CN105252985B - Suspension fork mechanism, Mecanum wheel suspended rack assembly and Mecanum wheel unwheeling - Google Patents
Suspension fork mechanism, Mecanum wheel suspended rack assembly and Mecanum wheel unwheeling Download PDFInfo
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- CN105252985B CN105252985B CN201510563268.0A CN201510563268A CN105252985B CN 105252985 B CN105252985 B CN 105252985B CN 201510563268 A CN201510563268 A CN 201510563268A CN 105252985 B CN105252985 B CN 105252985B
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Abstract
The invention provides a kind of suspension fork mechanism, Mecanum wheel suspended rack assembly and Mecanum wheel unwheeling.Suspension fork mechanism provided by the invention, it includes pedestal (1), bearing block (2) has been rotatably coupled on the pedestal (1), horizontally disposed guide rod (3) has been rotatably coupled on the bearing block (2), the guide rod (3) is movably connected on the pedestal (1), spring (4) is cased with the guide rod (3), the both ends of the spring (4) are connected with the guide rod (3) and the pedestal (1) respectively.Suspension fork mechanism provided by the invention can reduce the height of unwheeling as much as possible, can be relatively rotated between bearing block and pedestal, while spring can power transmission and buffering indirectly between bearing block and pedestal.
Description
Technical field
The present invention relates to suspension and unwheeling, more particularly to employ unwheeling and its suspension of Mecanum wheel.
Background technology
, it is necessary to using unwheeling during being lifted to some products, support, transport, dock.Unwheeling needs to have
Enough stiffnesses, to ensure that product can be parked reliably and securely when parking.In addition, in order to be transported through to product, frame
Car is also required to possess certain locomotivity, and particularly in the case of transhipment hall space size is less, unwheeling needs to have
3 frees degree in plane, i.e., in the case where not changing itself pose, moved on any direction that unwheeling can be planar
It is dynamic, including move forward and backward, move left and right and rotate in place motion, that is, possess " Omni-mobile " ability.In order to realize the complete of unwheeling
To movement, current one shared two ways：A kind of is that the mechanical structure for being aided with particular design using common wheel is realized, which
The shortcomings that be, unwheeling needed when doing discontinuous curvilinear motion stop and redirect, it is cumbersome time-consuming；It is another then be profit
Realized with special wheel, common are both at home and abroad at present Mecanum wheel (mecanum wheel), ball wheel, continuous switching wheel and
Orthogonal train etc., wherein, Mecanum wheel is due to technology maturation, bearing capacity is strong, control is simpler, its practical and commercialization journey
Degree is higher.
If unwheeling uses Mecanum wheel, Omni-mobile function can be realized, but inventor has found current the type
Some problem below unwheeling generally existing：
1st, the main application of current Mecanum wheel includes civilian fork truck and wheelchair, and what they were carried is all small tonnage
Object, due to the limitation of product structure size and load, existing Mecanum wheel unwheeling, which does not possess, directly applies to large-tonnage
The condition in support field；
2nd, existing Mecanum wheel unwheeling does not possess suspension system typically, and ride performance is poor, it is often more important that, due to
Preset thrust can not be provided for each Mecanum wheel to ensure that each wheel contacts with ground all the time, causes Mecanum wheel carrier
The risk of uncontrolled movements during climbing, obstacle detouring etc. be present in car；
3rd, in other areas, suspension system of the spring as buffer element is used at present, its spring is typically along height side
To arrangement, due to the limitation of overall height, and spring sizes and stroke are smaller, it is impossible to meet Mecanum wheel unwheeling unloaded, full
The more requirement of ditch obstacle climbing ability enough is provided with the case of load.
Therefore, it is necessary to design a kind of suspension fork mechanism, it is made not increase the overall height of unwheeling as much as possible, while Mike can be realized
Na Mu takes turns the power transmission and buffering between car body, improves the ride performance of unwheeling, reduces the risk of uncontrolled movements.
The content of the invention
Present invention aims at provide a kind of suspension machine that can not increase overall height as much as possible, power transmission and buffering can be achieved
Structure, and a kind of Mecanum wheel suspended rack assembly with the suspension fork mechanism and a kind of Mecanum wheel unwheeling are correspondingly provided.
