CN104129294A - AGV drive independent suspension vibration reduction mechanism - Google Patents
AGV drive independent suspension vibration reduction mechanism Download PDFInfo
- Publication number
- CN104129294A CN104129294A CN201410396793.3A CN201410396793A CN104129294A CN 104129294 A CN104129294 A CN 104129294A CN 201410396793 A CN201410396793 A CN 201410396793A CN 104129294 A CN104129294 A CN 104129294A
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- drive
- installation plate
- sleeve
- vibration damping
- slide block
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Abstract
The invention relates to an AGV drive independent suspension vibration reduction mechanism which comprises a drive mounting plate (1), a gear motor (4), a chain transmission device, damping devices, driving shafts (8) and driving wheels (5). The gear motor (4) is mounted on the drive mounting plate (1). The number of the driving shafts (8) is two, and the driving shafts (8) are mounted on the lower side of the drive mounting plate (1). The two driving wheels (5) are mounted at the ends of the outer sides of the two driving shafts (8) respectively, the ends of the inner sides of the two driving shafts (8) are mounted on the lower side of the drive mounting plate (1) in a rotating mode, and the damping devices are arranged between the two driving shafts (8) and the drive mounting plate (1) respectively. Each damping device comprises a sleeve (10), a sliding block (15), a spring (14), an end cover (13) and a vibration reduction mounting plate (12). The AGV drive independent suspension vibration reduction mechanism has the advantages of being good in vibration reduction effect, high in vehicle body strength and high in road grabbing capacity.
Description
Technical field
The present invention relates to a kind of automatic guided vehicle, particularly a kind of AGV drives independent suspension vibration damping mechanism.
Background technology
Automatic guided vehicle AGV has been at home and abroad a kind of logistics transportation equipment that is widely used in automatic factory.All there is certain fluctuating and can be very not smooth in factory's actual ground.Conventionally AGV four-wheel lands and probably causes drive wheel to skid.Therefore design driven wheel damper mechanism is very necessary.
The automatic guided vehicle of AGV producer at home generally adopts dependent elastic type vibration damping or scissor elastic type vibration damping.The result that dependent formula elastic damping usually causes is that AGV vehicle body has certain inclination, and rollover phenomenon easily occurs.Price scissors formula vibration damping is taken turns to install to six and is proposed high requirement, and installation difficulty is high.
Summary of the invention
The object of the invention is to overcome the shortcoming of prior art, provide a kind of good damping result, bus body strength high and grab the AGV that ground ability is strong and drive independent suspension vibration damping mechanism.
Object of the present invention is achieved through the following technical solutions: a kind of AGV drives independent suspension vibration damping mechanism, it comprises drive installation plate, reducing motor, chain gearing, shock attenuation unit, axle drive shaft and drive wheel, reducing motor is arranged on drive installation plate, axle drive shaft has two, axle drive shaft is arranged on the downside of drive installation plate, two drive wheels are arranged on respectively the outboard end of two axle drive shafts, the medial end of two axle drive shafts is rotatably mounted on the downside of drive installation plate, between two axle drive shafts and drive installation plate, is respectively arranged with shock attenuation unit;
Described chain gearing comprises drive sprocket, chain and driven sprocket, drive sprocket is arranged on the output shaft of reducing motor, driven sprocket is arranged on the middle part of axle drive shaft by bearing, the sidewall of driven sprocket is connected with the wheel hub transmission of drive wheel, between drive sprocket and driven sprocket, is connected by chain gear;
Described shock attenuation unit comprises sleeve, slide block, spring, end cap and vibration damping adapter plate, the lower end of sleeve is fixed on the middle part of axle drive shaft, the inwall bearing fit of slide block and sleeve, between sleeve and slide block, spring is installed, the inner side end face of the end face of spring and slide block contacts, the bottom surface of spring contacts with sleeve inside bottom surface, end cap is arranged on the top of sleeve, and slide block is through end cap, vibration damping adapter plate is fixedly mounted on bearing seat, and the two ends of vibration damping adapter plate are fixedly connected with the top end face of slide block respectively.
The downside of described drive installation plate is provided with bearing seat, in bearing seat, is horizontally installed with S. A. by bearing, and the middle part of S. A. is through the radial hole of axle drive shaft medial extremity.
The bottom of described drive installation plate is also fixedly connected with bottom stiffener, and the two ends of bottom stiffener extend to respectively the below of shock attenuation unit.
