CN104875575A - Independent suspension support mechanism of AGV (automatic guided vehicle) with Mecanum wheels - Google Patents
Independent suspension support mechanism of AGV (automatic guided vehicle) with Mecanum wheels Download PDFInfo
- Publication number
- CN104875575A CN104875575A CN201410103452.2A CN201410103452A CN104875575A CN 104875575 A CN104875575 A CN 104875575A CN 201410103452 A CN201410103452 A CN 201410103452A CN 104875575 A CN104875575 A CN 104875575A
- Authority
- CN
- China
- Prior art keywords
- fixed support
- mecanum wheel
- vertical
- independent suspension
- supporting mechanism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses an independent suspension support mechanism of an AGV (automatic guided vehicle) with Mecanum wheels. The independent suspension support mechanism comprises fixing supports, an angular displacement sensor, a spring rod and an adjusting rod. The fixing supports include a vertical fixing support and a horizontal fixing support, the vertical fixing support is arranged on the upper surface of the horizontal fixing support, and the adjusting rod is arranged on the vertical fixing support; one end of the spring rod is hinged to the adjusting rod, and the other end of the spring rod is hinged to a vertical end surface of a Mecanum wheel frame; the front end of the horizontal fixing support is hinged to the vertical end surface of the Mecanum wheel frame; the angular displacement sensor is arranged at a hinged joint of the horizontal fixing support and the Mecanum wheel frame. The independent suspension support mechanism has the advantages that the independent suspension support mechanism is simple in structure, the bearing capacity and the shock-proof rigidity can be adjusted, force and positions can be fed, and the like.
Description
Technical field
The present invention relates to a kind of supporting mechanism, particularly relate to a kind of Mecanum wheel AGV independent suspension supporting mechanism.
Background technology
At present, the common AGV on market adopts pneumatic rubber wheel and steering wheel, and the rubber wheel energy elastic deformation that the former inflates when pressurized, can ensure multiple wheel effectively contacting to earth on uneven ground, and the latter can only move in indoor ground grading.
Because Mecanum wheel material is comparatively hard, take turns much smaller than General Purpose Rubber with the contact surface on ground, so must ensure that Mecanum wheel contacts with the effective of ground, otherwise be easy to skid.Once skid, Mecanum wheel AGV will depart from clearance line, so that AGV will rectify a deviation to course, this can cause vehicle body swing, particularly for middle heavy-load type Mecanum wheel AGV, this situation is more difficult to be avoided, and the frequent swing of car body will inevitably affect the safety of AGV service life, conveying efficiency and transportation.In addition, limit by Mecanum wheel motor driven systems installation dimension, effective terrain clearance on Mecanum wheel AGV chassis is general lower.
Therefore, without the elastic supporting mechanism of regulating power when carrying heavy load, chassis can significantly decline, and weakens the obstacle climbing ability of Mecanum wheel AGV.
Summary of the invention
The object of the invention is to solve the problems of the prior art, there is provided that a kind of structure is simple, strong shock resistance, load-carrying capacity and shock-absorbing rigidity is adjustable, AGV chassis clearance is adjustable, and by the Mecanum wheel AGV independent suspension supporting mechanism of the feedback of installing angle sensor realizable force position on oscillating axle.
Technical scheme of the present invention is: a kind of Mecanum wheel AGV independent suspension supporting mechanism, comprises fixed support, angular-motion transducer, spring bar and adjust bar; Described fixed support comprises vertical fixed support and horizontal fixed support, and described vertical fixed support is arranged on horizontal fixed support upper surface, and described adjust bar is arranged on described vertical fixed support; One end and the described adjust bar of described spring bar are hinged, and the vertical end face of the other end and Mecanum wheel frame is hinged; The vertical end face of the support bracket fastened front end of described level and Mecanum wheel frame is hinged; Described angular-motion transducer is arranged on horizontal fixed support and Mecanum wheel frame articulation place.
Preferably, described adjust bar comprises screw rod and travelling nut, and described travelling nut is screwed onto the side of described screw rod.
Preferably, described vertical fixed support top offers mounting hole, and described screw rod is arranged in this mounting hole; Offer the chute communicated with described mounting hole in the side that vertical fixed support is relative with Mecanum wheel frame, described travelling nut is arranged in this chute.
Preferably, bearing one end of described spring bar and travelling nut installed is hinged.
Preferably, described mounting hole extends to vertical fixed support and the support bracket fastened junction of described level from vertical support bracket fastened top.
Preferably, described chute is offered along vertical support bracket fastened vertical direction.
