KR20230054600A - Driving unit of automatic guided vehicle and automatic guided vehicle equipped with driving unit of automatic guided vehicle - Google Patents

Abstract

The present invention relates to a driving unit of an automatic guided vehicle and an automatic guided vehicle having the same purpose for promoting the ease of driving control of the automatic guided vehicle and compact size of the automatic guided vehicle. The driving unit (4) is provided with a differential gear device (30), a unit case (32), a radial bearing (RB), a thrust bearing (SB), driving wheels (22R and 22L), a motor (24), and brakes (50 and 50). The driving wheels (22R and 22L) are connected to the motor (24) through the differential gear device (30). Accordingly, the present invention can promote space saving and compact size of the automatic guided vehicle (1) since a single motor (24) provides sufficient power for operation. In addition, the automatic guided vehicle (1) can be maneuvered to drive around curves or perform spin-turns by driving and controlling the motor (24) and the brakes (50 and 50). The automatic guided vehicle (1) can also drive in straight lines by driving and controlling only the motor (24).

Description

Driving unit of an unmanned guided vehicle and an unmanned guided vehicle having the same

The present invention is a pedestal with wheels for loading and transporting a load, which is placed on the wheels of a vehicle and is disposed on the body of an unmanned guided vehicle capable of towing a bogie that supports the body of the vehicle. It relates to a driving unit of a vehicle and an unmanned guided vehicle equipped with the same.

Japanese Unexamined Patent Publication No. 2015-111348 discloses a pair of motors having a frame, a pair of driving wheels, and an output shaft connected to each of the pair of driving wheels, and a motor supporting member supporting the pair of motors. and a drive unit for an unmanned guided vehicle having a center shaft that supports a pair of motors with respect to a frame freely and rotatably via the motor support member.

The driving unit of the automatic guided vehicle can control the driving of the automatic guided vehicle, that is, make the automatic guided vehicle travel straight, curve, or spin by controlling the rotation direction and the number of revolutions of each output shaft. there is a number

Japanese Patent Laid-Open No. 2015-111348

However, recently, in places where space is limited, such as factories and warehouses, there is an increasing demand for compactness of automated guided vehicles. In particular, in an unmanned guided vehicle that pulls the bogie by squeezing into the lower side of the bogie and engaging a hook in the frame of the bogie, the unmanned guided vehicle can be placed in a limited space below the bogie It is required to compact the size in the vehicle width direction as well as in the height direction. Here, since the driving unit of the automatic guided vehicle described in the above-mentioned Publication only controls the motor, the running control of the automatic guided vehicle can be realized simply and easily. In that regard, there is room for further improvement.

SUMMARY OF THE INVENTION The present invention has been made in view of the above, and one of its objects is to provide a technique capable of achieving both the ease of running control of an automatic guided vehicle and the compactness of an automatic guided vehicle.

The driving unit of an automatic guided vehicle of the present invention and the automatic guided vehicle equipped with the same employ the following means in order to achieve the above object.

