CN104129294B - A kind of AGV drives independent suspension vibration damping mechanism - Google Patents
A kind of AGV drives independent suspension vibration damping mechanism Download PDFInfo
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- CN104129294B CN104129294B CN201410396793.3A CN201410396793A CN104129294B CN 104129294 B CN104129294 B CN 104129294B CN 201410396793 A CN201410396793 A CN 201410396793A CN 104129294 B CN104129294 B CN 104129294B
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- drive installation
- vibration damping
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Abstract
The present invention relates to a kind of AGV and drive independent suspension vibration damping mechanism, it includes drive installation plate (1), reducing motor (4), chain and sprocket driving device, vibration absorber, drive axle (8) and driving wheel (5), reducing motor (4) is arranged on drive installation plate (1), axle (8) is driven to have two, axle (8) is driven to be arranged on the downside of drive installation plate (1), two driving wheels (5) are separately mounted to two outboard end driving axle (8), two medial ends driving axle (8) are rotatably mounted on the downside of drive installation plate (1), it is respectively arranged with vibration absorber between two drivings axle (8) and drive installation plate (1)；Described vibration absorber includes sleeve (10), slide block (15), spring (14), end cap (13) and vibration damping installing plate (12).It is an advantage of the current invention that: good damping result, bus body strength are high and to grab ground ability strong.
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 being widely used in automated factory.Factory's actual ground all exists and necessarily rises and falls without very smooth.Usual AGV four-wheel lands and likely results in driving wheel skidding.Therefore design driven wheel damper mechanism is very necessary.
The automatic guided vehicle of AGV producer at home is generally adopted dependent elastic type vibration damping or scissor elastic type vibration damping.The result that dependent formula elastic damping frequently results in is that AGV vehicle body has certain inclination, it is easy to rollover phenomenon occurs.Shears differential vibration damping is taken turns installation and is proposed high requirement six, and installation difficulty is high.
Summary of the invention
It is an object of the invention to overcome the shortcoming of prior art, it is provided that a kind of good damping result, bus body strength AGV that is high and that grab ground ability strong drives independent suspension vibration damping mechanism.
The purpose of the present invention is achieved through the following technical solutions: a kind of AGV drives independent suspension vibration damping mechanism, it includes drive installation plate, reducing motor, chain and sprocket driving device, vibration absorber, driving axle and driving wheel, reducing motor is arranged on drive installation plate, axle is driven to have two, axle is driven to be arranged on the downside of drive installation plate, two driving wheels are separately mounted to two outboard end driving axle, two medial ends driving axle are rotatably mounted on the downside of drive installation plate, are respectively arranged with vibration absorber between two driving axles and drive installation plate；
Described chain and sprocket driving device includes 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 driving axle by bearing, the sidewall of driven sprocket is connected with the hub drive of driving wheel, is connected by chain drive between drive sprocket with driven sprocket；
Described vibration absorber includes sleeve, slide block, spring, end cap and vibration damping installing plate, the lower end of sleeve is fixed on the middle part driving axle, the inwall of slide block and sleeve is slidably matched, being provided with spring between sleeve and slide block, the end face of spring contacts with the inner side end face of slide block, and 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 installing plate is fixedly mounted on bearing block, and the two ends of vibration damping installing plate are fixing with the top end face of slide block respectively to be connected.
The downside of described drive installation plate is provided with bearing block, is horizontally installed with rotating shaft by bearing in bearing block, and the middle part traverse of rotating shaft drives the radial hole of axle medial extremity.
The bottom of described drive installation plate is also fixedly connected with bottom stiffener, and the two ends of bottom stiffener extend respectively to the lower section of vibration absorber.
The invention have the advantages that
1, adopting independent hanging vibration reduction mechanism, in the process of moving, driving wheel according to surface conditions, regulates the vibration damping height of the driving wheel of drive installation plate both sides to AGV respectively so that drive installation plate is tried one's best held stationary, its good damping result.
2, vibration absorber is symmetricly set on the downside of drive installation plate, realize vibration damping respectively, pass through spring buffer, drive installation plate is not stressed directly, and it is further arranged below bottom stiffener at drive installation plate, promoting the maximum weighted ability of drive installation plate further, whole bus body strength is high, long service life.
3, no matter it is run at pit or on the road surface of convex closure, by the elongation of spring and compression, all can guarantee that driving wheel close proximity to ground all the time so that driving wheel " catches " ground tightly, and earth-grasping force is strong.
Accompanying drawing explanation
Fig. 1 is the 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-driving wheel, 6-driven sprocket, 7-bottom stiffener, 8-drives axle, 9-rotating shaft, 10-sleeve, 11-bearing block, 12-vibration damping installing 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 includes drive installation plate 1, reducing motor 4, chain and sprocket driving device, vibration absorber, driving axle 8 and driving wheel 5, reducing motor 4 is arranged on drive installation plate 1, axle 8 is driven to have two, axle 8 is driven to be arranged on the downside of drive installation plate 1, two driving wheels 5 are separately mounted to two outboard end driving axle 8, two medial ends driving axle 8 are rotatably mounted on the downside of drive installation plate 1, are respectively arranged with vibration absorber between two driving axles 8 and drive installation plate 1；Described chain and sprocket driving device includes 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 driving axle 8 by bearing, the sidewall of driven sprocket 6 is connected with the hub drive of driving wheel 5, is connected by chain 3 transmission between drive sprocket 2 with driven sprocket 6；Described vibration absorber includes sleeve 10, slide block 15, spring 14, end cap 13 and vibration damping installing plate 12, the lower end of sleeve 10 is fixed on the middle part driving axle 8, the inwall of slide block 15 and sleeve 10 is slidably matched, spring 14 is installed between sleeve 10 and slide block 15, 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 traverse end cap 13, vibration damping installing plate 12 is fixedly mounted on bearing block 11, the two ends of vibration damping installing plate 12 are fixing with the top end face of slide block 15 respectively to be connected.