To achieve these goals, the invention provides a kind of suspension fork mechanism, it includes pedestal, can turn on the pedestal
Bearing block is connected with dynamicly, horizontally disposed guide rod has been rotatably coupled on the bearing block, and the guide rod can live
Be connected to dynamicly on the pedestal, be cased with spring on the guide rod, the both ends of the spring respectively with the guide rod and
The pedestal is connected.
Preferably, wherein the number of the guide rod and the spring can be two.
Preferably, wherein the pedestal can include guide rod connecting plate, it is provided with and is oriented on the guide rod connecting plate
Lever attachment hole, the guide rod are located in the guiding lever attachment hole and can swung in the guiding lever attachment hole.
Further, wherein the diameter of the guide rod connecting hole can be from the both ends of the guiding lever attachment hole to described
It is oriented in the middle part of lever attachment hole and tapers into.
Further, wherein can be provided with fitting on the guide rod, the both ends of the spring are supported with described respectively
Fitting and the guide rod connecting plate are offseted, and limiting component is additionally provided with the guide rod, and the guide rod connecting plate is located at
Between the spring and the limiting component.
Further, wherein the limiting component can include the nut being threaded on the guide rod.
Further, wherein the number of the nut can be two.
Preferably, wherein the pedestal can include two side plates, the guide rod and the spring positioned at described two
Between side plate, bearing block engaging lug is provided with the side plate, pedestal engaging lug is provided with the bearing block and guide rod connects
Lug, the pedestal engaging lug are hinged by bearing pin and the bearing block engaging lug, the guide rod engaging lug by bearing pin with
The guide rod is hinged.
Present invention also offers a kind of Mecanum wheel suspended rack assembly, and it includes any above-mentioned suspension fork mechanism, described
Rotating shaft is installed in the bearing block of suspension fork mechanism, Mecanum wheel and motor are connected with the rotating shaft.
Present invention also offers a kind of Mecanum wheel unwheeling, and it includes multiple Mecanum wheel suspension groups described above
Part, the pedestal of described Mecanum wheel suspended rack assembly are fixed on vehicle frame.
The main beneficial effect of above-mentioned suspension fork mechanism provided by the invention is that it is employed between bearing block and pedestal
Two kinds of attachment structures, the first attachment structure allow bearing block to be rotated relative to pedestal, and second of attachment structure to work as axle
When bearing rotates relative to pedestal, the elastic force of spring can realize power transmission and buffering indirectly between bearing block and pedestal.In addition
Because spring horizontal is set, therefore the height shared by the suspension fork mechanism in the vertical direction is smaller, can reduce frame as much as possible
The height of car.
In addition, above-mentioned Mecanum wheel suspended rack assembly provided by the invention and above-mentioned Mecanum wheel unwheeling, it can hold
The above-mentioned advantage of suspension fork mechanism of the present invention is connect, the height of unwheeling can be reduced as much as possible, while improves the ride performance of unwheeling,
And pre- controlling push-force can be provided in moving process for wheel, ensure that it keeps contacting with ground all the time in Yue Gou, obstacle detouring, avoid transporting
It is dynamic out of control.
Brief description of the drawings
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 Fig. 1 right view；
Fig. 3 is the partial enlarged drawing in a-quadrant in Fig. 2；
Fig. 4 is Fig. 1 front view；
Fig. 5 is Fig. 1 top view；
Fig. 6 is the more ditch obstacle detouring principle schematic of suspension fork mechanism of the present invention.
Drawing reference numeral explanation：
1- pedestals；11- guide rod connecting plates；111- is oriented to lever attachment hole；12- side plates；121- bearing block engaging lugs；13-
Frame connecting plate；2- bearing blocks；21- pedestal engaging lugs；22- guide rod engaging lugs；3- guide rods；31- fittings；32- is spacing
Part；321- nuts；322- packing rings；4- springs；5- Mecanum wheels；6- motors；7- vehicle frames；8- ground.
