CN105644284A - Damping device and carrying trolley using damping device - Google Patents
Damping device and carrying trolley using damping device Download PDFInfo
- Publication number
- CN105644284A CN105644284A CN201610147088.9A CN201610147088A CN105644284A CN 105644284 A CN105644284 A CN 105644284A CN 201610147088 A CN201610147088 A CN 201610147088A CN 105644284 A CN105644284 A CN 105644284A
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- damping device
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- wheel
- spring
- tilting
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- 238000013016 damping Methods 0.000 title claims abstract description 72
- 230000007246 mechanism Effects 0.000 claims abstract description 28
- 230000000694 effects Effects 0.000 abstract description 14
- 230000003139 buffering effect Effects 0.000 abstract description 8
- 241000282472 Canis lupus familiaris Species 0.000 description 25
- 238000010586 diagram Methods 0.000 description 6
- 230000003068 static effect Effects 0.000 description 3
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000005056 compaction Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002459 sustained effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/18—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram
- B60G3/185—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram the arms being essentially parallel to the longitudinal axis of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
- B60G11/14—Resilient suspensions characterised by arrangement, location or kind of springs having helical, spiral or coil springs only
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vibration Prevention Devices (AREA)
Abstract
The invention provides a damping device and a carrying trolley using the damping device. The damping device comprises a supporting device and a trolley supporting frame. The middle portion of the trolley supporting frame is rotationally connected with the supporting device through a connecting piece. The two ends of the trolley supporting frame are connected with the two ends of the supporting device through obliquely-arranged spring mechanisms. The damping device is provided with two obliquely-arranged springs. If the damping device is accelerated or decelerated or tends to stop from motion or tends to motion from stop, under the effect of inertia force, one obliquely-arranged spring releases pressure to be lengthened, and the other obliquely-arranged spring bears pressure to be compressed, so that a carrying table of the carrying trolley provided with the damping device is kept in the horizontal plane all the time, a buffering effect is achieved, and the stability of the carrying trolley provided with the damping device is improved.
Description
Technical field
The present invention relates to robot field, be related specifically to a kind of damping device and use the loading dolly of this damping device.
Background technology
Loading dolly is pursued flexible and efficient constantly, therefore, it is possible to the wheel quickly changing the direction of motion has become emphasis and the focus of present research, is widely used in a variety of applications such as omni-directional wheel and Mecanum wheel etc. and studies.
Although Mecanum wheel is widely used in omnidirectional's intelligent mobile equipment field, but, reason due to Mecanum wheel multiple little rollers distributed about, make the loading dolly stationarity in moving process using Mecanum wheel poor, when encountering rough road surface, even there is the risk that goods comes off or overturns.
Same, loading dolly is when startup, stopping, acceleration or deceleration, and due to inertia, loading dolly has inclination, is also easily caused the risk that goods comes off or overturns.
Summary of the invention
The problem that this invention address that is that in prior art, loading dolly stationarity is poor, it is easy to causes goods to come off or overturns.
For solving the problems referred to above, the present invention provides a kind of damping device, including:
Prop up support arrangement;
Car bracing frame, is rotatably connected with a support arrangement by connector in the middle part of car bracing frame; Car bracing frame two ends are connected with a support arrangement two ends by tilting spring mechanism.
Further, tilting spring mechanism includes:
Tilting fixing body, described tilting fixing body has the angle of the first inclined-plane, described first inclined-plane and horizontal plane more than 0 degree less than 90 degree;
Tilting spring, tilting spring one end and the first inclined-plane are connected, and the other end is connected with support arrangement, the angle of described tilting axle of spring and horizontal plane more than 0 degree less than 90 degree.
Further, on the upside of described support arrangement, two ends are provided with the angle of the second inclined-plane, described second inclined-plane and horizontal plane more than 0 degree less than 90 degree.
Further, being provided with containing cavity in described first inclined-plane and the second inclined-plane, the two ends of described tilting spring are respectively placed in described containing cavity.
Further, described first inclined-plane and the second inclined-plane are parallel, and are 45 degree with the angle of horizontal plane.
Further, described tilting axle of spring is 45 degree with the angle of horizontal plane.
Further, two tilting spring mechanisms are symmetrical set.
Further, prop up support arrangement to include:
Wheel installing mechanism, described wheel installing mechanism is used for installing wheel.
Further, wheel installing mechanism includes:
Motor bearings fixed blocks, motor shaft, bearing and end ring, described wheel is installed on motor shaft.