The present invention has the following advantages:
1, adopt independently hanging vibration reduction mechanism, in the process of moving, drive wheel, according to road surface situation, regulates respectively the vibration damping height of the drive wheel of drive installation plate both sides to AGV, makes the drive installation plate held stationary of trying one's best, its good damping result.
2, shock attenuation unit is symmetricly set on the downside of drive installation plate, realize respectively vibration damping, pass through spring buffer, drive installation plate is directly not stressed, and below drive installation plate, be also provided with bottom stiffener, the maximum weighted ability that further promotes drive installation plate, whole bus body strength is high, long service life.
3, no matter be to move on pit or the road surface at convex closure, by elongation and the compression of spring, all can ensure drive wheel close proximity to ground all the time, make drive wheel " catch " tightly ground, earth-grasping force is strong.
Brief description of the drawings
Fig. 1 is structural representation of the present invention;
Fig. 2 is A-A sectional structure schematic diagram in Fig. 1;
In figure: 1-drive installation plate, 2-drive sprocket, 3-chain, 4-reducing motor, 5-drive wheel, 6-driven sprocket, 7-bottom stiffener, 8-axle drive shaft, 9-S. A., 10-sleeve, 11-bearing seat, 12-vibration damping adapter plate, 13-end cap, 14-spring, 15-slide block.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention will be further described, but protection scope of the present invention is not limited to the following stated.
As depicted in figs. 1 and 2, a kind of AGV drives independent suspension vibration damping mechanism, it comprises drive installation plate 1, reducing motor 4, chain gearing, shock attenuation unit, axle drive shaft 8 and drive wheel 5, reducing motor 4 is arranged on drive installation plate 1, axle drive shaft 8 has two, axle drive shaft 8 is arranged on the downside of drive installation plate 1, two drive wheels 5 are arranged on respectively the outboard end of two axle drive shafts 8, the medial end of two axle drive shafts 8 is rotatably mounted on the downside of drive installation plate 1, between two axle drive shafts 8 and drive installation plate 1, is respectively arranged with shock attenuation unit, described chain gearing comprises drive sprocket 2, chain 3 and driven sprocket 6, drive sprocket 2 is arranged on the output shaft of reducing motor 4, driven sprocket 6 is arranged on the middle part of axle drive shaft 8 by bearing, the sidewall of driven sprocket 6 is connected with the wheel hub transmission of drive wheel 5, between drive sprocket 2 and driven sprocket 6, is connected by chain 3 transmissions, described shock attenuation unit comprises sleeve 10, slide block 15, spring 14, end cap 13 and vibration damping adapter plate 12, the lower end of sleeve 10 is fixed on the middle part of axle drive shaft 8, the inwall bearing fit of slide block 15 and sleeve 10, between sleeve 10 and slide block 15, spring 14 is installed, the inner side end face of the end face of spring 14 and slide block 15 contacts, the bottom surface of spring 14 contacts with sleeve 10 inside bottom surface, end cap 13 is arranged on the top of sleeve 10, and slide block 15 is through end cap 13, vibration damping adapter plate 12 is fixedly mounted on bearing seat 11, the two ends of vibration damping adapter plate 12 are fixedly connected with the top end face of slide block 15 respectively.
The downside of described drive installation plate 1 is provided with bearing seat 11, in bearing seat 11, is horizontally installed with S. A. 9 by bearing, and the middle part of S. A. 9 is through the radial hole of axle drive shaft 8 medial extremitys.
The bottom of described drive installation plate 1 is also fixedly connected with bottom stiffener 7, the two ends of bottom stiffener 7 extend to respectively the below of shock attenuation unit, the structural strength that strengthens drive installation plate 1, prevents in vibration damping process, it is excessive and bending that drive installation plate 1 is activated axle 8 pressure on top surfaces.
Working process of the present invention is as follows: reducing motor 4 output shafts by drive sprocket 2, chain 3 and driven sprocket 6 transmission of power to drive wheel.The medial extremity of axle drive shaft is through a S. A. 9, and the two ends of S. A. 9 respectively isolate by a bearing and bearing seat 11, make drive wheel 5 have certain slewing area to realize the damping of vibrations of drive wheel 5 around S. A. 9 by shock attenuation unit.The principle of work of shock attenuation unit is: slide block 15 passes through spring 14 bearing fits with sleeve 10, in the time that drive wheel 5 is rolled into uneven ground, axle drive shaft 8 rotates around S. A. 9, the middle part of axle drive shaft 8 and sleeve 10 are fixedly linked, band moving sleeve 10 rises, sleeve 10 is in the just section that rises, under the buffer action of spring 14, slide block 15 does not rise at once, after spring 14 is under pressure and acquires a certain degree, the relative sleeve 10 of slide block 15 moves up, thereby drives vibration damping adapter plate 12, drive installation plate 1 to move up.In whole vibration damping process, spring 14 plays gantry hysteresis.