Preferably, described vertical fixed support is arranged with horizontal fixed support is mutually vertical.
Preferably, described vertical fixed support and described horizontal fixed support are integrated by being welded to connect
Preferably, described spring bar be telescopic can preloading spring bar.
The present invention has that structure is simple, load-carrying capacity and shock-absorbing rigidity adjustable, and can the advantage such as realizable force position feedback; Its strong shock resistance, by the supporting point position of adjustable elastic strut bar, realizes the adjustable of AGV load-carrying capacity and chassis clearance, and when guaranteeing heavy load transfer, AGV meets necessary obstacle climbing ability.By the initial amount of contraction of regulating spring bar, suitable shock-absorbing rigidity can be chosen.
Accompanying drawing explanation
Fig. 1 be the present invention with Mecanum wheel frame installation in conjunction with schematic diagram;
Fig. 2 is the partial enlarged drawing of Fig. 1;
Fig. 3 is the schematic diagram that the present invention is arranged in AGV frame.
Detailed description of the invention
The technological means realized to make the present invention, technical characteristic, goal of the invention and technique effect are easy to understand, and below in conjunction with concrete diagram, set forth the present invention further.
As depicted in figs. 1 and 2, be a kind of Mecanum wheel AGV independent suspension supporting mechanism of the present invention, comprise vertical fixed support 100, horizontal fixed support 200, spring bar 300, adjust bar and angular-motion transducer 500.
Vertical fixed support 100 is arranged on the upper surface 201 of horizontal fixed support 200, and vertical fixed support 100 is arranged with horizontal fixed support 200 is mutually vertical, and vertical fixed support 100 of the present invention is arranged on the upper surface 201 of horizontal fixed support 200 front end 202.
Vertical fixed support 100 of the present invention is by being welded as a whole with described horizontal fixed support 200, certainly vertical fixed support 100 also can be made as with described horizontal fixed support 200 and removably connect, to be applicable to different AGV, it is first-class that such as vertical fixed support 100 is arranged on described horizontal fixed support 200 by bolt.
Adjust bar comprises screw rod (not shown), is arranged on the outer-hexagonal screw rod 401 of screw tip and travelling nut 402, and described travelling nut 402 is screwed onto the side of described screw rod.The top 101 of vertical fixed support 100 offers mounting hole, and screw rod is arranged in this mounting hole; Offer the chute 102 communicated with mounting hole in the side that vertical fixed support 100 is relative with Mecanum wheel frame 600, mounting hole extends to the junction of vertical fixed support 100 and horizontal fixed support 200 from the top 101 of vertical fixed support 100.Chute 102 is offered along the vertical direction of vertical fixed support 100, and profile is roughly oblong.
Travelling nut 402 of the present invention is arranged in this chute 102, and can make described travelling nut 402 up-and-down movement in chute 102 by rotating outer-hexagonal screw rod 401.
Spring bar 300 of the present invention is Telescopic spring bar.The bearing 403 that one end 301 of spring bar 300 and travelling nut 402 are installed is hinged, and the first frame supporter 602 on the vertical end face 601 of the other end 302 and Mecanum wheel frame 600 is hinged; The front end 202 of horizontal fixed support 200 of the present invention is hinged with the vertical end face 601 of Mecanum wheel frame 600, and the first frame supporter 602 is positioned at the top hinged with the vertical end face 601 of Mecanum wheel frame 600, the front end 202 of horizontal fixed support 200; Angular-motion transducer 500 is arranged on the hinged place of horizontal fixed support 200 and Mecanum wheel frame 600.
The present invention is arranged on Mecanum wheel frame 600, and Mecanum wheel 603 can Free-rolling or driven by motor.Mecanum wheel frame 600 has two hinge connection, and one is be connected with horizontal fixed support 200, and one is be connected with spring bar 300, and spring bar 300 realizes flexible by the deflection of spring on it and spring can pretension.
The other end 301 of spring bar 300 is connected with travelling nut 402 via hinge, and can promote travelling nut 402 by the rotation of outer-hexagonal screw rod 401 and move along the sleeve of vertical fixed support 100 and fix.Therefore, the present invention by changing the position of travelling nut 402, can realize the rotation of Mecanum wheel around hinge, thus reaches the object promoting or reduce AGV chassis height.
Meanwhile, by changing the predetermincd tension of spring bar 300, AGV shock-absorbing rigidity can be changed.In addition, detect the angular displacement of Mecanum wheel around hinge by angular-motion transducer 500, calculate the geometric layout of Mecanum wheel 603.And calculate current Mecanum wheel bearing capacity in conjunction with Hook's law, optimize Mecanum wheel AGV motion control arithmetic, improve AGV operating efficiency and carrying stationarity.
