CN106515331A - Trolley suspension device and suspended trolley - Google Patents
Trolley suspension device and suspended trolley Download PDFInfo
- Publication number
- CN106515331A CN106515331A CN201611068153.5A CN201611068153A CN106515331A CN 106515331 A CN106515331 A CN 106515331A CN 201611068153 A CN201611068153 A CN 201611068153A CN 106515331 A CN106515331 A CN 106515331A
- Authority
- CN
- China
- Prior art keywords
- motor mounting
- spring
- base plate
- mounting plate
- damping
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000000725 suspension Substances 0.000 title claims abstract description 35
- 238000013016 damping Methods 0.000 claims abstract description 41
- 230000005540 biological transmission Effects 0.000 claims abstract description 11
- 230000005611 electricity Effects 0.000 claims description 4
- 238000005516 engineering process Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000000694 effects 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
- 238000012827 research and development Methods 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
- B60G3/01—Resilient suspensions for a single wheel the wheel being mounted for sliding movement, e.g. in or on a vertical guide
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)
Abstract
The invention provides a trolley suspension device and a suspended trolley. The trolley suspension device comprises a bottom plate, four suspension supports, two motor mounting plates, a damping mechanism, two motors and two driving wheels, wherein the suspension supports are symmetrically arranged on the two sides of the bottom plate; one motor mounting plate is slidably connected with the two suspension supports located on one side of the bottom plate, and the other motor mounting plate is slidably connected with the two suspension supports located on the other side of the bottom plate; the motor mounting plates can slide up and down relative to the suspension supports; one end of the damping mechanism is fixedly connected with the motor mounting plates, and the other end of the damping mechanism is fixedly connected with the bottom plate; the damping mechanism achieves the damping function when the motor mounting plates slide up and down relative to the suspension supports; the two motors are fixedly connected with the two motor mounting plates correspondingly; each motor is arranged between the two corresponding suspension supports located on the same side; and transmission shafts penetrate through the motor mounting plates. The trolley suspension device can achieve the damping function effectively, drive wheels are made to be closely attached to the ground, and the trolley can pass through the unsmooth ground conveniently.
Description
Technical field
The present invention relates to robot research and development technology field, is related specifically to a kind of little suspension system and underslung trolley.
Background technology
In general, the driving wheel of the differential dolly of two-wheeled must possess suspended structure, however, when suspended structure occupies larger
Space when, the remaining space of base plate of dolly will very little, for some devices for needing larger space cannot just be installed.
Therefore, how to design suspended structure rational in infrastructure and can be installed on the cart base plate of narrow space,
Guarantee that, in broken terrain, dolly can still be passed through, and just be particularly important simultaneously.
The content of the invention
The problem that the present invention is solved be in prior art suspension arrangement to take floor space big.
To solve the above problems, the present invention provides a kind of little suspension system, including：
Base plate；
Four suspended bearers, the suspended bearer are symmetricly set in the both sides of the base plate；
Two motor mounting plates, a motor mounting plate are slidably connected with two suspended bearers of base plate side, and another motor is installed
Plate is slidably connected with two suspended bearers of base plate opposite side, and motor mounting plate can be slided up and down relative to suspended bearer；
Damping, damping one end are fixedly connected with motor mounting plate, and the other end is fixedly connected with base plate, damping machine
Structure damping when motor mounting plate is slided up and down relative to suspended bearer；
Two motors, two motors are fixedly connected with two motor mounting plates respectively, and be arranged at its be located at the same side two hang
Hang between bearing, the power transmission shaft of motor passes through motor mounting plate；
Two driving wheels, two driving wheels are fixedly connected with the power transmission shaft of two motors respectively, driving wheel and are connected thereto motor position
In the both sides of motor mounting plate.
Further, two flutings in " convex " font are provided with the base plate, motor mounting plate, motor and driving wheel are arranged
Sentence in the fluting and slide up and down.
Further, positioned at two suspended bearers of the same side, wherein a suspended bearer is passed through on base plate by screw with base plate
The perforation of setting is fixedly connected, and another suspended bearer is carried out solid with base plate by the locating slot that screw is arranged through on base plate
Fixed to connect, the length direction of the locating slot is parallel with motor mounting plate.
