CN105252985A - Suspension mechanism, mecanum wheel suspension assembly and mecanum wheel rack car - Google Patents
Suspension mechanism, mecanum wheel suspension assembly and mecanum wheel rack car Download PDFInfo
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- CN105252985A CN105252985A CN201510563268.0A CN201510563268A CN105252985A CN 105252985 A CN105252985 A CN 105252985A CN 201510563268 A CN201510563268 A CN 201510563268A CN 105252985 A CN105252985 A CN 105252985A
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- pilot bar
- pedestal
- mecanum wheel
- spring
- fork mechanism
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Abstract
The invention provides a suspension mechanism, a mecanum wheel suspension assembly and a mecanum wheel rack car; the suspension mechanism comprises a pedestal (1); the pedestal is rotatably connected with a bearing seat (2); the bearing seat (2) is rotatably connected with a horizontally arranged guide rod (3); the guide rod (3) is movably connected on the pedestal (1), and sleeved by a spring (4); two ends of the spring (4) are respectively connected with the guide rod (3) and the pedestal (1). The suspension mechanism can reduce the height of the rack car as possible; the bearing seat and the pedestal can relatively rotate; the spring can indirectly transfer force and buffer between the bearing seat and the pedestal.
Description
Technical field
The present invention relates to suspension and unwheeling, particularly relate to the unwheeling and suspension thereof that have employed Mecanum wheel.
Background technology
Lifting some product, support, transport, in the process of docking, need to use unwheeling.Unwheeling needs to have enough stiffnesses, to guarantee that product can be parked safely, reliably when parking.In addition, in order to transport product, unwheeling also needs to possess certain locomotivity, particularly when transporting hall space size and being less, unwheeling needs to have 3 degree of freedom in plane, and namely when not changing self pose, unwheeling can any direction planar be moved, comprise movable, sway and original place rotary motion, namely possess " Omni-mobile " ability.In order to realize the Omni-mobile of unwheeling, current one has two kinds of modes: a kind of is that the physical construction utilizing common wheel to be aided with particular design realizes, the shortcoming of which is, unwheeling needs when doing discontinuous curvilinear motion stop and redirect, and complex operation is time-consuming; Another kind is then utilize special wheel to realize, common are Mecanum wheel (mecanumwheel), ball wheel at present both at home and abroad, switch wheel and orthogonal train etc. continuously, wherein, Mecanum wheel is because technology maturation, load-carrying capacity are strong, it is comparatively simple to control, and it is practical and productionization extent is all higher.
If unwheeling adopts Mecanum wheel, then can realize Omni-mobile function, but contriver find current the type unwheeling ubiquity below some problem:
1, the main field of application of Mecanum wheel comprises civilian fork truck and wheelchair at present, what their carried is all little tonnage object, due to the restriction of product structure size and load, existing Mecanum wheel unwheeling does not possess and directly applies to the condition that large-tonnage supports field;
2, existing Mecanum wheel unwheeling does not generally possess suspension system, riding comfort is poor, the more important thing is, due to can not for each Mecanum wheel provide preset thrust with ensure each wheel all the time with earth surface, cause Mecanum wheel unwheeling in the processes such as climbing, obstacle detouring, there is the risk of uncontrolled movements;
3, in other areas, current employing spring is as the suspension system of buffer element, its spring is generally arranged along short transverse, due to the restriction of overall height, and spring sizes and stroke less, Mecanum wheel unwheeling can not be met under unloaded, full load conditions, all possess the requirement of enough getting over ditch obstacle climbing ability.
Therefore, need to design a kind of suspension fork mechanism, make it not increase the overall height of unwheeling as much as possible, the power transmission between Mecanum wheel and car body and buffering can be realized simultaneously, improve the riding comfort of unwheeling, reduce the risk of uncontrolled movements.