According to a preferred embodiment of the drive unit for an unmanned guided vehicle of the present invention, a drive unit for an unmanned guided vehicle disposed on a body of an unmanned guided vehicle capable of towing a bogie is constituted. The drive unit of the automatic guided vehicle includes a differential gear device, a first support member, a pair of driving wheels, a motor, a pair of brakes, and a second support member. The differential gear device has a differential gear case, a first axis line, a ring gear integrally integrated with the differential gear case, and a second axis line orthogonal to the first axis line. At least one differential pinion gear supported by the differential gear case so as to be rotatable about two axes, and a pair supported by the differential gear case so as to be rotatable about a first axis as a rotation center and meshed with the differential pinion gear has a side gear of The first support member supports the differential gear device so that the differential gear case is rotatable with the first axis as a rotation center. A pair of drive wheels are connected to each of a pair of side gears. The motor has an output shaft integral with a drive pinion gear. Further, the motor is supported by the first support member so that the drive pinion gear is meshed with the ring gear. The pair of brakes are disposed between the first support member and the pair of drive wheels so as to independently regulate the rotation of each pair of drive wheels. The second support member is disposed coaxially with the third axis extending in the vertical direction along the center between the pair of driving wheels, and the first support member is attached to the vehicle body with the third axis as the center of rotation. The first support member and the vehicle body are connected so as to be relatively rotatable relative to each other. Here, "connected to each of the pair of side gears" in the present invention refers to the aspect in which the pair of drive wheels are directly connected to each of the pair of side gears as well as the aspect in which they are indirectly connected. suitably include. As an aspect in which a pair of drive wheels are indirectly connected to each of a pair of side gears, for example, a mode in which a set of drive wheels is connected to each of a pair of side gears through a pair of axles can be considered. There is a number. Further, "the drive pinion gear is integrated" in the present invention typically means that the drive pinion gear is integrally molded with the output shaft, or the drive pinion gear is attached to the output shaft by press-fitting, bolts or the like. Although an integrated aspect or the like corresponds to this, an aspect in which the drive pinion gear is indirectly integrated with the output shaft is very suitably included. As an aspect in which the drive pinion gear is integrated with the output shaft indirectly, for example, a mode in which the drive pinion gear is integrated with the output shaft through a drive pinion gear shaft integrated with the drive pinion gear. can think

According to the present invention, since one motor is sufficient for a pair of driving wheels, space saving for at least one motor can be achieved. This makes it possible to achieve compactness of the automatic guided vehicle. In addition, by controlling a pair of brakes, it is possible to give a rotational speed difference to a pair of driving wheels, so that the automatic guided vehicle can be driven in a curved line or made to spin. Of course, by controlling the rotation direction and number of rotations of the output shaft of the motor, the automatic guided vehicle can be made to travel straight forward and backward, and the speed can be changed. In this way, according to the present invention, it is possible to achieve both the ease of running control of the automatic guided vehicle and the compactness of the automatic guided vehicle.

According to still another aspect of the drive unit for an automatic guided vehicle according to the present invention, the first support member has an axial portion disposed coaxially with the third axial line. The second supporting member has a radial bearing and a thrust bearing. A radial bearing has an outer ring fixed to a vehicle body, an inner ring fitted to a shaft portion, and a first rolling element disposed between the outer ring and the inner ring. And the thrust bearing is a first raceway on which an outer ring can be mounted, a second raceway fixed to the first supporting member, and a second transmission disposed between the first and second raceways. has a body

According to this aspect, it is possible to simply and easily implement a configuration in which the first support member and the vehicle body are connected so that the first support member can relatively rotate with respect to the vehicle body with the third axis as the rotation center. In addition, when the automatic guided vehicle pulls the bogie, the radial direction force acting on the shaft can be received by the radial bearing, and in order to secure the ground load of the driving wheels, the automated guided vehicle is part of the weight of the bogie. When bearing, the thrust bearing can receive the force in the thrust direction acting on the drive unit.

According to still another aspect of the driving unit for an automatic guided vehicle according to the present invention, a pair of brakes is provided between a movable part that rotates integrally with a pair of driving wheels, a first state in frictional contact with the movable part, and the movable part. It has a fixing part fixed to the first support member so that the state can be changed between the second state in which the frictional contact is released. Here, the brake can be a drum brake or an electromagnetic brake.

According to this aspect, it is possible to simply and easily secure a configuration capable of independently regulating the rotation of each pair of driving wheels.

According to a preferred embodiment of the unmanned guided vehicle related to the present invention, an unmanned guided vehicle capable of towing a bogie is constituted. The automatic guided vehicle controls the running of the automatic guided vehicle by controlling a vehicle body, a driving unit of the automatic guided vehicle according to the present invention in any of the above aspects supported by the vehicle body, a motor, and a pair of brakes. have the device.

According to the present invention, effects similar to those exhibited by the driving unit of the automatic guided vehicle of the present invention can be achieved, for example, both the ease of running control of the automatic guided vehicle and the compactness of the automatic guided vehicle.

ADVANTAGE OF THE INVENTION According to this invention, it is possible to achieve both the easiness of running control of an automatic guided vehicle and the compactness of an automatic guided vehicle.