Application Example of the present invention as shown in Figure 3, four Mecanum wheels 603 are arranged symmetrically with, often wheel is drive wheel, and often take turns corresponding independent suspension supporting mechanism as above, vertical, the horizontal fixed support of the independent suspension mechanism of often taking turns all is fixed in AGV frame 700.When ground unfairness, Mecanum wheel 603 along hinge through, under the effect of spring bar 300 wheel all the time with earth surface.When the load increases, by the center regulating the position of moving slider to reduce Mecanum wheel, the elemental height on lifting AGV chassis, thus guarantee the obstacle climbing ability of AGV.
In addition, by stagger angle displacement pickup, current train layout and bearing capacity can be calculated, system optimizing control, improve AGV operating efficiency and carrying stationarity, meet the heavy transfer requirement on unfairness ground.
Be only preferred embodiment of the present invention in sum, be not used for limiting practical range of the present invention.Namely all equivalences done according to the content of the present patent application the scope of the claims change and modify, and all should belong to technology category of the present invention.
Claims (9)
1. Mecanum wheel AGV independent suspension supporting mechanism, is characterized in that: comprise fixed support, angular-motion transducer, spring bar and adjust bar; Described fixed support comprises vertical fixed support and horizontal fixed support, and described vertical fixed support is arranged on horizontal fixed support upper surface, and described adjust bar is arranged on described vertical fixed support; One end and the described adjust bar of described spring bar are hinged, and the vertical end face of the other end and Mecanum wheel frame is hinged; The vertical end face of the support bracket fastened front end of described level and Mecanum wheel frame is hinged; Described angular-motion transducer is arranged on horizontal fixed support and Mecanum wheel frame articulation place.
2. Mecanum wheel AGV independent suspension supporting mechanism according to claim 1, it is characterized in that: described adjust bar comprises screw rod and travelling nut, described travelling nut is screwed onto the side of described screw rod.
3. Mecanum wheel AGV independent suspension supporting mechanism according to claim 2, is characterized in that: described vertical fixed support top offers mounting hole, and described screw rod is arranged in this mounting hole; Offer the chute communicated with described mounting hole in the side that vertical fixed support is relative with Mecanum wheel frame, described travelling nut is arranged in this chute.
4. the Mecanum wheel AGV independent suspension supporting mechanism according to Claims 2 or 3, is characterized in that: the bearing that one end of described spring bar and travelling nut are installed is hinged.
5. Mecanum wheel AGV independent suspension supporting mechanism according to claim 3, is characterized in that: described mounting hole extends to vertical fixed support and the support bracket fastened junction of described level from vertical support bracket fastened top.
6. Mecanum wheel AGV independent suspension supporting mechanism according to claim 3, is characterized in that: described chute is offered along vertical support bracket fastened vertical direction.
7. Mecanum wheel AGV independent suspension supporting mechanism according to claim 1, is characterized in that: described vertical fixed support is arranged with horizontal fixed support is mutually vertical.
8. the Mecanum wheel AGV independent suspension supporting mechanism according to claim 1 or 6, is characterized in that: described vertical fixed support and described horizontal fixed support are integrated by being welded to connect.