Embodiment
Below in conjunction with the accompanying drawings to the implementation of suspension fork mechanism of the present invention, Mecanum wheel suspended rack assembly and Mecanum wheel unwheeling
Example is described in detail.
As shown in Figures 1 to 5, the embodiment of suspension fork mechanism of the present invention, it includes pedestal 1, rotationally connects on pedestal 1
Bearing block 2 is connected to, horizontally disposed guide rod 3 has been rotatably coupled on bearing block 2, guide rod 3 is movably connected
On pedestal 1, spring 4 is cased with guide rod 3, the both ends of spring 4 are connected with guide rod 3 and pedestal 1 respectively.
The embodiment of suspension fork mechanism of the present invention, it employs two kinds of attachment structures between bearing block 2 and pedestal 1, a kind of
It is that bearing block 2 is rotatably coupled with pedestal 1, another kind is that bearing block 2 is connected indirectly by guide rod 3 and spring 4 with pedestal 1
Connect, the first attachment structure allows bearing block 2 to be rotated relative to pedestal 1, and second of attachment structure causes when bearing block 2 is relative
When pedestal 1 rotates, the elastic force of spring 4 can realize power transmission and buffering indirectly between bearing block 2 and pedestal 1, therefore use
The unwheeling of this suspension fork mechanism can improve ride performance, and can provide pre- controlling push-force in moving process for wheel, ensure it
Keep contacting with ground all the time in Yue Gou, obstacle detouring, avoid uncontrolled movements.Because guide rod 3 is horizontally disposed, therefore spring 4
It is horizontal rather than be vertically arranged, so the height shared by the suspension fork mechanism in the vertical direction is smaller, can drop as much as possible
The height of deep loading vehicle so that unwheeling meets overall height limitation.
When using the present embodiment, Mecanum wheel 5 is installed using bearing block 2, and pedestal 1 is fixed to the car of unwheeling
On frame 7.For ease of understanding, further the operation principle of suspension fork mechanism of the present invention is illustrated herein, as shown in fig. 6, it is
The more ditch obstacle detouring principle schematic of suspension fork mechanism of the present invention, it can be seen from explanation above：Bearing block 2 can be 1 turn relative to pedestal
It is dynamic, therefore when Mecanum wheel 5 is being walked on ground 8, Mecanum wheel 5 can also be swung relative to vehicle frame 7；And spring 4
Meeting power transmission and buffering between bearing block 2 and pedestal 1, therefore spring 4 also can be indirectly between Mecanum wheel 5 and vehicle frame 7
Power transmission and buffering.So either in more ditch, or in obstacle detouring, spring 4 can provide prefabricated for Mecanum wheel 5
Thrust, remain Mecanum wheel 5 and contacted with ground 8, the ride comfort of unwheeling traveling is improved with this, avoid motion from losing
Control.
Further, in the present embodiment, the number of guide rod 3 and spring 4 is two, and this sample embodiment is actually
Two-man act structure in parallel is just employed, compared to single spring 4 is used, two-man act structure in parallel can reduce the performance requirement to spring 4,
Simultaneously the structure of whole suspension fork mechanism can be made compacter, this structure is applied to the product of support large-tonnage.Because unwheeling exists
There is certain difference in the quality under unloaded, full load condition, therefore for the unwheeling of large-tonnage, to make unwheeling zero load, full load condition
It is respectively provided with and gets over ditch obstacle climbing ability enough, then must assure that the impulse stroke of spring 4 is sufficiently large, with covering zero load to full-load range
Whole states, be more easy to meet performance requirement of the large-tonnage unwheeling to spring using two-man act structure in parallel.With certain large tonnage product
Mecanum wheel unwheeling exemplified by, it is known that unwheeling empty mass is 2.2t, be fully loaded with quality be the 4.2t (matter of product wherein to be lifted
Measure as 2t), charter requires that Mecanum wheel unwheeling need to possess ± 10mm more ditch obstacle climbing ability, with reference to the structure of the present embodiment
The size gone out with specific design, by calculating, spring is required to possess stretching no less than ± 10.4mm under unloaded, full load condition
Contracting amount, calculated by designing, the impulse stroke that inventor chooses spring 4 is 30mm.In the unloaded state, the work of single spring 4
It is firmly Fmin=2750N, decrement fmin≈ 11.3mm, now spring 4, which possesses to stretch, is not less than 11.3mm (Light Condition bullets
Spring load is to drift) ability, more than required 10.4mm, therefore, suspension fork mechanism possesses ± 10mm more ditches more when unloaded
Barrier ability；In a fully loaded state, the active force of single spring 4 is Fmax=9500N, decrement fn≈ 40.3mm, now spring
4 possess the flexible ability not less than 16.1mm (full load condition spring load to strength degree), more than required 10.4mm, because
This, full load suspension fork mechanism possesses ± 10mm obstacle climbing abilities.