Further, the first guide rails fixing support and the second guide rails fixing support are from top to bottom provided with suspended bearer, first leads
Coaxial installing hole is provided with rail fixed mount and the second guide rails fixing support；
Guide rail is arranged with the installing hole, the guide rail and the first guide rails fixing support and the second guide rails fixing support are fixed and connected
Connect.
Further, motor mounting plate both sides are respectively installed with two linear bearings, be provided with and lead with described on linear bearing
The perforation that rail is engaged, linear bearing are placed on the guide rail, and a wherein linear bearing is located at the first guide rails fixing support and the
Between two guide rails fixing supports, another linear bearing is located on the downside of the second guide rails fixing support, and the linear bearing can be along guide rail axial direction
Slide.
Further, damping includes：
Spring bracing, the spring bracing are fixedly installed on the motor mounting plate, and the spring supporting sets up
It is equipped with hole；
Spring pull bar, the spring pull bar include head and bar portion, and the head is located at base plate bottom side, and bar portion passes through base plate
With the hole on spring bracing；
Spring, the spring are placed on the bar portion, and are located on the upside of spring bracing；
Nut, the nut are threadedly coupled with the bar portion, are placed on the upside of the spring.
Further, damping also includes：
Two spring mountings, the spring mountings are placed in the bar portion, and spring mountings are located at spring bracing
Between spring, spring mountings are located between spring and nut.
Further, the quantity of damping is four, connects two dampings on each motor mounting plate.
Further, two dampings for connecting on motor mounting plate are located at the both sides of motor.
Compared with prior art, technical scheme has advantages below：
Little suspension system can effectively damping, and make driving wheel close proximity to ground, contribute to by broken terrain.
The present invention also provides a kind of underslung trolley, including：
Above-mentioned little suspension system；
At least three driven pulleys, the driven pulley are arranged at the base plate bottom side, maintain the balance of base plate.
Compared with prior art, technical scheme has advantages below：
Underslung trolley can effectively damping, and make driving wheel close proximity to ground, contribute to by broken terrain.
Description of the drawings
Fig. 1 is the stereogram of little suspension system of the invention；
Fig. 2 is the side view of little suspension system of the invention；
Fig. 3 is the stereogram of base plate of the present invention；
Fig. 4 is the stereogram of suspended structure of the present invention；
Fig. 5 is the side view of suspended structure of the present invention；
Fig. 6 is the sectional view of suspended structure of the present invention.
Specific embodiment
It is understandable to enable the above objects, features and advantages of the present invention to become apparent from, below in conjunction with the accompanying drawings to the present invention
Specific embodiment be described in detail.
First embodiment
With reference to Fig. 1 and Fig. 2, the present embodiment provides a kind of little suspension system 100, including 10, four suspended bearers of base plate
20th, two motor mounting plates 30, damping 40, two motors 50 and two driving wheels 60.
Little suspension system 100 is removed into base plate 10 and is referred to as suspended structure.
With reference to Fig. 3, two flutings 11 in " convex " font, motor mounting plate 30,50 and of motor on the base plate 10, are provided with
Driving wheel 60 is arranged at the fluting 11 and sentences and slide up and down, i.e., described motor mounting plate 30, motor 50 and driving wheel are about 60
During slip, hindering for the base plate 10 will not be subject to.
With reference to reference to Fig. 1 and Fig. 3, positioned at two suspended bearers 20 of the same side, wherein a suspended bearer 20 is led to base plate 10
Crossing screw passes through the perforation 12 arranged on base plate to be fixedly connected, and another suspended bearer 20 passes through bottom by screw with base plate 10
The locating slot 13 arranged on plate is fixedly connected, and the length direction of the locating slot 13 is parallel with motor mounting plate 30.It is this
It is designed with beneficial to the spacing adjusted between two suspended bearers 20 of the same side, and the effectively position of positioning motor 50.