The downside of described drive installation plate 1 is provided with bearing block 11, is horizontally installed with rotating shaft 9 by bearing in bearing block 11, and the middle part traverse of rotating shaft 9 drives the radial hole of axle 8 medial extremity.
The bottom of described drive installation plate 1 is also fixedly connected with bottom stiffener 7, the two ends of bottom stiffener 7 extend respectively to the lower section of vibration absorber, strengthening the structural strength of drive installation plate 1, it is prevented that in vibration damping process, it is excessive and bend that drive installation plate 1 is driven axle 8 pressure on top surface.
The work process of the present invention is as follows: reducing motor 4 output shaft is delivered on driving wheel by drive sprocket 2, chain 3 and 6 power of driven sprocket.Driving the medial extremity of axle through a rotating shaft 9, the two ends of rotating shaft 9 are respectively isolated by a bearing and bearing block 11, make driving wheel 5 certain slewing area can be had to realize the damping effect of driving wheel 5 around rotating shaft 9 by vibration absorber.The operation principle of vibration absorber is: slide block 15 is slidably matched by spring 14 with sleeve 10, when driving wheel 5 is rolled into uneven ground, driving axle 8 to rotate around rotating shaft 9, drive the middle part of axle 8 and sleeve 10 to be fixedly linked, band moving sleeve 10 rises, sleeve 10 is in the just section that rises, under the cushioning effect of spring 14, slide block 15 does not rise at once, reaches after to a certain degree when spring 14 is under pressure, slide block 15 relative sleeve 10 moves up, thus driving vibration damping installing plate 12, drive installation plate 1 to move up.In whole vibration damping process, spring 14 plays hysteresis.
The above, be only the specific embodiment of the present invention, and single protection scope of the present invention is not limited thereto.Any those familiar with the art in the technical scope of present disclosure, the change that can readily occur in or replacement, all should be encompassed within protection scope of the present invention, therefore protection scope of the present invention should be as the criterion with scope of the claims.
Claims (3)
1. an AGV drives independent suspension vibration damping mechanism, it is characterized in that: it includes drive installation plate (1), reducing motor (4), chain and sprocket driving device, vibration absorber, drive axle (8) and driving wheel (5), reducing motor (4) is arranged on drive installation plate (1), axle (8) is driven to have two, axle (8) is driven to be arranged on the downside of drive installation plate (1), two driving wheels (5) are separately mounted to two outboard end driving axle (8), two medial ends driving axle (8) are rotatably mounted on the downside of drive installation plate (1), it is respectively arranged with vibration absorber between two drivings axle (8) and drive installation plate (1)；
Described chain and sprocket driving device includes 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 driving axle (8) by bearing, the sidewall of driven sprocket (6) is connected with the hub drive of driving wheel (5), is connected by chain (3) transmission between drive sprocket (2) with driven sprocket (6)；
nullDescribed vibration absorber includes sleeve (10)、Slide block (15)、Spring (14)、End cap (13) and vibration damping installing plate (12)，The lower end of sleeve (10) is fixed on the middle part driving axle (8)，The inwall of slide block (15) and sleeve (10) is slidably matched，Spring (14) is installed between sleeve (10) and slide block (15)，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) traverse end cap (13)，The downside of drive installation plate (1) is provided with bearing block (11)，Vibration damping installing plate (12) is fixedly mounted on bearing block (11)，The two ends of vibration damping installing plate (12) are fixing with the top end face of slide block (15) respectively to be connected.
2. a kind of AGV according to claim 1 drives independent suspension vibration damping mechanism, it is characterised in that: being horizontally installed with rotating shaft (9) by bearing in described bearing block (11), the middle part traverse of rotating shaft (9) drives the radial hole of axle (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 respectively to the lower section of vibration absorber.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410396793.3A CN104129294B (en) | 2014-08-13 | 2014-08-13 | A kind of AGV drives independent suspension vibration damping mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410396793.3A CN104129294B (en) | 2014-08-13 | 2014-08-13 | A kind of AGV drives independent suspension vibration damping mechanism |
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| CN104129294A CN104129294A (en) | 2014-11-05 |
| CN104129294B true CN104129294B (en) | 2016-07-13 |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104534038B (en) * | 2014-12-31 | 2017-03-29 | 南通皋液液压机有限公司 | A kind of friction wheel driving 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 |
| 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 |
| 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 |
| 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7922181B2 (en) * | 2006-03-09 | 2011-04-12 | Honda Motor Co., Ltd. | Vehicle height adjusting system |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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