In order that guide rod 3 is movably connected on pedestal 1, specifically, in the present embodiment, pedestal 1 includes being oriented to
Bar connecting plate 11, it is provided with guide rod connecting plate 11 and is oriented to lever attachment hole 111, guide rod 3, which is located in, is oriented to lever attachment hole 111
In and can be swung in lever attachment hole 111 is oriented to, this need to be punched on pedestal 1 i.e. can be achieved movable connection structure ten
Divide simple, easily fabricated and assembling.The shape for being oriented to lever attachment hole 111 meets to make guide rod 3 can be in lever attachment hole 111 is oriented to
Swing, so when the length of spring 4 changes, guide rod 3 can not only retreat in lever attachment hole 111 is oriented to,
And guide rod 3 can also be rotated to avoid structure clamping stagnation around it with being oriented to the contact point of lever attachment hole 111.Preferably, this reality
Apply in example, be oriented to lever attachment hole 111 diameter self- steering lever attachment hole 111 both ends to be oriented to lever attachment hole 111 middle part by
Gradual change is small (wall surface of the hole that can be understood as being oriented to lever attachment hole 111 is not the face of cylinder, but is convex to the curved surface of hole central axis).
It is noted that the guiding lever attachment hole 111 in the present embodiment is a kind of preferable movable connected mode, except institute in figure
Outside the attachment structure shown, living between guide rod 3 and pedestal 1 can also be realized using the other structures not shown in figure
Dynamic connection, for example, an oscillating bearing can be connected on pedestal 1, makes guide rod 3 be located in the oscillating bearing, so
It can realize that guide rod 3 can also be swung relative to pedestal 1 while guide rod 3 retreats flexible in oscillating bearing.
Specifically, in the present embodiment, be provided with fitting 31 on guide rod 3, the both ends of spring 4 respectively with fitting 31
Offseted with guide rod connecting plate 11, limiting component 32 is additionally provided with guide rod 3, guide rod connecting plate 11 is located at spring 4 and limit
Between the part 32 of position, such limiting component 32 can play the effect for preventing that guide rod 3 is backing out from guide rod connecting plate 11,
And the spring 4 in the present embodiment is actually compression spring, the both ends of compression spring, which only need to offset with object, can be achieved
Its " connection " acts on, the knot that the present embodiment is directly offseted with fitting 31 and guide rod connecting plate 11 respectively using the both ends of spring 4
Structure realizes power transmission and the buffering of spring 4, and compared to using for extension spring, the structure and assembling process of the present embodiment are also simpler
It is single.Specifically, fitting 31 can be the annular slab being structure as a whole with guide rod 3 or be welded on guide rod 3
Block, or nut being threaded on guide rod 3 etc., and limiting component 32 can also use with fitting 31 it is identical or
Similar structure.