Summary of the invention
The object of the invention is to provide a kind of can not increase overall height as much as possible, can realize the suspension fork mechanism of power transmission and buffering, and correspondingly provides a kind of Mecanum wheel suspended rack assembly with this suspension fork mechanism and a kind of Mecanum wheel unwheeling.
To achieve these goals, the invention provides a kind of suspension fork mechanism, it comprises pedestal, described pedestal is connected with bearing seat rotationally, described bearing seat is connected with horizontally disposed pilot bar rotationally, described pilot bar is movably connected on described pedestal, and on described pilot bar, cover has spring, and the two ends of described spring are connected with described pedestal with described pilot bar respectively.
Preferably, the number of wherein said pilot bar and described spring can be two.
Preferably, wherein said pedestal can comprise pilot bar connecting panel, and described pilot bar connecting panel is provided with pilot bar connecting bore, and described pilot bar is located in described pilot bar connecting bore and also can swings in described pilot bar connecting bore.
Further, the diameter of wherein said pilot bar connecting bore can diminish to the middle part of described pilot bar connecting bore gradually from the two ends of described pilot bar connecting bore.
Further, wherein fitting can be provided with on described pilot bar, the two ends of described spring offset with described fitting and described pilot bar connecting panel respectively, and described pilot bar is also provided with limiting component, and described pilot bar connecting panel is between described spring and described limiting component.
Further, wherein said limiting component can comprise the nut be threaded on described pilot bar.
Further, the number of wherein said nut can be two.
Preferably, wherein said pedestal can comprise two side plates, described pilot bar and described spring are between described two side plates, described side plate is provided with bearing seat engaging lug, described bearing seat is provided with pedestal engaging lug and pilot bar engaging lug, described pedestal engaging lug by bearing pin and described bearing seat engaging lug hinged, described pilot bar engaging lug by bearing pin and described pilot bar hinged.
Present invention also offers a kind of Mecanum wheel suspended rack assembly, it comprises arbitrary above-mentioned suspension fork mechanism, is provided with rotating shaft, described rotating shaft is connected with Mecanum wheel and motor in the described bearing seat of described suspension fork mechanism.
Present invention also offers a kind of Mecanum wheel unwheeling, it comprises multiple Mecanum wheel suspended rack assembly described above, and the described pedestal of described Mecanum wheel suspended rack assembly is fixed on vehicle frame.
The main beneficial effect of above-mentioned suspension fork mechanism provided by the invention is, it have employed two kinds of connection structures between bearing seat and pedestal, the first connection structure makes bearing seat can rotate relative to pedestal, the second connection structure makes when bearing seat rotates relative to pedestal, and the elastic force of spring can indirectly realize power transmission and buffering between bearing seat and pedestal.In addition because spring horizontal is arranged, therefore this height shared by suspension fork mechanism in the vertical direction is less, can reduce the height of unwheeling as much as possible.
In addition, above-mentioned Mecanum wheel suspended rack assembly provided by the invention and above-mentioned Mecanum wheel unwheeling, it can accept the above-mentioned advantage of suspension fork mechanism of the present invention, the height of unwheeling can be reduced as much as possible, improve the riding comfort of unwheeling simultaneously, and can be wheel in moving process pre-controlling push-force is provided, ensure that it is kept in touch with ground all the time when Yue Gou, obstacle detouring, avoid uncontrolled movements.
Accompanying drawing explanation
Fig. 1 is the schematic perspective view of the Mecanum wheel suspended rack assembly with suspension fork mechanism of the present invention;
Fig. 2 is the right elevation of Fig. 1;
Fig. 3 is the partial enlarged drawing in Fig. 2 in a-quadrant;
Fig. 4 is the front view of Fig. 1;
Fig. 5 is the birds-eye view of Fig. 1;
Fig. 6 is the more ditch obstacle detouring principle schematic of suspension fork mechanism of the present invention.