9. Mecanum wheel AGV independent suspension supporting mechanism according to claim 1, is characterized in that: described spring bar be telescopic can preloading spring bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410103452.2A CN104875575A (en) | 2014-03-19 | 2014-03-19 | Independent suspension support mechanism of AGV (automatic guided vehicle) with Mecanum wheels |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410103452.2A CN104875575A (en) | 2014-03-19 | 2014-03-19 | Independent suspension support mechanism of AGV (automatic guided vehicle) with Mecanum wheels |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104875575A true CN104875575A (en) | 2015-09-02 |
Family
ID=53943352
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410103452.2A Pending CN104875575A (en) | 2014-03-19 | 2014-03-19 | Independent suspension support mechanism of AGV (automatic guided vehicle) with Mecanum wheels |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104875575A (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105197368A (en) * | 2015-10-28 | 2015-12-30 | 苏州博众机器人有限公司 | Bearing mechanism with buffer |
| CN105252985A (en) * | 2015-09-07 | 2016-01-20 | 北京航天发射技术研究所 | Suspension mechanism, mecanum wheel suspension assembly and mecanum wheel rack car |
| CN105667632A (en) * | 2016-01-04 | 2016-06-15 | 江苏科技大学 | Omnidirectional mobile platform for Mecanum wheels |
| CN106275125A (en) * | 2016-09-07 | 2017-01-04 | 武汉萝卜兔科技有限公司 | A kind of AGV dolly with obstacle crossing function |
| CN106627839A (en) * | 2016-11-29 | 2017-05-10 | 成都电科创品机器人科技有限公司 | Omnidirectional moving chassis and leveling method thereof |
| CN108945158A (en) * | 2018-08-29 | 2018-12-07 | 北京极智嘉科技有限公司 | A kind of chassis assembly and transport device of transport device |
| WO2019242315A1 (en) * | 2018-06-19 | 2019-12-26 | 北京京东尚科信息技术有限公司 | Agv chassis mechanism and agv provided with same |
| CN111413922A (en) * | 2020-03-24 | 2020-07-14 | 上海交大智邦科技有限公司 | Intelligent platform shifting device using AGV as carrier |
| CN111409738A (en) * | 2020-04-08 | 2020-07-14 | 广东博智林机器人有限公司 | Guide vehicle |
| CN115366598A (en) * | 2022-10-26 | 2022-11-22 | 福建省威盛机械发展有限公司 | Vehicle chassis and vehicle |
| US11542135B2 (en) | 2019-02-01 | 2023-01-03 | Hai Robotics Co., Ltd. | Handling robot |
| US11584181B2 (en) * | 2017-03-15 | 2023-02-21 | Hong Kong R&D Centre for Logistics and Supply Chain Management Enabling Technologies Limited | Self leveling autonomous guided vehicle |
| US11597598B2 (en) | 2019-02-01 | 2023-03-07 | Hai Robotics Co., Ltd. | Handling robot |
| US11945706B2 (en) | 2019-02-01 | 2024-04-02 | Hai Robotics Co., Ltd. | Handling robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3278197A (en) * | 1963-10-03 | 1966-10-11 | Gerin Jacques Jean-Marie Jules | Adjustable suspension, more particularly intended for automobile vehicles |
| EP1502843A2 (en) * | 2003-07-31 | 2005-02-02 | Rheinmetall Landsysteme GmbH | Unmanned special offroad vehicle |
| CN102600026A (en) * | 2012-03-09 | 2012-07-25 | 常州汉迪机器人科技有限公司 | Omni-directional intelligent electric wheel chair |
| CN202896207U (en) * | 2012-09-28 | 2013-04-24 | 浙江国自机器人技术有限公司 | All-dimensional mobile chassis |
| CN103612549A (en) * | 2013-11-29 | 2014-03-05 | 中联重科股份有限公司 | Wheeled crane suspension adjusting control system, method and device and wheeled crane |
-
2014
- 2014-03-19 CN CN201410103452.2A patent/CN104875575A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3278197A (en) * | 1963-10-03 | 1966-10-11 | Gerin Jacques Jean-Marie Jules | Adjustable suspension, more particularly intended for automobile vehicles |
| EP1502843A2 (en) * | 2003-07-31 | 2005-02-02 | Rheinmetall Landsysteme GmbH | Unmanned special offroad vehicle |
| CN102600026A (en) * | 2012-03-09 | 2012-07-25 | 常州汉迪机器人科技有限公司 | Omni-directional intelligent electric wheel chair |
| CN202896207U (en) * | 2012-09-28 | 2013-04-24 | 浙江国自机器人技术有限公司 | All-dimensional mobile chassis |
| CN103612549A (en) * | 2013-11-29 | 2014-03-05 | 中联重科股份有限公司 | Wheeled crane suspension adjusting control system, method and device and wheeled crane |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105252985A (en) * | 2015-09-07 | 2016-01-20 | 北京航天发射技术研究所 | Suspension mechanism, mecanum wheel suspension assembly and mecanum wheel rack car |