1 is a side view schematically illustrating the configuration of an automatic guided vehicle 1 equipped with a drive unit 4 according to an embodiment of the present invention.
2 is an external view showing the external appearance of the drive unit 4 .
3 is a cross-sectional view showing a section AA of FIG. 2 .
Fig. 4 is a partial sectional view corresponding to a perspective view seen from the direction of arrow Z in Fig. 3;
FIG. 5 is a sectional view corresponding to the EE section of FIG. 3 .
6 is an explanatory diagram showing an outline of the configuration of the differential gear device 30. As shown in FIG.
7 is an explanatory diagram showing an outline of the configuration of the brake 50.
Fig. 8 is a perspective view seen from the direction of arrow Y in Fig. 2;
Fig. 9 is a side view schematically illustrating the configuration of an automatic guided vehicle 100 equipped with a drive unit 104 of a modified example.
Fig. 10 is an external view showing the appearance of a drive unit 104 of a modified example.
FIG. 11 is a cross-sectional view showing the FF section of FIG. 10 .

Next, the best mode for carrying out the present invention will be described in detail using examples.

<Example>

As shown in FIG. 1 , an automatic guided vehicle 1 according to the present embodiment includes a vehicle body 2, a drive unit 4 supported by the vehicle body 2, and a vehicle body according to the present embodiment. (2) is provided with a pair of casters 6, 6 supported freely to turn and a control device 10 that controls the entire automatic guided vehicle 1. As shown in FIG. 1 , the automatic guided vehicle 1 according to the present embodiment is configured as a low-floor type that pulls the bogie 90 in a state of being submerged below the bogie 90, there is. In addition, the automated guided vehicle 1 is connected to the cart 90 in a state where its position relative to the cart 90 is fixed. For convenience of description, the left and right directions in FIG. 1 are hereinafter defined as driving directions. In particular, the left side of FIG. 1 is the forward travel direction, and the right side of FIG. 1 is the reverse travel direction.

As shown in FIGS. 2 to 4 , the drive unit 4 includes a gear unit 20, a pair of drive wheels 22R and 22L connected to the gear unit 20, and a pair of drive wheels 22R. , 22L) and a pair of brakes 50, 50 (described only in FIGS. 3 and 4) capable of regulating rotation, and a motor 24 (described only in FIGS. 2 and 4) connected to the gear unit 20, , a radial bearing RB and a thrust bearing SB (shown only in FIGS. 3 and 4 ) connecting the gear unit 20 to the vehicle body 2 .

As shown in Figs. 3 to 5, the gear unit 20 mainly consists of a differential gear device 30 and a unit case 32 rotatably supporting the differential gear device 30. has been As shown in FIG. 5 , the differential gear device 30 is rotatable by the differential gear case 40, the ring gear 42 integrated with the differential gear case 40, and the differential gear case 40. Four pinion gears 44 (only two pinion gears 44 are shown in the figure) supported by the differential gear case 40 so as to mesh with the pinion gears 44 It has side gears (46, 46). The unit case 32 corresponds to the "first support member" in the present invention, and the pinion gear 44 is an example of an implementation configuration corresponding to the "differential pinion gear" in the present invention.

As shown in FIG. 6 , the differential gear case 40 is formed in the left-right direction of the automatic guided vehicle 1 (the driving direction of the automatic guided vehicle 1 (up-down direction in FIG. 6) and the vertical direction (the paper surface in FIG. 6) ) has shaft portions 40a and 40b having an axis SL1 extending in a direction orthogonal to both directions of). The differential gear case 40 is rotatably supported by the unit case 32 via bearings B1 and B1 fitted to the shaft portions 40a and 40b. Axis line SL1 is an example of an implementation configuration corresponding to the "first axis line" in the present invention.

As shown in FIG. 6 , a ring gear 42 is configured as a bevel gear and is disposed on the outer circumferential surface of the differential gear case 40 . The ring gear 42 rotates integrally with the differential gear case 40 with the axis SL1 as the center of rotation. In other words, it can be said that the ring gear 42 has an axis line SL1.