Compared with prior art, technical scheme has the advantage that
The damping device of the present invention is provided with two tilting springs, if described damping device accelerates, slows down, is turned to stopping by motion or by when stopping divertical motion, under the effect of inertia force, one of them tilting spring release pressure and elongated, another tilting spring is under pressure and compresses, make the object stage being provided with the loading dolly of damping device be always held in horizontal plane, play the effect of buffering, improve the stationarity of the loading dolly being provided with this damping device.
The present invention also provides for a kind of loading dolly, including:
The above-mentioned damping device of three or more than three;
Wheel, the quantity of described wheel is identical with the quantity of damping device, and described wheel is installed on each wheel installing mechanism;
Object stage, described damping device is installed on below object stage.
Further, also include:
Battery, described battery drives vehicle wheel rotation.
Further, described wheel is Mecanum wheel.
Further, described damping device is installed on below object stage by car bracing frame.
Compared with prior art, technical scheme has the advantage that
The loading dolly of the present invention is provided with damping device, described damping device is provided with two tilting springs, if described loading dolly accelerates, slows down, is turned to stopping by motion or by when stopping divertical motion, make under the effect of inertia force one of them tilting spring release pressure and elongated, another tilting spring is under pressure and compresses, make object stage be always held in horizontal plane, play the effect of buffering, improve the stationarity of loading dolly.
Accompanying drawing explanation
Fig. 1 is damping device schematic diagram under the state of not stressing in first embodiment of the invention;
Fig. 2 is that in first embodiment of the invention, the schematic diagram being vertically arranged spring removed by damping device;
Fig. 3 is the axonometric chart of damping device in first embodiment of the invention;
Fig. 4 is damping device schematic diagram when by downward pressure in first embodiment of the invention;
Schematic diagram when Fig. 5 is that in first embodiment of the invention, damping device is in accelerated motion to the right or to the right by static divertical motion;
Fig. 6 be in first embodiment of the invention damping device to the right retarded motion or to the right by motion turn to static time schematic diagram;
Fig. 7 is the schematic diagram that in second embodiment of the invention, damping device is provided with wheel;
Fig. 8 is the axonometric chart that in second embodiment of the invention, damping device is provided with wheel;
Fig. 9 is the axonometric chart of loading dolly in second embodiment of the invention.
Detailed description of the invention
In prior art, loading dolly stationarity is poor, it is easy to causes goods to come off or overturns.
Understandable for enabling the above-mentioned purpose of the present invention, feature and advantage to become apparent from, below in conjunction with accompanying drawing, specific embodiments of the invention are described in detail.
First embodiment
With reference to Fig. 1, Fig. 2 and Fig. 3, the present embodiment provides a kind of damping device to include support arrangement and a car bracing frame 8.
It is rotatably connected with a support arrangement by connector 10 in the middle part of car bracing frame 8; Car bracing frame 8 two ends are connected with a support arrangement two ends by tilting spring mechanism 9.
In the present embodiment, connector 10 is rotatably connected with a support arrangement by rotating dog 11. Car bracing frame 8 is subject to the asymmetric masterpiece used time, and namely described power is not vertically downward, or described power is vertically downward, but this power is without the center of gravity of described damping device, and described car bracing frame 8 can rotate around rotating dog 11.
In the present embodiment, described tilting spring mechanism 9 includes tilting fixing body 91 and tilting spring 92.
Described tilting fixing body 91 has the first inclined-plane 12, the angle of described first inclined-plane 12 and horizontal plane more than 0 degree less than 90 degree. And described first inclined-plane 12 is positioned at inside damping device, namely the first inclined-plane 12 intersects with tilting fixing body 91 lower surface, tilting fixing body 91 inner vertical surfaces.
Tilting spring 92 one end is connected with the first inclined-plane 12, and the other end is connected with upper bed-plate 2, the angle of described tilting spring 92 axis and horizontal plane more than 0 degree less than 90 degree.
In the present embodiment, the two ends of described upper bed-plate 2 are provided with the second inclined-plane 13, the angle of described second inclined-plane 13 and horizontal plane more than 0 degree less than 90 degree. Second inclined-plane 13 intersects with the outside upright surface of the upper surface of upper bed-plate 2, upper bed-plate 2. Described tilting spring 92 is connected with described second inclined-plane 13.