The suspended bearer 20 is symmetricly set in the both sides of the base plate 10, and 10 side of the base plate arranges two suspensions
Seat 20, symmetrical distribution, and two suspended bearers 20 positioned at the same side are in be symmetrical arranged in front and back.
In the present embodiment, with reference to Fig. 5, on suspended bearer 20, from top to bottom it is provided with the first guide rails fixing support 21 and second
Coaxial installing hole is provided with guide rails fixing support 22, the first guide rails fixing support 21 and the second guide rails fixing support 22.The installation
Guide rail 23 is arranged with hole, the guide rail 23 is fixedly connected with the first guide rails fixing support 21 and the second guide rails fixing support 22, for example
It is screwed.
With reference to Fig. 1 and Fig. 4, two motor mounting plates 30 are arranged at the left and right sides of base plate 10, wherein a motor mounting plate 30
It is slidably connected with two suspended bearers 20 of 10 side of base plate, two suspended bearers of another motor mounting plate 30 and 10 opposite side of base plate
20 are slidably connected, and motor mounting plate 30 can be slided up and down relative to suspended bearer 20.
In the present embodiment, with reference to Fig. 5,30 both sides of motor mounting plate are respectively installed with two linear bearings 31, linear axes
Hold and on 31, be provided with the perforation being engaged with the guide rail 23, linear bearing 31 is placed on the guide rail 23, and wherein one linear
Bearing 31 is located between the first guide rails fixing support 21 and the second guide rails fixing support 22, and another linear bearing 31 is solid positioned at the second guide rail
Determine on the downside of frame 22, the linear bearing 31 can slide axially along guide rail 23.Motor mounting plate 30 is realized by the structure relative
In the relative slip of suspended bearer 20.
In the present embodiment, perpendicular to the base plate 10, this is conducive to reduction suspended structure to occupy base plate to the guide rail 23
Space.
40 one end of damping is fixedly connected with motor mounting plate 30, and the other end is fixedly connected with base plate 10, damping
40 dampings when motor mounting plate 30 is slided up and down relative to suspended bearer 20.
In the present embodiment, with reference to Fig. 2 and Fig. 4, damping 40 includes spring bracing 41, spring pull bar 42, spring
43 and nut 44.
The spring bracing 41 is fixedly installed on the motor mounting plate 30, and the spring bracing 41 is provided with
Hole, so that spring pull bar 42 is passed through.In the present embodiment, the spring bracing 41 is fixedly installed on the motor mounting plate 30
Both ends of the surface on.
The spring pull bar 42 includes head and bar portion, and the head is located at 10 bottom side of base plate, and bar portion passes through 10 He of base plate
Hole on spring bracing 41, then the bar portion on the upside of the spring bracing 41 be inserted in spring 43, finally by nut 44 and bar
Portion is threadedly coupled, and spring 43 is stuck between spring bracing 41 and nut 44.
The elastic of spring 43 can be adjusted by the distance that nut 44 is screwed in.
In the present embodiment, perpendicular to the base plate 10, this is conducive to reducing accounting for for suspended structure the spring pull bar 42
Use space.
By the damping 40, motor mounting plate 30, motor 50 and driving wheel 60 are relative to suspended bearer about 20
During slip, can effectively buffer, play a part of damping.
With reference to Fig. 1 and Fig. 2, in the present embodiment, the damping 40 also includes two spring mountings 45, the spring
Fixture 45 is placed in the bar portion, and spring mountings 45 are located between spring bracing 41 and spring 43, and a spring is fixed
Part 45 is located between spring 43 and nut 44.
In the present embodiment, the quantity of damping 40 is four, connects two damping machines on each motor mounting plate 30
Structure 40.Two dampings 40 connected on motor mounting plate 30 are located at the both sides of motor 50.So can be with more efficiently
To buffering and the effect of damping.
With reference to Fig. 4 and Fig. 6, two described motors 50 are fixedly connected with two motor mounting plates 30 respectively, such as by screw
It is fixedly connected.Motor 50 is arranged at, and the power transmission shaft 51 of motor 50 is through electricity
Machine installing plate 30.