As shown in FIG. 6, the pinion gear 44 is configured as a bevel gear and is rotatably supported by the differential gear case 40 via a pinion shaft 44a. has been The pinion gear 44 has an axis line SL2 orthogonal to the axis line SL1, and rotates with the axis line SL2 as a rotation center. Axis line SL2 is an example of an implementation configuration corresponding to the "second axis line" in the present invention.

As shown in FIG. 6 , the side gears 46 and 46 are configured as bevel gears and are arranged so as to mesh with the four pinion gears 44 . Each of the side gears 46 and 46 is connected to the axle shafts WSR and WSL.

The differential gear device 30 configured in this way distributes and transmits the rotation input through the ring gear 42 to the respective axles WSR and WSL at different rotational speeds. In other words, it can be said that the differential gear device 30 distributes and transmits the power input through the ring gear 42 to the respective axles WSR and WSL while absorbing the rotational speed difference generated between the axles WSR and WSL.

The unit case 32 is equipped with the shaft part 34 which has the axis line 34a, as shown in FIG. As shown in FIGS. 3 and 8 , the axis 34a passes through the center between the pair of drive wheels 22R and 22L, along with the axis SL1 and the running direction of the automatic guided vehicle 1 (on the ground in FIG. 3 ). It is orthogonal to both directions of the vertical direction, the vertical direction in FIG. 8). In addition, as shown in FIG. 6 , the unit case 32 is configured as a case capable of accommodating at least a part of the differential gear unit 30 therein, and the differential gear unit 30 can be rotated via the bearings B1 and B1. kindly support Further, the unit case 32 rotatably supports the axle shafts WSR and WSL via bearings B2 and B2. Further, a drive wheel 22R is connected to the axle WSR, and a drive wheel 22L is connected to the axle WSL. The axis line 34a is an example of an implementation configuration corresponding to the "third axis line" in the present invention.

The pair of brakes 50 and 50 are configured as drum brakes and are disposed between drive wheels 22R and 22L and unit case 32, respectively. Here, since the arrangement of the pair of brakes 50 and 50 is basically the same, the brake 50 disposed between the driving wheel 22R and the unit case 32 will be described below, and the driving wheel ( 22L) and the description of the brakes 50 respectively disposed between the unit case 32 will be omitted.

As shown in FIG. 7 , the brake 50 is fixed to a cylindrical brake drum 52 fixed to the drive wheel 22R so as to be integrally rotatable with the drive wheel 22R, and to the unit case 32. A back plate 54, a pair of brake shoes 56a and 56b installed on the back plate 54 to be accommodated in the brake drum 52, and a pair of brake shoes ( 56a, 56b) has a piston (not shown) disposed between. In addition, the brake shoes 56a and 56b each have linings 57a and 57b as a friction material. The brake drum 52 corresponds to the "moving part" in the present invention, and the back plate 54, the pair of brake shoes 56a, 56b, and the lining 57a, 57b are in the present invention. This is an example of an implementation configuration corresponding to the "fixed part" in .

The brake 50 configured in this way is configured to operate by hydraulic pressure in the present embodiment. Specifically, in the brake 50, a piston (cam) (not shown) is actuated by hydraulic pressure, and brake shoes 56a and 56b having linings 57a and 57b operate on the inner circumferential surface of the brake drum 52. By making frictional contact with , the rotation of each of drive wheels 22R and 22L is independently regulated.

The motor 24 has an output shaft 24a, as shown in FIGS. 4 and 5 . The output shaft 24a has a pinion gear 60. The pinion gear 60 is integrally rotatably connected to the output shaft 24a. The motor 24 is arranged so that the pinion gear 60 meshes with the pair of side gears 46 and 46, and is fixed to the unit case 32. The pinion gear 60 is an example of an implementation configuration corresponding to the "drive pinion gear" in the present invention.