Drawing reference numeral illustrates:
1-pedestal; 11-pilot bar connecting panel; 111-pilot bar connecting bore; 12-side plate; 121-bearing seat engaging lug; 13-frame connecting plate; 2-bearing seat; 21-pedestal engaging lug; 22-pilot bar engaging lug; 3-pilot bar; 31-fitting; 32-limiting component; 321-nut; 322-packing ring; 4-spring; 5-Mecanum wheel; 6-motor; 7-vehicle frame; 8-ground.
Detailed description of the invention
Be described in detail below in conjunction with the embodiment of accompanying drawing to suspension fork mechanism of the present invention, Mecanum wheel suspended rack assembly and Mecanum wheel unwheeling.
As shown in Figures 1 to 5, the embodiment of suspension fork mechanism of the present invention, it comprises pedestal 1, pedestal 1 is connected with bearing seat 2 rotationally, bearing seat 2 is connected with horizontally disposed pilot bar 3 rotationally, pilot bar 3 is movably connected on pedestal 1, and on pilot bar 3, cover has spring 4, and the two ends of spring 4 are connected with pedestal 1 with pilot bar 3 respectively.
The embodiment of suspension fork mechanism of the present invention, it have employed two kinds of connection structures between bearing seat 2 and pedestal 1, one is that bearing seat 2 is connected rotationally with pedestal 1, another kind is that bearing seat 2 is connected with pedestal 1 with spring 4 indirectly by pilot bar 3, the first connection structure makes bearing seat 2 can rotate relative to pedestal 1, the second connection structure makes when bearing seat 2 rotates relative to pedestal 1, the elastic force of spring 4 can indirectly realize power transmission and buffering between bearing seat 2 and pedestal 1, therefore the unwheeling that have employed this suspension fork mechanism can improve riding comfort, and can be wheel in moving process pre-controlling push-force is provided, ensure that it is at Yue Gou, all the time keep in touch with ground during obstacle detouring, avoid uncontrolled movements.Because pilot bar 3 is horizontally disposed with, therefore spring 4 is also that level and non-vertical are arranged, so this height shared by suspension fork mechanism in the vertical direction is less, can reduces the height of unwheeling as much as possible, make unwheeling meet overall height restriction.
When using the present embodiment, can utilize bearing seat 2 that Mecanum wheel 5 is installed, and pedestal 1 is fixed on the vehicle frame 7 of unwheeling.For ease of understanding, further the principle of work of suspension fork mechanism of the present invention is described at this, as shown in Figure 6, its more ditch obstacle detouring principle schematic being suspension fork mechanism of the present invention, explanation according to above: bearing seat 2 can rotate relative to pedestal 1, therefore, when Mecanum wheel 5 is walked on ground 8, Mecanum wheel 5 also can swing relative to vehicle frame 7; And spring 4 can between bearing seat 2 and pedestal 1 power transmission and buffering, therefore spring 4 also can power transmission and buffering between Mecanum wheel 5 and vehicle frame 7 indirectly.So, be no matter when more ditch, or when obstacle detouring, spring 4 all can provide pre-controlling push-force for Mecanum wheel 5, Mecanum wheel 5 be remained and to contact with ground 8, improve with this ride comfort that unwheeling travels, avoid uncontrolled movements.