Two described driving wheels 60 are fixedly connected with the power transmission shaft 51 of two motors 50 respectively, driving wheel 60 and are connected thereto electricity
Machine 50 is located at the both sides of motor mounting plate 30.The motor 50 drives driving wheel 60 to rotate.
With reference to Fig. 6, between the driving wheel 60 and motor mounting plate 30, be additionally provided with bearing block 71, the bearing block 71 with
Driving wheel 60 is fixedly connected with motor mounting plate 30.Bearing 72 is provided with the bearing block 71, the bearing 72 is placed on described
On the outside of the power transmission shaft of motor 50.Bearing block 71 and bearing 72 prevent electricity for carrying the power being carried on 50 power transmission shaft 51 of motor
50 power transmission shaft 51 of machine ruptures.
The driving wheel 60 is fixedly connected by screw 52 with the power transmission shaft 51 of motor 50.
Above-mentioned little suspension system 100 can carry out damping by damping device 40, also, in running, damping
Device 40 is applied pressure on driving wheel 60 by spring 43, makes driving wheel 60 be always maintained at effective contact with ground, it is ensured that little
The stable operation of car.
Second embodiment
With reference to Fig. 1, the present embodiment provides a kind of underslung trolley, including：
Little suspension system 100 and at least three driven pulleys 101 described in first embodiment, the driven pulley 101 set
10 bottom side of the base plate is placed in, the balance of base plate 10 is maintained.
In the present embodiment, the quantity of driven pulley 101 is four, is respectively arranged at four angles of base plate 10.
In the present embodiment, driven pulley 101 is universal wheel.
Although present disclosure is as above, the present invention is not limited to this.Any those skilled in the art, without departing from this
In the spirit and scope of invention, can make various changes or modifications, therefore protection scope of the present invention should be with claim institute
The scope of restriction is defined.
Claims (10)
1. a kind of little suspension system, it is characterised in that include：
Base plate；
Four suspended bearers, the suspended bearer are symmetricly set in the both sides of the base plate；
Two motor mounting plates, a motor mounting plate are slidably connected with two suspended bearers of base plate side, another motor mounting plate with
Two suspended bearers of base plate opposite side are slidably connected, and motor mounting plate can be slided up and down relative to suspended bearer；
Damping, damping one end are fixedly connected with motor mounting plate, and the other end is fixedly connected with base plate, and damping exists
Damping when motor mounting plate is slided up and down relative to suspended bearer；
Two motors, two motors are fixedly connected with two motor mounting plates respectively, and be arranged at its be located at the same side two suspension
Between seat, the power transmission shaft of motor passes through motor mounting plate；
Two driving wheels, two driving wheels are fixedly connected with the power transmission shaft of two motors respectively, and driving wheel is located at electricity with motor is connected thereto
The both sides of machine installing plate.
2. little suspension system as claimed in claim 1, it is characterised in that two are provided with the base plate in " convex " font
Fluting, motor mounting plate, motor and driving wheel are arranged at the fluting and sentence and slide up and down.
3. little suspension system as claimed in claim 1, it is characterised in that positioned at two suspended bearers of the same side, wherein
Suspended bearer is fixedly connected by the perforation that screw is arranged through on base plate with base plate, and another suspended bearer is passed through with base plate
The locating slot that screw is arranged through on base plate is fixedly connected, and the length direction of the locating slot is parallel with motor mounting plate.
4. little suspension system as claimed in claim 1, it is characterised in that first is from top to bottom provided with suspended bearer and is led
Coaxial installing hole is provided with rail fixed mount and the second guide rails fixing support, the first guide rails fixing support and the second guide rails fixing support；
Guide rail is arranged with the installing hole, the guide rail is fixedly connected with the first guide rails fixing support and the second guide rails fixing support.
5. little suspension system as claimed in claim 4, it is characterised in that motor mounting plate both sides are respectively installed with two lines
Property bearing, is provided with the perforation being engaged with the guide rail on linear bearing, linear bearing is placed on the guide rail, and wherein one
Linear bearing is located between the first guide rails fixing support and the second guide rails fixing support, and another linear bearing is located at the second guide rails fixing support
Downside, the linear bearing can slide axially along guide rail.