As shown in FIG. 3, a radial bearing RB includes an outer ring 80 fixed to a top plate 2a of a vehicle body 2, an inner ring 82 fitted to a shaft portion 34, It has a plurality of balls 84 as rolling elements disposed between the outer race 80 and the inner race 82. The radial bearing RB is disposed between the top plate 2a and the thrust bearing SB. The ball 84 is held by the holder 84a. With the radial bearing RB configured in this way, the gear unit 20 is rotatably supported with respect to the vehicle body 2 via the shaft portion 34 with the shaft line 34a as the center of rotation. The ball 84 is an example of an implementation configuration corresponding to the "first rolling element" in the present invention.

As shown in FIG. 3, the thrust bearing SB includes an outer ring side raceway 70 on which the outer ring 80 of the radial bearing RB is mounted, and a case side raceway 72 fixed to the unit case 32 and a plurality of balls 74 as rolling elements disposed between the outer ring side raceway 70 and the case side raceway 72. The thrust bearing SB is disposed between the radial bearing RB and the unit case 32 . A ball 74 is held by a retainer 74a. Radial bearing RB and thrust bearing SB are examples of implementation configurations corresponding to the "second supporting member" in the present invention. In addition, the outer ring side raceway 70, the case side raceway 72, and the ball 74 are respectively "first raceway", "second raceway" and "second rolling element" in the present invention. This is an example of an implementation configuration corresponding to

Also, the thrust bearing SB has a rotational axis RS. As shown in FIGS. 3 and 8 , the thrust bearing SB is arranged in the unit case 32 so that the rotational axis RS and the axis 34a become coaxial.

In this way, since the gear unit 20 is configured to be connected to the top plate 2a of the vehicle body 2 by the radial bearing RB and the thrust bearing SB, the gear unit 20 can rotate relative to the vehicle body 2 The configuration for connecting the gear unit 20 and the vehicle body 2 can be realized simply and easily. In addition, when the automatic guided vehicle 1 pulls the bogie 90, the radial bearing force acting on the shaft portion 34 can be received by the radial bearing RB, and the ground load of the drive wheels 22R, 22L In order to secure, when the automated guided vehicle 1 bears a part of the weight of the bogie 90, the thrust bearing SB can receive the force acting on the drive unit 4 in the thrust direction.

The control device 10 is configured as a microprocessor centered on a CPU, and includes, in addition to the CPU, a ROM for storing a processing program, a RAM for temporarily storing data, an input/output port and a communication port (not shown). The control device 10 detects a detection signal from a running sensor (not shown) that detects a guide table (not shown) provided on the floor surface, and a marker (not shown). A command signal or the like from a marker sensor (not shown) to be displayed is input through the input port. Further, from the control device 10, a drive control signal to the drive unit 4 (motor 24), an actuation signal to the brakes 50, 50, and the like are output through the output port.

Next, the operation of the automated guided vehicle 1 equipped with the driving unit 4 of the automated guided vehicle constructed in this way, particularly the operation when the automated guided vehicle 1 is running, will be described. When the automatic guided vehicle 1 receives the command to start traveling, the CPU of the control device 10 sends a detection signal from a traveling sensor (not shown) and a command signal from a marker sensor (not shown). After reading, a process of driving and controlling the motor 24 and the brakes 50, 50 is executed so that the guided vehicle 1 travels along the guidance platform.

Specifically, when the guide table is straight, the CPU of the control device 10 basically drives and controls only the motor 24 so that the guided vehicle 1 travels straight along the guide table. . Then, when the automated guided vehicle 1 deviates from the straight guide table in either left or right direction, the drive wheel 22R or the number of rotations of the drive wheel 22L on the side opposite to the deviating side increases ( 22L) or drive wheel 22R, drive wheel 22R or brakes 50, 50 on the side of drive wheel 22L opposite to the shifted side are driven and controlled. As a result, the drive unit 4 rotates (turns) toward the drive wheel 22R or the drive wheel 22L side with respect to the vehicle body 2 whose number of revolutions has decreased. In this way, the automatic guided vehicle 1 can be returned to the straight guidance platform.