Further, in the present embodiment, the number of pilot bar 3 and spring 4 is two, this sample embodiment in fact just have employed two-man act structure in parallel, compare and adopt single spring 4, two-man act structure in parallel can reduce the performance requriements to spring 4, the structure of whole suspension fork mechanism can be made compacter simultaneously, and this structure is applicable to support large-tonnage product.Because the quality of unwheeling under zero load, fully laden exists certain difference, therefore for large-tonnage unwheeling, make that unwheeling is unloaded, fully laden all has and enough get over ditch obstacle climbing ability, then must ensure that the forced stroke of spring 4 is enough large, unloaded to the whole states in full-load range to cover, adopt two-man act structure in parallel more easily to meet the performance requriements of large-tonnage unwheeling to spring.For the Mecanum wheel unwheeling of certain large tonnage product, known unwheeling empty mass is 2.2t, fully loaded quality is 4.2t (wherein the quality of product to be lifted is 2t), charter requires that Mecanum wheel unwheeling need possess ± more ditch the obstacle climbing ability of 10mm, in conjunction with the size that structure and the specific design of the present embodiment go out, through calculating, spring all needs to possess and is no less than ± the stroke of 10.4mm under unloaded, fully laden, by design calculation, the forced stroke that contriver chooses spring 4 is 30mm.In the unloaded state, the application force of single spring 4 is F
min=2750N, amount of compression is f
min≈ 11.3mm, now spring 4 possesses the flexible ability being not less than 11.3mm (light condition spring load is to drift), is greater than required 10.4mm, therefore, time unloaded suspension fork mechanism possess ± 10mm gets over ditch obstacle climbing ability; In a fully loaded state, the application force of single spring 4 is F
max=9500N, amount of compression is f
n≈ 40.3mm, now spring 4 possesses the flexible ability being not less than 16.1mm (fully laden spring load is to strength limit), and be greater than required 10.4mm, therefore, at full load suspension fork mechanism possesses ± 10mm obstacle climbing ability.
Be movably connected on pedestal 1 to make pilot bar 3, particularly, in the present embodiment, pedestal 1 comprises pilot bar connecting panel 11, pilot bar connecting panel 11 is provided with pilot bar connecting bore 111, pilot bar 3 to be located in pilot bar connecting bore 111 and can to swing in pilot bar connecting bore 111, and this structure that can realize movable connection of need punch on pedestal 1 is very simple, is easy to manufacture and assembles.The shape of pilot bar connecting bore 111 meets makes pilot bar 3 can swing in pilot bar connecting bore 111, like this when the length of spring 4 changes, pilot bar 3 not only can be retreated in pilot bar connecting bore 111, and pilot bar 3 can also rotate to avoid structure clamping stagnation around the contact point of itself and pilot bar connecting bore 111.Preferably, in the present embodiment, the two ends of the diameter self-steering lever attachment hole 111 of pilot bar connecting bore 111 diminish gradually to the middle part of guiding lever attachment hole 111 (wall surface of the hole that can be understood as pilot bar connecting bore 111 is not the face of cylinder, but the convex curved surface to hole central axis).It is worth mentioning that, pilot bar connecting bore 111 in the present embodiment is a kind of preferred movable connection modes, except the connection structure shown in figure, other not shown structures can also be adopted to be connected to realize between pilot bar 3 with pedestal 1 movable, such as, an oscillating bearing can be connected on pedestal 1, pilot bar 3 is made to be located in this oscillating bearing, so also can realize when pilot bar 3 retreat in oscillating bearing flexible while, pilot bar 3 also can swing relative to pedestal 1.
Particularly, in the present embodiment, pilot bar 3 is provided with fitting 31, the two ends of spring 4 offset with fitting 31 and pilot bar connecting panel 11 respectively, pilot bar 3 is also provided with limiting component 32, pilot bar connecting panel 11 is between spring 4 and limiting component 32, such limiting component 32 can play the effect preventing pilot bar 3 from coming off out from pilot bar connecting panel 11, and the spring 4 in the present embodiment is actually Compress Spring, the two ends of Compress Spring only need to offset with object and can realize it and " be connected " and act on, the structure that the present embodiment utilizes spring 4 two ends directly to offset with fitting 31 and pilot bar connecting panel 11 respectively realizes power transmission and the buffering of spring 4, compare and adopt extension spring, the structure of the present embodiment and fitting process are also simpler.Particularly, fitting 31 can be the annular slab be structure as a whole with pilot bar 3, also can be welded on the block on pilot bar 3, or be threaded in the nut etc. on pilot bar 3, and limiting component 32 also can adopt structure same or analogous with fitting 31.