6. little suspension system as claimed in claim 1, it is characterised in that damping includes：
Spring bracing, the spring bracing are fixedly installed on the motor mounting plate, and the spring bracing is provided with
Hole；
Spring pull bar, the spring pull bar include head and bar portion, and the head is located at base plate bottom side, and bar portion passes through base plate and bullet
Hole on spring bracing frame；
Spring, the spring are placed on the bar portion, and are located on the upside of spring bracing；
Nut, the nut are threadedly coupled with the bar portion, are placed on the upside of the spring.
7. little suspension system as claimed in claim 6, it is characterised in that damping also includes：
Two spring mountings, the spring mountings are placed in the bar portion, and spring mountings are located at spring bracing and bullet
Between spring, spring mountings are located between spring and nut.
8. little suspension system as claimed in claim 7, it is characterised in that the quantity of damping is four, each motor
Connect two dampings on installing plate.
9. little suspension system as claimed in claim 8, it is characterised in that two dampings connected on motor mounting plate
Positioned at the both sides of motor.
10. a kind of underslung trolley, it is characterised in that include：
The arbitrary described little suspension system of claim 1-9；
At least three driven pulleys, the driven pulley are arranged at the base plate bottom side, maintain the balance of base plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611068153.5A CN106515331A (en) | 2016-11-28 | 2016-11-28 | Trolley suspension device and suspended trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611068153.5A CN106515331A (en) | 2016-11-28 | 2016-11-28 | Trolley suspension device and suspended trolley |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106515331A true CN106515331A (en) | 2017-03-22 |
Family
ID=58353461
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611068153.5A Pending CN106515331A (en) | 2016-11-28 | 2016-11-28 | Trolley suspension device and suspended trolley |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106515331A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108583187A (en) * | 2017-12-30 | 2018-09-28 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of independent suspension type AGV trolleies |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014094942A2 (en) * | 2012-12-21 | 2014-06-26 | Sew-Eurodrive Gmbh & Co. Kg | Vehicle and gearbox |
| JP2015093652A (en) * | 2013-11-14 | 2015-05-18 | 有限会社 ワイジェイカンパニー | Suspension device of vehicle |
| CN105172562A (en) * | 2015-09-16 | 2015-12-23 | 成都四威高科技产业园有限公司 | Chassis for AGV having suspension mechanism |
| CN105774859A (en) * | 2016-05-03 | 2016-07-20 | 哈尔滨工大服务机器人有限公司 | Suspension structure applied to differential motion of two wheels and trolley |
| CN206327099U (en) * | 2016-11-28 | 2017-07-14 | 哈工大机器人集团上海有限公司 | A kind of small suspension system and underslung trolley |
-
2016
- 2016-11-28 CN CN201611068153.5A patent/CN106515331A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014094942A2 (en) * | 2012-12-21 | 2014-06-26 | Sew-Eurodrive Gmbh & Co. Kg | Vehicle and gearbox |
| JP2015093652A (en) * | 2013-11-14 | 2015-05-18 | 有限会社 ワイジェイカンパニー | Suspension device of vehicle |
| CN105172562A (en) * | 2015-09-16 | 2015-12-23 | 成都四威高科技产业园有限公司 | Chassis for AGV having suspension mechanism |
| CN105774859A (en) * | 2016-05-03 | 2016-07-20 | 哈尔滨工大服务机器人有限公司 | Suspension structure applied to differential motion of two wheels and trolley |
| CN206327099U (en) * | 2016-11-28 | 2017-07-14 | 哈工大机器人集团上海有限公司 | A kind of small suspension system and underslung trolley |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108583187A (en) * | 2017-12-30 | 2018-09-28 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of independent suspension type AGV trolleies |
| CN108583187B (en) * | 2017-12-30 | 2021-08-20 | 芜湖哈特机器人产业技术研究院有限公司 | Independent suspension type AGV dolly |
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| PB01 | Publication | ||
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170322 |