| CN105252985B (en) * | 2015-09-07 | 2018-02-09 | 北京航天发射技术研究所 | Suspension fork mechanism, Mecanum wheel suspended rack assembly and Mecanum wheel unwheeling |
| CN105197368A (en) * | 2015-10-28 | 2015-12-30 | 苏州博众机器人有限公司 | Bearing mechanism with buffer |
| CN105197368B (en) * | 2015-10-28 | 2017-11-17 | 苏州博众机器人有限公司 | A kind of load carrier with buffer |
| CN105667632A (en) * | 2016-01-04 | 2016-06-15 | 江苏科技大学 | Omnidirectional mobile platform for Mecanum wheels |
| CN105667632B (en) * | 2016-01-04 | 2019-04-23 | 江苏科技大学 | A kind of Mecanum wheel Omni-mobile platform |
| CN106275125A (en) * | 2016-09-07 | 2017-01-04 | 武汉萝卜兔科技有限公司 | A kind of AGV dolly with obstacle crossing function |
| CN106627839A (en) * | 2016-11-29 | 2017-05-10 | 成都电科创品机器人科技有限公司 | Omnidirectional moving chassis and leveling method thereof |
| US11584181B2 (en) * | 2017-03-15 | 2023-02-21 | Hong Kong R&D Centre for Logistics and Supply Chain Management Enabling Technologies Limited | Self leveling autonomous guided vehicle |
| WO2019242315A1 (en) * | 2018-06-19 | 2019-12-26 | 北京京东尚科信息技术有限公司 | Agv chassis mechanism and agv provided with same |
| CN108945158A (en) * | 2018-08-29 | 2018-12-07 | 北京极智嘉科技有限公司 | A kind of chassis assembly and transport device of transport device |
| US11542135B2 (en) | 2019-02-01 | 2023-01-03 | Hai Robotics Co., Ltd. | Handling robot |
| US11597598B2 (en) | 2019-02-01 | 2023-03-07 | Hai Robotics Co., Ltd. | Handling robot |
| US11851278B2 (en) | 2019-02-01 | 2023-12-26 | Hai Robotics Co., Ltd. | Handling robot |
| US11945706B2 (en) | 2019-02-01 | 2024-04-02 | Hai Robotics Co., Ltd. | Handling robot |
| US12006196B2 (en) | 2019-02-01 | 2024-06-11 | Hai Robotics Co., Ltd. | Handling robot |
| CN111413922B (en) * | 2020-03-24 | 2020-11-06 | 上海交大智邦科技有限公司 | Intelligent platform shifting device using AGV as carrier |
| CN111413922A (en) * | 2020-03-24 | 2020-07-14 | 上海交大智邦科技有限公司 | Intelligent platform shifting device using AGV as carrier |
| CN111409738B (en) * | 2020-04-08 | 2021-05-11 | 广东博智林机器人有限公司 | Guide vehicle |
| CN111409738A (en) * | 2020-04-08 | 2020-07-14 | 广东博智林机器人有限公司 | Guide vehicle |
| CN115366598A (en) * | 2022-10-26 | 2022-11-22 | 福建省威盛机械发展有限公司 | Vehicle chassis and vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104875575A (en) | Independent suspension support mechanism of AGV (automatic guided vehicle) with Mecanum wheels | |
| US9844992B2 (en) | Adjustable ride height, vehicle, system and kit | |
| US20180250998A1 (en) | Wheel Module with Integrated Active Suspension | |
| US7950680B2 (en) | Wheel suspension for wheeled vehicle | |
| CN203198673U (en) | Macphersan air suspension | |
| KR102674772B1 (en) | Suspension device, suspension damping device and 6-wheel bionic chassis | |
| KR20170005050A (en) | Vehicle suspension | |
| US20150123367A1 (en) | Multi-Axis Caster Angle Control System of an Extendable Wheel Assembly | |
| RU2014136387A (en) | INTEGRATED CONTROL SYSTEM FOR MULTIPLE WHEELS WITH INDEPENDENT ADJUSTMENT AND GEOMETRY OF CONTACT WITH THE ROAD | |
| US10427483B1 (en) | Adjustable ride height, vehicle, system and kit | |
| US10806106B2 (en) | System, method and apparatus for providing a pull-out force compensating gearbox mount | |
| CN103121387A (en) | MacPherson air suspension and assembly method thereof | |
| GB2474812A (en) | Suspension for an agricultural machine | |
| CN205440525U (en) | Large -scale electric drive tipper front axle positioner | |
| CN202046441U (en) | Aircraft rescuing and moving trailer | |
| US11135887B2 (en) | Adjustable suspension mount system and method | |
| US20060208464A1 (en) | Offset tandem suspension | |
| CN104494697B (en) | Vehicle chassis and walking mechanism thereof | |
| CN204264261U (en) | A kind of vehicle chassis and traveling gear thereof | |
| CN214295446U (en) | Suspension assembly | |
| CN211166304U (en) | Connecting device for vehicle shock absorber | |
| US2793048A (en) | Independent front wheel suspension | |
| CN210082858U (en) | Damping suspension device for AGV | |
| US8573616B2 (en) | Suspension system with inclination stabilization | |
| CN204340592U (en) | A kind of car shock mitigation system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150902 |
|
| WD01 | Invention patent application deemed withdrawn after publication |