Preferably, in the present embodiment, limiting component 32 comprises the nut 321 be threaded on pilot bar 3, here adopt nut 321 as limiting component, the predetermincd tension of spring 4 can be adjusted by the position of setting nut 321 on pilot bar 3, make spring 4 reach the Pre strained state of regulation, be convenient to assembling and the debugging of suspension fork mechanism of the present invention.Further, the number of nut 321 is preferably two, here double nuts structure is adopted can to reach the technique effect preventing nut 321 from loosening, if the nut 321 being positioned at inner side in two nuts 321 is called " inner nut ", the nut 321 being positioned at outside is called " outer nut ", then when assembling, first can screw inner nut, spring 4 is made to reach the Pre strained state of regulation, then tightening outer nut makes it be adjacent to inner nut, by controlling inner nut, the screw-down torque of outer nut is (if the screw-down torque arranging inner nut is 150N ﹒ m, the screw-down torque of outer nut is 200N ﹒ m), it is made to possess the anti-loose ability in Transport Vibration environment.In order to coordinate with nut 321, further, limiting component 32 can also comprise packing ring 322, and packing ring 322 is between pilot bar connecting panel 11 and nut 321.
In order to realize being rotatably connected between bearing seat 2 and pedestal 1 and pilot bar 3, in the present embodiment, pedestal 1 comprises two side plates 12, pilot bar 3 and spring 4 are between two side plates 12, side plate 12 is provided with bearing seat engaging lug 121, bearing seat 2 is provided with pedestal engaging lug 21 and pilot bar engaging lug 22, pedestal engaging lug 21 by bearing pin and bearing seat engaging lug 121 hinged, pilot bar engaging lug 22 by bearing pin and pilot bar 3 hinged, here in by two side plates 12 pilot bar 3 and spring 4 being enclosed in, make the compact conformation of suspension fork mechanism, realize being rotationally connected by each engaging lug and bearing pin, structure is simple.For the ease of being fixed on vehicle frame 7 by pedestal 1, as shown in Figure 2, particularly, pedestal 1 can comprise frame connecting plate 13, and frame connecting plate 13 is provided with bolt hole, and bolt can be utilized like this to be fixed on vehicle frame 7 by frame connecting plate 13.
The suspended rack assembly that the above embodiment of the present invention provides possesses independently function; therefore it can carry out production and selling as independent product; in addition; it also can be assembled into Mecanum wheel suspended rack assembly or Mecanum wheel unwheeling with the miscellaneous part in Mecanum wheel and unwheeling, therefore the present invention's also claimed corresponding Mecanum wheel suspended rack assembly and Mecanum wheel unwheeling.Particularly, for Mecanum wheel suspended rack assembly, it comprises the suspension fork mechanism of arbitrary above-described embodiment, is provided with rotating shaft (not marking in figure) in the bearing seat 2 of suspension fork mechanism, and rotating shaft is connected with Mecanum wheel 5 and motor 6.For Mecanum wheel unwheeling, it comprises multiple aforesaid Mecanum wheel suspended rack assembly, and the pedestal 1 of Mecanum wheel suspended rack assembly is fixed on vehicle frame 7.
Further the fitting process that Mecanum wheel unwheeling of the present invention relates to is illustrated below.
When assembling Mecanum wheel unwheeling of the present invention, can first two springs 4 be enclosed within two pilot bars 3 respectively, then pilot bar 3 is penetrated in the pilot bar connecting bore 111 on the pilot bar connecting panel 11 of pedestal 1, pad upper gasket 322, by tightening two nuts 321, spring 4 being arranged on pedestal 1, forming the basic structure of dual spring in parallel;
Then the frame connecting plate 13 on pedestal 1 is bolted the bottom of vehicle frame 7, Mecanum wheel 5, motor 6 etc. are installed on bearing seat 2, again two of bearing seat 2 pedestal engaging lugs 21 are passed through pinned connection with the bearing seat engaging lug 121 on two side plates 12 of pedestal 1 respectively, finally two of bearing seat 2 pilot bar engaging lugs 22 are passed through pinned connection with two pilot bars 3 respectively, namely complete the installation of the single suspension fork mechanism of Mecanum wheel unwheeling.