In the present embodiment, being provided with containing cavity in described first inclined-plane 12 and the second inclined-plane 13, the two ends of described tilting spring 92 are respectively placed in described containing cavity.
Described connector 10 defines the spacing propped up between support arrangement and car bracing frame 8, it is ensured that car bracing frame 8 is when rotating dog 11 rotates, and the two ends of tilting spring 92 will not be deviate from from accommodating intracavity.
In the present embodiment, described first inclined-plane 12 is parallel with the second inclined-plane 13, and is 45 degree with the angle of horizontal plane.
In the present embodiment, the angle of described tilting spring 92 axis and horizontal plane is 45 degree, and namely described tilting spring 92 axis is all vertical with the first inclined-plane 12 and the second inclined-plane 13.
In the present embodiment, two tilting spring mechanisms 9 are symmetrical set.
Tilting spring 92 axis is all vertical with the first inclined-plane 12 and the second inclined-plane 13 is conducive to deformation, the nature reinstatement when external force is cancelled naturally when stress of tilting spring 92, and is not affected by other factors, and is conducive to playing the effect of buffering.
The angle of described tilting spring 92 axis and horizontal plane can make the effect that tilting spring 92 fully plays buffering in the horizontal direction when being 45 degree; And in the vertical direction plays a supporting role effectively, and play partial buffer effect.
In a particular embodiment, described support arrangement includes wheel installing mechanism 6, and described wheel installing mechanism 6 is for installing wheel.
In the present embodiment, described wheel installing mechanism 6 includes motor bearings fixed blocks 61, motor shaft 63, bearing 62 and end ring 64.
End ring 64 is used for fixing bearing 62, and motor shaft 63 is used for installing wheel through bearing 62.
In the present embodiment, described support arrangement also includes lower bottom base 1, upper bed-plate 2, two spring holders 3, and two are vertically arranged spring 4 and two pilot units 5. Wheel installing mechanism 6 is between upper bed-plate 2 and lower bottom base 1, and fixing with lower bottom base 1 is connected.
Wherein, described upper bed-plate 2 is identical with the length direction of lower bottom base 1.
Two spring holders 3, between upper bed-plate 2 and lower bottom base 1, are respectively arranged at lower bottom base 1 and/or upper bed-plate 2 two ends.
In the present embodiment, with reference to Fig. 2, spring holder 3 includes alignment pin 31 and lower alignment pin 32, wherein go up alignment pin 31 and fixes with upper bed-plate 2 and be connected or be structure as a whole;Lower alignment pin 32 is fixing with lower bottom base 1 to be connected or is structure as a whole, and upper alignment pin 31 and lower alignment pin 32 are on same vertical straight line, and there is gap between upper alignment pin 31 and lower alignment pin 32.
Upper alignment pin 31 is easy to be vertically arranged the installation of spring 4 with lower alignment pin 32 on same vertical straight line, it is simple to is vertically arranged spring 4 deformation naturally under stressing conditions, and naturally replys original form when power is cancelled, and not by the impact of other factors.
In a particular embodiment, upper alignment pin 31, lower alignment pin 32 and be vertically arranged the axis of spring 4 point-blank.
Gap between upper alignment pin 31 and lower alignment pin 32 makes to be vertically arranged spring 4 and can be compressed.
In the present embodiment, the spacing in described gap is more than or equal to 20mm.
There is a cavity in the middle part of lower bottom base 1, be fixedly installed in bottom described cavity bottom wheel installing mechanism 6.
In a particular embodiment, wheel installing mechanism 6 upper surface is 10-30mm to the spacing H of upper bed-plate 2 lower surface.
In the present embodiment, wheel installing mechanism 6 upper surface is 20mm to the spacing H of upper bed-plate 2 lower surface. Owing to H is less than or equal to the gap clearance between upper alignment pin 31 and lower alignment pin 32, so when upper bed-plate 2 and lower bottom base 1 compress and be vertically arranged spring 4 and make spacing reduce, upper bed-plate 2 first encounters wheel installing mechanism 6 upper surface, and therefore, the maximum compression spacing being vertically arranged spring 4 is H.
In other embodiments, it is also possible to arranging and make H more than the gap clearance between upper alignment pin 31 and lower alignment pin 32, at this moment, the maximum compression spacing being vertically arranged spring 4 is this gap clearance.
In other embodiments, described spring holder 3 can be positioned only on upper bed-plate 2, but its length can be longer, to limit the deformation direction being vertically arranged spring 4, namely making to be vertically arranged spring 4 its end positions when stress, not deviate by original position too big, and being vertically arranged spring 4, to deform the axis of rear spring too serious without deformation.
