Directional and universal wheel interchanging device of automatic guided vehicle

Abstract

The invention relates to a directional and universal wheel interchanging device of an automatic guided vehicle. The directional and universal wheel interchanging device comprises universal wheels mounted at the front end and the rear end of the bottom of a chassis of the automatic guided vehicle, universal shafts of the universal wheels extend to the upper side of the chassis, the periphery of each universal shaft at least consists of a plane and an arc surface, ejector pins corresponding to the universal wheels are further arranged on the chassis and disposed on push plates in such a manner that the ejector pins can slide back and forth on the push plates, one end of each ejector pin points to the periphery of the corresponding universal shaft, the push plates are arranged on the chassis in such a manner that the push plates can slide back and forth on the chassis, the push plates are connected with motor shafts of driving motors by lead screw transmission pairs, the driving motors are fixedly disposed on the chassis, and travel switches are respectively disposed at the front and the rear of each push plate and electrically connected with the corresponding driving motor. The directional and universal wheel interchanging device has the advantages that lead screws are driven to rotate by the motors rotating clockwise and anticlockwise according to a direction selection function of the universal wheels, a universal effect of the universal wheels is changed into a directional effect by means of compressing the universal shafts of the universal wheels via the ejector pins, stability of the AGV (automatic guided vehicle) in a bidirectional moving process is realized, and the height of a body of the AGV is reduced.

Description

technical field [0001] The invention relates to an unmanned transport vehicle, in particular to an orientation and universal wheel interchange device of the unmanned transport vehicle. Background technique [0002] At present, the walking mode of unmanned guided vehicle (AGV) is mainly one-way walking and two-way walking; the one-way unmanned guided vehicle is mainly equipped with universal wheels in the front section of the body, directional wheels in the rear section, and a flexible vehicle in the middle section of the body. The differential drive unit (namely: a drive wheel mechanism), which has the advantages of body balance, small turning radius, etc., but cannot realize two-way walking; while the traditional two-way walking unmanned van, by installing two differentials at the bottom of the body Although the AGV can realize two-way travel, due to the application of two drive units on the body, the structure is complicated and the cost is high, which is not conducive to ...

AI Technical Summary

Problems solved by technology

[0004] However, the unmanned transport vehicle adopting the above-mentioned universal and directional wheel automatic switching device still has the following disadvantages: (1) The switch between the universal and directional wheels is driven by the rack for axial extension and The contraction is achieved by cooperating with the (axial) pin hole on the universal wheel. When the AGV vehicle is in use, the universal wheel often bears a large load. However, the axial bearing force of the pin shaft is limited. Using the above structure Unmanned vans greatly restrict the use; (2) In view of the fact that the switching device drives the rack through the gear to make the pin shaft axially extend and contract, therefore, when in use, the meshing of the gear and the rack will produce a large noise; moreover, in order to meet the needs of precise control, the quality requirements of the rack are high, the processing technology is complicated, and the rack needs to be driven by a stepper motor (gear), the cost of the stepper motor is not only high, but also consumes power Large quantity is not conducive to the promotion and use of products; (3) If the rack is changed to be driven by a DC motor, in order to meet the needs of precise control, a closed-loop control system must be used, but the price of the closed-loop control system is high, and if it is changed to a lower price The open-loop control system cannot meet the requirements of precise control

[0005] In addition, in view of the shortcomings of the above structure, our company designed a directional change universal direction through the directional wheel lifting device at both ends, but the structure is complicated, the cost is high, and the stability is poor.

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