The above, be only the specific embodiment of the present invention, and single protection scope of the present invention is not limited to this.Any be familiar with those skilled in the art the present invention disclose technical scope in, the variation that can expect easily or replacement, within all should being encompassed in protection scope of the present invention, therefore protection scope of the present invention should be as the criterion with the protection domain of claim.
Claims (3)
1. an AGV drives independent suspension vibration damping mechanism, it is characterized in that: it comprises drive installation plate (1), reducing motor (4), chain gearing, shock attenuation unit, axle drive shaft (8) and drive wheel (5), reducing motor (4) is arranged on drive installation plate (1), axle drive shaft (8) has two, axle drive shaft (8) is arranged on the downside of drive installation plate (1), two drive wheels (5) are arranged on respectively the outboard end of two axle drive shafts (8), the medial end of two axle drive shafts (8) is rotatably mounted on the downside of drive installation plate (1), between two axle drive shafts (8) and drive installation plate (1), be respectively arranged with shock attenuation unit,
Described chain gearing comprises drive sprocket (2), chain (3) and driven sprocket (6), drive sprocket (2) is arranged on the output shaft of reducing motor (4), driven sprocket (6) is arranged on the middle part of axle drive shaft (8) by bearing, the sidewall of driven sprocket (6) is connected with the wheel hub transmission of drive wheel (5), between drive sprocket (2) and driven sprocket (6), is connected by chain (3) transmission;
Described shock attenuation unit comprises sleeve (10), slide block (15), spring (14), end cap (13) and vibration damping adapter plate (12), the lower end of sleeve (10) is fixed on the middle part of axle drive shaft (8), the inwall bearing fit of slide block (15) and sleeve (10), between sleeve (10) and slide block (15), spring (14) is installed, the end face of spring (14) contacts with the inner side end face of slide block (15), the bottom surface of spring (14) contacts with sleeve (10) inside bottom surface, end cap (13) is arranged on the top of sleeve (10), and slide block (15) is through end cap (13), vibration damping adapter plate (12) is fixedly mounted on bearing seat (11), the two ends of vibration damping adapter plate (12) are fixedly connected with the top end face of slide block (15) respectively.
2. a kind of AGV according to claim 1 drives independent suspension vibration damping mechanism, it is characterized in that: the downside of described drive installation plate (1) is provided with bearing seat (11), in bearing seat (11), be horizontally installed with S. A. (9) by bearing, the middle part of S. A. (9) is through the radial hole of axle drive shaft (8) medial extremity.
3. a kind of AGV according to claim 1 drives independent suspension vibration damping mechanism, it is characterized in that: the bottom of described drive installation plate (1) is also fixedly connected with bottom stiffener (7), the two ends of bottom stiffener (7) extend to respectively the below of shock attenuation unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410396793.3A CN104129294B (en) | 2014-08-13 | 2014-08-13 | A kind of AGV drives independent suspension vibration damping mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410396793.3A CN104129294B (en) | 2014-08-13 | 2014-08-13 | A kind of AGV drives independent suspension vibration damping mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104129294A true CN104129294A (en) | 2014-11-05 |
| CN104129294B CN104129294B (en) | 2016-07-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410396793.3A Active CN104129294B (en) | 2014-08-13 | 2014-08-13 | A kind of AGV drives independent suspension vibration damping mechanism |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104534038A (en) * | 2014-12-31 | 2015-04-22 | 南通皋液液压机有限公司 | Friction wheel driving mechanism |