On the other hand, when the guide table is curved, the CPU of control device 10 drives the motor 24 and the brakes 50 and 50 so that the guided vehicle 1 travels along the guide table on a curve. Control. Specifically, in the case where the guide table is a curve curved to the right, the forward direction is set so that the number of rotations of the drive wheel 22R on the right side in the forward direction is smaller than the number of rotations of the drive wheel 22L on the left side in the forward direction. drive and control the brake 50 on the drive wheel 22R side on the right side. As a result, the drive unit 4 rotates (turns) relative to the vehicle body 2 toward the drive wheel 22R side whose number of revolutions is reduced, i.e., clockwise. As a result, the automatic guided vehicle 1 can be driven along a curved guide table bent to the right.

In addition, in the case where the guide table is a curve bent to the left, the operation opposite to that described above, that is, the number of rotations of the drive wheel 22L on the left in the forward direction is the number of rotations of the drive wheel 22R on the right in the forward direction. The drive control of the brake 50 on the side of the drive wheel 22L on the left side toward the forward direction makes it smaller. As a result, the drive unit 4 rotates (turns) relative to the vehicle body 2 on the side of the driving wheel 22L whose number of revolutions is reduced, that is, in a left turn. As a result, the guided vehicle 1 can be driven along a curved guide table bent to the left.

Also, even when the guide table is curved, when the guided vehicle 1 deviates from the guide table in either left or right direction, the drive wheels 22R on the side opposite to the side where the guide table deviated from the guide table are straight, as in the case where the guide table is straight. Alternatively, the drive wheel 22R on the side opposite to the shifted side or the brake 50 on the side of the drive wheel 22L such that the rotation speed of the drive wheel 22L is smaller than the rotation speed of the drive wheel 22L or drive wheel 22R on the shifted side. 50) and control to return the automatic guided vehicle 1 to the guide table, needless to say.

According to the automatic guided vehicle 1 related to the present embodiment described above, since the driving wheels 22R and 22L are connected to the motor 24 via the differential gear device 30, the driving wheels 22R and 222L One motor 24 for driving is sufficient. Thereby, space saving for at least one motor can be achieved. As a result, it is possible to achieve compactness of the automatic guided vehicle 1. In addition, by drive-controlling the brakes 50, 50 disposed between the drive wheels 22R, 22L and the unit case 32, a rotational speed difference is given to the drive wheels 22R, 22L, and the drive unit 4 is moved to the vehicle body. It can be rotated (swiveled) with respect to (2). This makes it possible to cause the automatic guided vehicle 1 to travel in a curved line or to make a spin turn. Of course, by controlling the rotation direction and the number of rotations of the output shaft 24a of the motor 24, the automatic guided vehicle 1 can be made to travel straight forward and backward, and the speed can be changed. Further, since a drum brake is employed as the pair of brakes 50 and 50, a configuration capable of independently regulating the rotation of each pair of drive wheels 22R and 22L can be secured simply and easily.

Further, according to the automatic guided vehicle 1 according to the present embodiment, since the drive unit 4 and the vehicle body 2 are connected using the thrust bearing SB, a shaft member such as a pivot ( Compared to a configuration in which the drive unit 4 and the vehicle body 2 are connected using a vehicle part, the dimensions in the height direction (axial direction) can be reduced. This makes it possible to achieve compactness of the automatic guided vehicle 1 in the height direction.

In this embodiment, the brake 50 is configured to operate by hydraulic pressure, but is not limited to this. The brake 50 may be structured to operate by, for example, a wire (not shown). In this case, when a wire (not shown) is pulled, a piston (piston cam) (not shown) is actuated, and the brake shoes 56a and 56b having the linings 57a and 57b are moved to the inner circumferential surface of the brake drum 52 ( It comes into frictional contact with the inner surface.

In this embodiment, although the drive unit 4 and the vehicle body 2 are connected using the thrust bearing SB, it is not limited to this. For example, the driving unit 4 and the vehicle body 2 may be connected using a shaft member such as a pivoting shaft.

In this embodiment, a drum brake is employed as the pair of brakes 50 and 50, but it is not limited thereto. For example, an electromagnetic brake may be employed as the pair of brakes 50 and 50.