Suspension fork mechanism of the present invention belongs to independent suspension system, for the unwheeling having multiple Mecanum wheel 5, only needs to be installed by each suspension fork mechanism respectively.When using unwheeling, unwheeling directly being placed and being light condition on the ground, being loaded into by product in unwheeling and being fully laden, suspension fork mechanism is installing and after being adjusted to Pre strained state, automatically can adapt to the change of empty fully laden.Mecanum wheel 5 is driven to rotate by motor 6, the Omni-mobile function of Mecanum wheel unwheeling can be realized, there is provided pre-controlling push-force by suspension fork mechanism for each Mecanum wheel 5 in moving process, ensure that it is kept in touch with ground all the time when Yue Gou, obstacle detouring, avoid uncontrolled movements.
In sum, technique scheme provided by the invention at least possesses following characteristics:
1, adopt the double-spring structure in parallel of horizontal arrangement, realize power transmission and buffering between Mecanum wheel and car body, overall height size can be reduced simultaneously.
2, designed by spring travel, make unwheeling within the scope of zero load to fully laden, all possess enough more ditch obstacle climbing abilities.
3, by adopting double nuts to be connected and fixed mode, make unwheeling easy and simple to handle when regulating spring predetermincd tension, reliably locking when transporting.
The above; be only the specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; change can be expected easily or replace, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of described claim.
Claims (10)
1. a suspension fork mechanism, it is characterized in that, comprise pedestal (1), described pedestal (1) is connected with bearing seat (2) rotationally, described bearing seat (2) is connected with horizontally disposed pilot bar (3) rotationally, described pilot bar (3) is movably connected on described pedestal (1), have spring (4) at the upper cover of described pilot bar (3), the two ends of described spring (4) are connected with described pedestal (1) with described pilot bar (3) respectively.
2. suspension fork mechanism according to claim 1, is characterized in that, the number of described pilot bar (3) and described spring (4) is two.
3. suspension fork mechanism according to claim 1, it is characterized in that, described pedestal (1) comprises pilot bar connecting panel (11), described pilot bar connecting panel (11) is provided with pilot bar connecting bore (111), and described pilot bar (3) is located in described pilot bar connecting bore (111) and also can swings in described pilot bar connecting bore (111).
4. suspension fork mechanism according to claim 3, it is characterized in that, the diameter of described pilot bar connecting bore (111) diminishes to the middle part of described pilot bar connecting bore (111) gradually from the two ends of described pilot bar connecting bore (111).
5. suspension fork mechanism according to claim 3, it is characterized in that, described pilot bar (3) is provided with fitting (31), the two ends of described spring (4) offset with described fitting (31) and described pilot bar connecting panel (11) respectively, described pilot bar (3) is also provided with limiting component (32), and described pilot bar connecting panel (11) is positioned between described spring (4) and described limiting component (32).
6. suspension fork mechanism according to claim 5, is characterized in that, described limiting component (32) comprises the nut (321) be threaded on described pilot bar (3).
7. suspension fork mechanism according to claim 6, is characterized in that, the number of described nut (321) is two.
8. the suspension fork mechanism according to claim arbitrary in claim 1 to 7, it is characterized in that, described pedestal (1) comprises two side plates (12), described pilot bar (3) and described spring (4) are positioned between described two side plates (12), described side plate (12) is provided with bearing seat engaging lug (121), described bearing seat (2) is provided with pedestal engaging lug (21) and pilot bar engaging lug (22), described pedestal engaging lug (21) by bearing pin and described bearing seat engaging lug (121) hinged, described pilot bar engaging lug (22) by bearing pin and described pilot bar (3) hinged.
9. a Mecanum wheel suspended rack assembly, it is characterized in that, comprise the suspension fork mechanism described in arbitrary claim in claim 1 to 8, in the described bearing seat (2) of described suspension fork mechanism, rotating shaft is installed, described rotating shaft is connected with Mecanum wheel (5) and motor (6).
