which is supported and supports the first support member so as to be movable up and down and rotatable .

According to a second aspect of the present invention, in the automatic guided vehicle according to the first aspect, the motor support member is further formed with a shaft hole portion that engages with a rotation shaft of the wheel .

According to a third aspect of the present invention, in the automatic guided vehicle according to the first or second aspect, an octagonal swing block is swingably provided inside the motor support member , and the first support member and the A motor support member is connected via the swing block .

  According to the present invention, each motor is attached to the motor support member and supported by the first support member in a swingable manner, so that the number of parts can be reduced with a simple structure and each wheel can be mounted without increasing the cost. Can be grounded.

It is a schematic front view of the automatic guided vehicle to which one Embodiment of this invention is applied. 1 is a schematic plan view of an automatic guided vehicle to which an embodiment of the present invention is applied. It is a schematic front view of the drive part used for one Embodiment of this invention. It is a schematic side view of the drive part used for one Embodiment of this invention. It is a schematic plan view of the drive part used for one Embodiment of this invention. It is a schematic 3 surface view of the rocking | fluctuation block used for one Embodiment of this invention. It is a schematic 3 surface view of the motor support member used for one Embodiment of this invention.

  FIG. 1 is a front view of an automatic guided vehicle 1 used in an embodiment of the present invention, and FIG. 2 is a plan view thereof. This automatic guided vehicle 1 travels along a magnetic guide tape (not shown) affixed to the floor 2 and a method for sequentially assembling various outfitting parts to a body main body placed on the automatic guided vehicle 1 in a production line is known. Yes. At this time, the traveling of the automatic guided vehicle is controlled by various methods. For example, the traveling of a large number of automatic guided vehicles is collectively controlled by a central controller.

  As shown in FIGS. 1 and 2, the automatic guided vehicle 1 includes a control unit 3, a traction unit 4, a drive unit 5, and a power supply unit 6. The control unit 3 includes a box-shaped frame 3 a and a traction unit. 4 is housed in the frame 4a, the drive unit 5 is housed in the frame 5a, and the power supply unit 6 is housed in the frame 6a. Each frame 3a, 4a, 5a, 6a is configured to be detachable, and each frame 3a, 4a, 5a, 6a is configured to be freely combined.

  The controller 3 controls the operation of the automatic guided vehicle 1 and includes a control plate 3b provided with a plurality of switches, monitors, and the like. The traction part 4 has an engagement part 4b with which a part of a cart or the like pulled by the automatic guided vehicle 1 is engaged. The drive unit 5 has drive wheels 7 that are rotationally driven by a motor (not shown) whose operation is controlled by the control unit 3. The power supply unit 6 includes a battery 6 b that generates power to be supplied to the drive unit 5. A bumper 3c is provided in front of the control unit 3, and driven wheels 3d and 6c are provided below the control unit 3 and the power supply unit 6, respectively.

Here, the drive part 5 which is the characteristic part of this invention is demonstrated using FIGS. The two driving wheels 7 that are wheels are integrally attached to an output shaft 8a (see FIG. 4) that outputs the driving force generated by the corresponding variable speed motor 8 to the wheels. Each output shaft 8a is fixed to a block-shaped motor support member 9 having a hole 9a at the center, and an octagonal swing block 10 having a hole 10a is disposed in the hole 9a. A center shaft 11 as a first support member is fitted in the hole 10a. The motor support member 9, the swing block 10, and the center shaft 11 are each provided with a hole that penetrates each member in a combined state, so that the swing pin 12 does not come out. It is mated. With this configuration, each drive wheel 7 is supported by the center shaft 11 so as to be swingable around the swing pin 12 in the direction indicated by the arrow in FIG. 4 together with the motor 8, the motor support member 9, and the swing block 10. ing.

  FIG. 6 shows the swing block 10. The swing block 10 has a hole 10a formed by hollowing the center of an octagonal prism in a cylindrical shape. A hole 10b is formed in the side surface of the swing block 10, and the central axis of the hole 10b is formed so as to pass through the center of the hole 10a. Since the swing block 10 has an octagonal shape, it is not necessary to make a large gap even when the swing block 10 rotates, so that the motor support member 9 can be prevented from being enlarged and light in weight. Furthermore, in order to support the drive wheel 7 to which a load is applied, the eight corner portions become thick portions that receive the load, and sufficient rigidity can be obtained. In addition, the degree of freedom of movement of the drive wheel 7 is improved because it is swingably supported, and the road surface followability is improved because the amount of movement is increased.

  FIG. 7 shows the motor support member 9. The motor support member 9 is hollowed into a square shape with a chamfered corner at the center to form a hole 9a, and the swing block 10 is fitted into the hole 9a. Further, the side surface of the motor support member 9 is provided with a hole portion 9b formed so that the hole portion 10b and the shaft center thereof become the same when the swing block 10 is fitted, and a swing portion is formed therein. The pin 12 is inserted, and the motor support member 9 and the swing block 10 are integrated. The motor support member 9 is formed with a shaft hole portion 9c that engages with the rotation shaft (output shaft 8a) of the drive wheel 7. Thereby, the connection between the motor support member 9 and the drive wheel 7 becomes strong, and the durability is improved.

  A hole 11a is formed at the center of the center shaft 11, and a compression spring 13 is fitted into the hole 11a. The center shaft 11 is supported by a shaft support member 14 which is a second support member supported by the frame 5 a of the drive unit 5 which is a main body so as to be movable up and down and rotatable. The compression spring 13 is also supported by the bracket 15 on the frame 5 a. It is fixed against. With this configuration, each drive wheel 7 can move up and down and can rotate about the center shaft 11.

  As described above, according to the present invention, each motor 8 is attached to the motor support member 9 and supported by the center shaft 11 so as to be swingable. Therefore, the number of components can be reduced with a simple structure and the cost is increased. Each drive wheel 7 can be grounded without any problem. In addition, since each drive wheel 7 is integrally attached to the output shaft 8a of the motor 8, gears and belts as drive force transmission means can be omitted, and the number of parts can be reduced to reduce costs and save space. Can be achieved. Further, since the center shaft 11 is rotatably supported by the shaft support member 14, each drive wheel 7 can be rotated in the traveling direction, and the automatic guided vehicle 1 can be smoothly run.

1 Automated guided vehicle 5a Body (frame)
7 wheels (drive wheels)
8 Motor 9 Motor support member 9c Shaft hole 10 Swing block 11 First support member (center shaft)
14 Second support member (shaft support member)

Claims (3)

Two wheels, two motors provided corresponding to the wheels, respectively, supporting the wheels and driving them separately, a motor support member attached between the motors, and the motor support A first support member coupled to a member via a swing pin and supporting the wheels together with the motor support member so as to be swingable up and down around the swing pin; and a first support member supported by a body. An automatic guided vehicle having a second support member that is supported so as to be movable up and down and rotatable . In the automatic guided vehicle according to claim 1,
An automatic guided vehicle characterized in that a shaft hole portion that engages with a rotating shaft of the wheel is formed in the motor support member . In the automatic guided vehicle according to claim 1 or 2,
An octagonal swing block is swingably provided inside the motor support member , and the first support member and the motor support member are connected via the swing block. Automated guided vehicle.

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