Preferably, in the present embodiment, limiting component 32 includes the nut 321 being threaded on guide rod 3, adopts here
By the use of nut 321 as limiting component, the pretightning force of spring 4 can be adjusted by position of the adjusting nut 321 on guide rod 3,
So that spring 4 reaches defined Pre strained state, it is easy to the assembling and debugging of suspension fork mechanism of the present invention.Further, nut 321
Number is preferably two, can reach the technique effect for preventing that nut 321 from loosening using double nuts structure here, if by two spiral shells
Nut 321 in mother 321 positioned at inner side is referred to as " inner nut ", will be referred to as " outer nut " positioned at the nut 321 in outside, is then assembling
When, inner nut can be first screwed, spring 4 is reached defined Pre strained state, then tightening outer nut makes it be adjacent to inner nut, leads to
Cross control inner nut, outer nut screw-down torque (be 150N ﹒ m as set the screw-down torque of inner nut, the screw-down torque of outer nut
For 200N ﹒ m), it is possessed the anti-loose ability in Transport Vibration environment.It is further, spacing in order to coordinate with nut 321
Part 32 can also include packing ring 322, and packing ring 322 is between guide rod connecting plate 11 and nut 321.
In order to realize being rotatably connected between bearing block 2 and pedestal 1 and guide rod 3, in the present embodiment, pedestal 1 wraps
Two side plates 12, guide rod 3 and spring 4 are included between two side plates 12, bearing block engaging lug 121 is provided with side plate 12,
Pedestal engaging lug 21 and guide rod engaging lug 22 are provided with bearing block 2, pedestal engaging lug 21 is connected by bearing pin with bearing block
Ear 121 is be hinged, and guide rod engaging lug 22 is be hinged by bearing pin and guide rod 3, is directed to bar 3 and bullet by two side plates 12 here
In spring 4 is enclosed in so that suspension fork mechanism it is compact-sized, rotation connection is realized by each engaging lug and bearing pin, it is simple in construction.For
It is easy to pedestal 1 being fixed on vehicle frame 7, as shown in Fig. 2 specifically, pedestal 1 can include frame connecting plate 13, in vehicle frame
Connecting plate 13 is provided with bolt hole, can so utilize bolt that frame connecting plate 13 is fixed on vehicle frame 7.
The suspended rack assembly that the above embodiment of the present invention provides possesses independent function, therefore it can be used as single product
Produced and sold, hanged in addition, it can also be assembled into Mecanum wheel with the miscellaneous part in Mecanum wheel and unwheeling
Frame component or Mecanum wheel unwheeling, therefore corresponding Mecanum wheel suspended rack assembly and Mecanum is also claimed in the present invention
Take turns unwheeling.Specifically, for Mecanum wheel suspended rack assembly, it includes the suspension fork mechanism of any above-described embodiment, in suspension machine
Rotating shaft (not marked in figure) is installed in the bearing block 2 of structure, Mecanum wheel 5 and motor 6 are connected with rotating shaft.For Mike
Na Mu takes turns unwheeling, and it includes multiple foregoing Mecanum wheel suspended rack assemblies, and the pedestal 1 of Mecanum wheel suspended rack assembly is fixed on
On vehicle frame 7.
The assembling process being related to further below to Mecanum wheel unwheeling of the present invention is illustrated.
When assembling Mecanum wheel unwheeling of the present invention, two springs 4 can be respectively fitted over two guide rods 3 first
On, then it is directed to bar 3 and penetrates in the guiding lever attachment hole 111 on the guide rod connecting plate 11 of pedestal 1, pad upper gasket 322, leads to
Cross and tighten two nuts 321 and spring 4 is arranged on pedestal 1, form the basic structure of dual spring in parallel；
Then frame connecting plate 13 on pedestal 1 is bolted to the bottom of vehicle frame 7, by Mecanum wheel 5, electricity
Machine 6 etc. is installed on bearing block 2, then by two pedestal engaging lugs 21 of bearing block 2 respectively with two side plates 12 of pedestal 1
Bearing block engaging lug 121 is connected by bearing pin, finally by two guide rod engaging lugs 22 of bearing block 2 respectively with two guide rods
3 are connected by bearing pin, that is, complete the installation of the single suspension fork mechanism of Mecanum wheel unwheeling.