10. a Mecanum wheel unwheeling, is characterized in that, comprises multiple Mecanum wheel suspended rack assembly as claimed in claim 9, and the described pedestal (1) of described Mecanum wheel suspended rack assembly is fixed on vehicle frame (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510563268.0A CN105252985B (en) | 2015-09-07 | 2015-09-07 | Suspension fork mechanism, Mecanum wheel suspended rack assembly and Mecanum wheel unwheeling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510563268.0A CN105252985B (en) | 2015-09-07 | 2015-09-07 | Suspension fork mechanism, Mecanum wheel suspended rack assembly and Mecanum wheel unwheeling |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105252985A true CN105252985A (en) | 2016-01-20 |
| CN105252985B CN105252985B (en) | 2018-02-09 |
Family
ID=55093047
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510563268.0A Active CN105252985B (en) | 2015-09-07 | 2015-09-07 | Suspension fork mechanism, Mecanum wheel suspended rack assembly and Mecanum wheel unwheeling |
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|---|---|---|---|---|
| US5108126A (en) * | 1990-09-17 | 1992-04-28 | Banse Robert J | Wheel suspension assembly |
| WO2001079007A1 (en) * | 2000-04-14 | 2001-10-25 | Airtrax Corporation | Low vibration omni-directional wheel |
| CN102616103A (en) * | 2012-04-23 | 2012-08-01 | 扬州万方电子技术有限责任公司 | Mecanum wheel omnidirectional mobile vehicle and working method thereof |
| CN102328561B (en) * | 2011-08-03 | 2013-05-15 | 湖北三江航天万山特种车辆有限公司 | Double-damping single trailing arm independent suspension |
| CN203766428U (en) * | 2014-02-13 | 2014-08-13 | 杭叉集团股份有限公司 | Auxiliary wheel damping mechanism for pallet truck |
| CN204164474U (en) * | 2014-10-01 | 2015-02-18 | 中国石油化工股份有限公司 | Separator float liquid level controlling mechanism damping device |
| CN204263868U (en) * | 2014-11-26 | 2015-04-15 | 广西森宝电动汽车制造有限公司 | Horizontal independent suspension device |
| CN104875575A (en) * | 2014-03-19 | 2015-09-02 | 上海瀚创机器人技术有限公司 | Independent suspension support mechanism of AGV (automatic guided vehicle) with Mecanum wheels |
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2015
- 2015-09-07 CN CN201510563268.0A patent/CN105252985B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5108126A (en) * | 1990-09-17 | 1992-04-28 | Banse Robert J | Wheel suspension assembly |
| WO2001079007A1 (en) * | 2000-04-14 | 2001-10-25 | Airtrax Corporation | Low vibration omni-directional wheel |
| CN102328561B (en) * | 2011-08-03 | 2013-05-15 | 湖北三江航天万山特种车辆有限公司 | Double-damping single trailing arm independent suspension |
| CN102616103A (en) * | 2012-04-23 | 2012-08-01 | 扬州万方电子技术有限责任公司 | Mecanum wheel omnidirectional mobile vehicle and working method thereof |
| CN203766428U (en) * | 2014-02-13 | 2014-08-13 | 杭叉集团股份有限公司 | Auxiliary wheel damping mechanism for pallet truck |
| CN104875575A (en) * | 2014-03-19 | 2015-09-02 | 上海瀚创机器人技术有限公司 | Independent suspension support mechanism of AGV (automatic guided vehicle) with Mecanum wheels |
| CN204164474U (en) * | 2014-10-01 | 2015-02-18 | 中国石油化工股份有限公司 | Separator float liquid level controlling mechanism damping device |
| CN204263868U (en) * | 2014-11-26 | 2015-04-15 | 广西森宝电动汽车制造有限公司 | Horizontal independent suspension device |
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| CN105252985B (en) | 2018-02-09 |
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