In other embodiments, described spring holder 3 can be positioned only on lower bottom base 1, but its length can be longer, to limit the deformation direction being vertically arranged spring 4.
In other embodiments, two spring holders 3 can one be arranged on lower bottom base 1, another is arranged on upper bed-plate 2, but its length can be longer, is vertically arranged the deformation direction of spring 4 to limit.
Two are vertically arranged spring 4 is respectively sleeved at outside two spring holders 3.
In a particular embodiment, the natural length being vertically arranged spring 4 is 50-150mm.
In the present embodiment, the natural length being vertically arranged spring 4 is 100mm.
In the present embodiment, described upper bed-plate 2 and lower bottom base 1 arrange spring holder 3 place and are additionally provided with containing cavity, and the two ends being vertically arranged spring 4 are placed in described containing cavity, and making to be vertically arranged spring 4 two ends can only in corresponding containing cavity.
In other embodiments, described upper bed-plate 2 and lower bottom base 1 arrange spring holder 3 place can also be not provided with containing cavity, substantially stationary can also be vertically arranged the position at spring 4 two ends by spring holder 3.
Two pilot units 5 are respectively arranged at upper bed-plate 2 and the two ends of lower bottom base 1, make the distance between upper bed-plate 2 and lower bottom base 1 variable in preset range.
In a particular embodiment, described pilot unit 5 includes guide pad 51 and lower guide pad 52, and the first end wherein going up guide pad 51 is rotatably connected with upper bed-plate 2.
In the present embodiment, upper guide pad 51 is rotatably connected by rotating dog 53 with upper bed-plate 2.
First end of lower guide pad 52 and lower bottom base 1 are rotatably connected, and the second end of the second end of lower guide pad 52 and upper guide pad 51 is rotatably connected.
In the present embodiment, lower guide pad 52 is rotatably connected by rotating dog 54 with lower bottom base 1, and lower guide pad 52 is rotatably connected by rotating dog 55 with upper guide pad 51.
In the present embodiment, described lower guide pad 52 is provided with rotating dog pipeline, the described rotating dog 55 described rotating dog pipeline of traverse.
In a particular embodiment, the length of upper guide pad 51 and lower guide pad 52 is 50-100mm, and the length sum of upper guide pad 51 and lower guide pad 52 is more than the natural length being vertically arranged spring 4, and pilot unit 5 is protruding laterally.
Simultaneously, the length sum of upper guide pad 51 and lower guide pad 52 should be not excessive yet, to prevent the two ends being vertically arranged spring 4 from departing from described containing cavity, even make the gap clearance between alignment pin 31 and lower alignment pin 32 more than the natural length being vertically arranged spring 4, be vertically arranged spring 4 and drop out from described gap.
In the present embodiment, the length of upper guide pad 51 and lower guide pad 52 is all 76mm, owing to the length sum of upper guide pad 51 and lower guide pad 52 is more than the natural length being vertically arranged spring 4, therefore, when being vertically arranged spring 4 and descending in the raw, between upper guide pad 51 and lower guide pad 52, shape has angle, and the junction of upper guide pad 51 and lower guide pad 52 is in outside, and namely pilot unit 5 is protruding laterally.
Pilot unit 5 is used for connecting upper bed-plate 2 and lower bottom base 1, makes upper bed-plate 2 and lower bottom base 1 be unlikely to separate, is simultaneously directed to unit 5 and defines the maximum spacing between upper bed-plate 2 and lower bottom base 1.
In a particular embodiment, described damping device also includes two limiting plates 7, two limiting plates 7 are fixing with the two ends of upper bed-plate 2 or lower bottom base 1 respectively to be connected, it is positioned at two and is vertically arranged outside spring 4, and it is positioned at inside two rotating dogs 55, when the distance of upper bed-plate 2 with lower bottom base 1 increases, rotating dog pipeline can contact with corresponding limiting plate 7. In this case, described due to rotating dog 55 traverse rotating dog pipeline, it is also possible to thinking that rotating dog 55 contacts with limiting plate 7, simply described rotating dog 55 is by rotating dog pipeline and limiting plate 7 mediate contact.
In other embodiments, if lower bottom base 1 does not have rotating dog pipeline, then, when the distance of upper bed-plate 2 with lower bottom base 1 increases, rotating dog 55 directly can contact with corresponding limiting plate 7.