| CN105172562A (en) * | 2015-09-16 | 2015-12-23 | 成都四威高科技产业园有限公司 | Chassis for AGV having suspension mechanism |
| CN105774859A (en) * | 2016-05-03 | 2016-07-20 | 哈尔滨工大服务机器人有限公司 | Suspension structure applied to differential motion of two wheels and trolley |
| CN106564047A (en) * | 2016-10-20 | 2017-04-19 | 上海思岚科技有限公司 | Universal mobile robot chassis capable of avoiding shock |
| CN106828075A (en) * | 2017-03-20 | 2017-06-13 | 郑州大河智信科技股份公司 | A kind of AGV dollies independent-suspension damping formula driver element |
| CN107264382A (en) * | 2017-06-09 | 2017-10-20 | 浙江安控科技有限公司 | A kind of AGV storage devices with comfort cushioning performance |
| CN112319170A (en) * | 2020-11-20 | 2021-02-05 | 大连交通大学 | Independent suspension device capable of keeping specific wheel track |
| CN112356655A (en) * | 2020-09-30 | 2021-02-12 | 江苏金陵智造研究院有限公司 | Independent suspension and vibration reduction integrated differential driving wheel device and control method thereof |
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| US20070210539A1 (en) * | 2006-03-09 | 2007-09-13 | Honda Motor Co., Ltd. | Vehicle height adjusting system |
| CN202529099U (en) * | 2011-12-02 | 2012-11-14 | 东莞易步机器人有限公司 | Elastic suspension structure |
| CN203460651U (en) * | 2013-09-02 | 2014-03-05 | 东莞新能源科技有限公司 | Damping device and automatic guided vehicle |
| CN203460970U (en) * | 2013-08-16 | 2014-03-05 | 成都四威高科技产业园有限公司 | AGV (automated guided vehicle) chassis driving mechanism |
| CN204020564U (en) * | 2014-08-13 | 2014-12-17 | 成都四威高科技产业园有限公司 | A kind of AGV drives independent suspension vibration damping mechanism |
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2014
- 2014-08-13 CN CN201410396793.3A patent/CN104129294B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070210539A1 (en) * | 2006-03-09 | 2007-09-13 | Honda Motor Co., Ltd. | Vehicle height adjusting system |
| CN202529099U (en) * | 2011-12-02 | 2012-11-14 | 东莞易步机器人有限公司 | Elastic suspension structure |
| CN203460970U (en) * | 2013-08-16 | 2014-03-05 | 成都四威高科技产业园有限公司 | AGV (automated guided vehicle) chassis driving mechanism |
| CN203460651U (en) * | 2013-09-02 | 2014-03-05 | 东莞新能源科技有限公司 | Damping device and automatic guided vehicle |
| CN204020564U (en) * | 2014-08-13 | 2014-12-17 | 成都四威高科技产业园有限公司 | A kind of AGV drives independent suspension vibration damping mechanism |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104534038A (en) * | 2014-12-31 | 2015-04-22 | 南通皋液液压机有限公司 | Friction wheel driving mechanism |
| CN105172562A (en) * | 2015-09-16 | 2015-12-23 | 成都四威高科技产业园有限公司 | Chassis for AGV having suspension mechanism |
| CN105172562B (en) * | 2015-09-16 | 2017-11-10 | 成都四威高科技产业园有限公司 | A kind of automobile-used chassis of AGV with hitch |
| CN105774859A (en) * | 2016-05-03 | 2016-07-20 | 哈尔滨工大服务机器人有限公司 | Suspension structure applied to differential motion of two wheels and trolley |
| CN105774859B (en) * | 2016-05-03 | 2018-07-06 | 哈尔滨工大服务机器人有限公司 | A kind of suspended structure differential for two-wheeled and trolley |
| CN106564047A (en) * | 2016-10-20 | 2017-04-19 | 上海思岚科技有限公司 | Universal mobile robot chassis capable of avoiding shock |
| CN106564047B (en) * | 2016-10-20 | 2019-08-20 | 上海思岚科技有限公司 | It is a kind of can shock-absorbing General Mobile robot chassis |
| CN106828075A (en) * | 2017-03-20 | 2017-06-13 | 郑州大河智信科技股份公司 | A kind of AGV dollies independent-suspension damping formula driver element |
| CN107264382A (en) * | 2017-06-09 | 2017-10-20 | 浙江安控科技有限公司 | A kind of AGV storage devices with comfort cushioning performance |
| CN112356655A (en) * | 2020-09-30 | 2021-02-12 | 江苏金陵智造研究院有限公司 | Independent suspension and vibration reduction integrated differential driving wheel device and control method thereof |
| CN112319170A (en) * | 2020-11-20 | 2021-02-05 | 大连交通大学 | Independent suspension device capable of keeping specific wheel track |
| CN112319170B (en) * | 2020-11-20 | 2021-11-09 | 大连交通大学 | Independent suspension device capable of keeping specific wheel track |
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| CN104129294B (en) | 2016-07-13 |
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