In this embodiment, although thrust bearing SB is arrange|positioned between the top plate 2a and the unit case 32, it is not limited to this. The thrust bearing SB, as shown in the driving unit 104 of the modified guided vehicle 100 of Figs. You may arrange|position between (2b).

This embodiment shows an example of the form for implementing this invention. Therefore, the present invention is not limited to the configuration of this embodiment. In addition, the correspondence relationship between each component of this embodiment and each component of this invention is shown below.

1 unmanned transport vehicle 2 body
2a top plate 2b bottom plate
4 driving unit
6 casters
10 control unit 20 gear unit
22R driving wheel 22L driving wheel
24 motor 24a output shaft
30 differential gear unit (differential gear unit)
32 unit case (first support member)
34 axis 34a axis (third axis)
40 differential gear case
40a shaft portion 40b shaft portion
42 ring gear
44 pinion gear (differential pinion gear)
44a pinion shaft
46 side gear
50 brake
52 brake drum (moving part)
54 back plate (fixed part)
56a brake shoe (fixed part)
56b brake shoe (fixed part)
57a Lining (fixed part) 57b Lining (fixed part)
60 pinion gear (drive pinion gear)
70 outer ring side track board (first track board)
72 Case side track board (2nd track board)
74 ball (2nd rolling element) 74a retainer
80 Outer Ring 82 Inner Ring
84 ball (first rolling element) 84a retainer
90 Car
100 unmanned guided vehicle 104 drive unit
RB radial bearing (second support member, radial bearing)
SB thrust bearing (second support member, thrust bearing)
B1 bearing B2 bearing
SL1 axis (1st axis) SL2 axis (2nd axis)
WSR Axle WSL Axle
Vml imaginary central plumb line (3rd axis)
RS axis of rotation (3rd axis)

Claims (5)

A drive unit of an unmanned guided vehicle disposed on a body of an unmanned guided vehicle capable of towing a bogie,
A differential gear case, a ring gear having a first axis and integral with the differential gear case, and a second axis orthogonal to the first axis and being rotatable with the second axis as a rotation center A differential having at least one differential pinion gear supported by the differential gear case and a pair of side gears rotatable about the first axis as a rotation center and supported by the differential gear case so as to mesh with the differential pinion gear gear unit,
a first support member supporting the differential gear device so that the differential gear case is rotatable with the first axis as a rotation center;
A pair of drive wheels connected to each of the pair of side gears;
a motor having an output shaft integral with a drive pinion gear and supported by the first support member so that the drive pinion gear meshes with the ring gear;
a pair of brakes disposed between the first support member and the pair of drive wheels so as to independently regulate the rotation of each pair of drive wheels;
Arranged coaxially with a third axis passing through the center between the pair of drive wheels and extending in the vertical direction, and the first support member being able to rotate relative to the vehicle body with the third axis as a rotation center A driving unit for an automatic guided vehicle comprising a first supporting member and a second supporting member connecting the vehicle body. According to claim 1,
The first support member has an axial portion disposed coaxially with the third axial line,
The second support member has a radial bearing and a thrust bearing,
The radial bearing has an outer ring fixed to the vehicle body, an inner ring fitted to the shaft portion, and a first rolling element disposed between the outer ring and the inner ring,
The thrust bearing has a first track plate on which the outer ring can be mounted, a second track plate fixed to the first support member, and a second rolling element disposed between the first and second track plates. drive unit of According to claim 1 or 2,
The pair of brakes is capable of changing states between a movable part rotating integrally with the pair of driving wheels, a first state in which frictional contact is made with the movable part, and a second state in which frictional contact with the movable part is released. A driving unit of an automatic guided vehicle having a fixing portion fixed to the first supporting member. According to claim 3,
The drive unit of the automatic guided vehicle, wherein the brake is a drum brake or an electromagnetic brake. As an unmanned guided vehicle capable of towing a bogie,
car body,
A driving unit of the automatic guided vehicle according to any one of claims 1 to 4 supported by the vehicle body;
An automatic guided vehicle equipped with a control device that controls running of the automatic guided vehicle by controlling the motor and the pair of brakes.

Images