In the present embodiment, two limiting plates 7 are fixing with the two ends of lower bottom base 1 respectively is connected.
In other embodiments, two limiting plates 7 are fixing with the two ends of upper bed-plate 2 respectively to be connected, or, a limiting plate 7 is fixed with one end of lower bottom base 1 and is connected, the fixing connection in one end that a limiting plate 7 is relative with upper bed-plate 2.
When the distance of upper bed-plate 2 with lower bottom base 1 increases, described rotating dog 55 moves to the inside, when rotating dog 55 moves to the position of corresponding limiting plate 7, if the height of the aspect ratio rotating dog 55 of limiting plate 7 is big, then limiting plate 7 contacts with rotating dog 55, limiting plate 7 blocks rotating dog 55, makes the rotating dog 55 can not again toward medial movement. Limiting plate 7 one aspect defines the maximum angle between guide pad 51 and lower guide pad 52, namely defines the maximum spacing between upper bed-plate 2 and lower bottom base 1; It is also possible to ensure upper guide pad 51 and lower guide pad 52 not be vertically arranged spring 4 and contact, it is prevented that be vertically arranged spring 4 and sustain damage.
In the present embodiment, the variable angle between upper guide pad 51 and the lower guide pad 52 of pilot unit 5 ranges for 90 degree to 130 degree.
In the present embodiment, it is rotatably connected by connector 10 and upper plate 2 in the middle part of car bracing frame 8;Car bracing frame 8 two ends are connected by tilting spring mechanism 9 upper plate 2 two ends.
In the present embodiment, connector 10 is rotatably connected by rotating dog 11 and upper plate 2.
With reference to Fig. 1, when described damping device is non-loaded, it is vertically arranged spring 4 in the raw. With reference to Fig. 4, when described damping device has load, due to weight reasons, being vertically arranged spring 4 will stress be pressed downward against, and drives pilot unit 5 down to lead, and namely goes up the angle between guide pad 51 and lower guide pad 52 and reduces.
If described damping device is provided with wheel, when described damping fills through the road surface of pit, it is constantly in being vertically arranged spring 4 and discharging pressure of compaction, pilot unit 5 up leads, and namely goes up the angle between guide pad 51 and lower guide pad 52 and increases, so that wheel sinkage, and contact with the pit on road surface, elevation of water residing for the object stage inconvenience of the loading dolly of this damping device being installed, thus reaching damping, improving the stationarity of the loading dolly being provided with this damping device.
If described damping is when running into the road surface having projection, described two are vertically arranged spring 4 can be compressed by pressurized, pilot unit 5 down leads, namely go up the angle between guide pad 51 and lower guide pad 52 to reduce, the horizontal plane being provided with the object stage place of the loading dolly of damping device is made to be maintained at sustained height, play the effect of buffering, improve the stationarity of the loading dolly being provided with this damping device.
If described damping device is provided with wheel, when described damping device is to the right by static and start, or during accelerated motion to the right, if not installing tilting spring 92, due to effect of inertia, the object stage of the loading dolly being provided with this damping device can tilt, and the goods on described object stage easily drops.
With reference to Fig. 5, damping device is provided with two tilting springs 92, if described damping device accelerates to the right or by stop divertical motion time, under the effect of inertia force, wherein the tilting spring 92 in left side discharges pressure and elongated, and the tilting spring 92 on right side is under pressure and compresses, and makes the object stage being provided with the loading dolly of damping device be always held in horizontal plane, play the effect of buffering, improve the stationarity of the loading dolly being provided with this damping device.
With reference to Fig. 6, in like manner, if described damping device slows down to the right or is turned to stopping by motion, under the effect of inertia force, wherein the tilting spring 92 on right side discharges pressure and elongated, and the tilting spring 92 in left side is under pressure and compresses, and makes the object stage being provided with the loading dolly of damping device be always held in horizontal plane, play the effect of buffering, improve the stationarity of the loading dolly being provided with this damping device.
Second embodiment
With reference to Fig. 9, the present embodiment provides a kind of loading dolly, including the damping device described in the first embodiments of three or more than three, wheel 14 and object stage 15.
In the present embodiment, the quantity of described damping device is four, and the quantity of wheel 14 is also 4.
With reference to Fig. 7 and Fig. 8, described wheel 14 is installed on each wheel installing mechanism. In the present embodiment, described wheel 14 is Mecanum wheel.