The suspension fork mechanism of the present invention belongs to independent suspension system, for there is the unwheeling of multiple Mecanum wheels 5, only needs to distinguish
Each suspension fork mechanism is installed.When using unwheeling, it is Light Condition that unwheeling, which is directly placed on ground, will
It is full load condition that product, which is loaded into unwheeling, and suspension fork mechanism is being installed and adjusted to Pre strained state, you can automatic to adapt to
The change of empty full load condition.Mecanum wheel 5 is driven to rotate by motor 6, it is possible to achieve the omnidirectional of Mecanum wheel unwheeling moves
Dynamic function, by suspension fork mechanism it is that each Mecanum wheel 5 provides pre- controlling push-force in moving process, ensures it in Yue Gou, obstacle detouring
All the time keep contacting with ground, avoid uncontrolled movements.
In summary, above-mentioned technical proposal provided by the invention at least possesses following characteristics：
1st, using horizontally disposed double-spring structure in parallel, power transmission and buffering between Mecanum wheel and car body are realized, together
When can reduce overall height size.
2nd, designed by spring travel so that unwheeling is provided with enough more ditch obstacle detourings in the range of zero load to full load condition
Ability.
3rd, it is connected mode by using double nut, makes unwheeling easy to operate when adjusting initial tension of spring, transporting
When it is locking reliable.
The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited thereto, any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all be contained
Cover within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (5)
1. a kind of suspension fork mechanism, it is characterised in that including pedestal (1), bearing block has been rotatably coupled on the pedestal (1)
(2) horizontally disposed guide rod (3), has been rotatably coupled on the bearing block (2), the guide rod (3) is movably
Be connected on the pedestal (1), be cased with spring (4) on the guide rod (3), the both ends of the spring (4) respectively with it is described
Guide rod (3) is connected with the pedestal (1), and the number of the guide rod (3) and the spring (4) is two；
The pedestal (1) includes guide rod connecting plate (11), is provided with the guide rod connecting plate (11) and is oriented to lever attachment hole
(111), the guide rod (3) is located in the guiding lever attachment hole (111) and can be in the guiding lever attachment hole (111)
Swing, the diameter for being oriented to lever attachment hole (111) connects from the both ends of the guiding lever attachment hole (111) to the guide rod
Hole tapers into the middle part of (111), is provided with fitting (31) on the guide rod (3), the both ends of the spring (4) respectively with
The fitting (31) and the guide rod connecting plate (11) are offseted, and limiting component (32) is additionally provided with the guide rod (3),
The guide rod connecting plate (11) is between the spring (4) and the limiting component (32)；
The pedestal (1) includes two side plates (12), and the guide rod (3) and the spring (4) are located at described two side plates
(12) between, bearing block engaging lug (121) is provided with the side plate (12), pedestal is provided with the bearing block (2) and is connected
Ear (21) and guide rod engaging lug (22), the pedestal engaging lug (21) are cut with scissors by bearing pin and the bearing block engaging lug (121)
Connect, the guide rod engaging lug (22) is be hinged by bearing pin and the guide rod (3).
2. suspension fork mechanism according to claim 1, it is characterised in that the limiting component (32) includes being threaded in institute
State the nut (321) on guide rod (3).
3. suspension fork mechanism according to claim 2, it is characterised in that the number of the nut (321) is two.
4. a kind of Mecanum wheel suspended rack assembly, it is characterised in that including described in any claim in claims 1 to 3
Suspension fork mechanism, rotating shaft is installed in the bearing block (2) of the suspension fork mechanism, Mecanum is connected with the rotating shaft
Take turns (5) and motor (6).
5. a kind of Mecanum wheel unwheeling, it is characterised in that including multiple Mecanum wheel suspension groups as claimed in claim 4
Part, the pedestal (1) of described Mecanum wheel suspended rack assembly are 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 |
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| Publication Number | Publication Date |
|---|---|
| CN105252985A CN105252985A (en) | 2016-01-20 |
| CN105252985B true CN105252985B (en) | 2018-02-09 |
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| 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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| Country | Link |
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| CN (1) | CN105252985B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108556580A (en) * | 2018-02-02 | 2018-09-21 | 福建（泉州）哈工大工程技术研究院 | A kind of Mecanum wheel Omni-mobile platform independent suspension structure |
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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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105252985A (en) | 2016-01-20 |
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