With reference to Fig. 1 and Fig. 9, described damping device is installed on below object stage 15. In the present embodiment, described damping device is installed on below object stage 15 by car bracing frame 8.
In the present embodiment, described loading dolly also includes battery, and described battery drives wheel 14 to rotate.
Owing to described loading dolly has damping device, so loading dolly has the function of damping in the process of moving, stationarity is improved significantly.
Although present disclosure is as above, but the present invention is not limited to this. Any those skilled in the art, without departing from the spirit and scope of the present invention, all can make various changes or modifications, and therefore protection scope of the present invention should be as the criterion with claim limited range.
Claims (10)
1. a damping device, it is characterised in that including:
Prop up support arrangement;
Car bracing frame, is rotatably connected with a support arrangement by connector in the middle part of car bracing frame; Car bracing frame two ends are connected with a support arrangement two ends by tilting spring mechanism;
Wherein tilting spring mechanism includes:
Tilting fixing body, described tilting fixing body has the angle of the first inclined-plane, described first inclined-plane and horizontal plane more than 0 degree less than 90 degree;
Tilting spring, tilting spring one end and the first inclined-plane are connected, and the other end is connected with support arrangement, the angle of described tilting axle of spring and horizontal plane more than 0 degree less than 90 degree; And
On the upside of described support arrangement, two ends are provided with the angle of the second inclined-plane, described second inclined-plane and horizontal plane more than 0 degree less than 90 degree, and described tilting spring and the second inclined-plane are connected;
Being provided with containing cavity in described first inclined-plane and the second inclined-plane, the two ends of described tilting spring are respectively placed in described containing cavity.
2. damping device as claimed in claim 1, it is characterised in that described first inclined-plane and the second inclined-plane are parallel, and be 45 degree with the angle of horizontal plane.
3. damping device as claimed in claim 2, it is characterised in that the angle of described tilting axle of spring and horizontal plane is 45 degree.
4. damping device as claimed in claim 1, it is characterised in that two tilting spring mechanisms are symmetrical set.
5. damping device as claimed in claim 1 a, it is characterised in that support arrangement includes: wheel installing mechanism, and described wheel installing mechanism is used for installing wheel.
6. damping device as claimed in claim 5, it is characterised in that wheel installing mechanism includes: motor bearings fixed blocks, motor shaft, bearing and end ring, and described wheel is installed on motor shaft.
7. a loading dolly, it is characterised in that including:
The arbitrary described damping device of claim 1-6 of three or more than three;
Wheel, the quantity of described wheel is identical with the quantity of damping device, and described wheel is installed on each wheel installing mechanism;
Object stage, described damping device is installed on below object stage.
8. loading dolly as claimed in claim 7, it is characterised in that also include:
Battery, described battery drives vehicle wheel rotation.
9. loading dolly as claimed in claim 7, it is characterised in that described wheel is Mecanum wheel.
10. loading dolly as claimed in claim 7, it is characterised in that described damping device is installed on below object stage by car bracing frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610147088.9A CN105644284B (en) | 2016-03-15 | 2016-03-15 | A kind of damping device and the loading trolley using the damping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610147088.9A CN105644284B (en) | 2016-03-15 | 2016-03-15 | A kind of damping device and the loading trolley using the damping device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105644284A true CN105644284A (en) | 2016-06-08 |
| CN105644284B CN105644284B (en) | 2018-07-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610147088.9A Expired - Fee Related CN105644284B (en) | 2016-03-15 | 2016-03-15 | A kind of damping device and the loading trolley using the damping device |
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| CN (1) | CN105644284B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106335335A (en) * | 2016-09-14 | 2017-01-18 | 哈尔滨工大服务机器人有限公司 | Suspended shock absorption mechanism and cargo dolly |
| CN107745615A (en) * | 2017-10-27 | 2018-03-02 | 中国民航大学 | A kind of wheeled robot bradyseism structure |
| CN107745615B (en) * | 2017-10-27 | 2019-06-25 | 中国民航大学 | A kind of wheeled robot bradyseism structure |
| CN109091081A (en) * | 2018-09-11 | 2018-12-28 | 广东宏穗晶科技服务有限公司 | A kind of sweeping robot |
| CN109091081B (en) * | 2018-09-11 | 2020-12-11 | 广东宏穗晶科技服务有限公司 | Floor sweeping robot |
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| CN105644284B (en) | 2018-07-03 |
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