CN107914532A - A kind of AGV and its suspension frame structure - Google Patents
A kind of AGV and its suspension frame structure Download PDFInfo
- Publication number
- CN107914532A CN107914532A CN201711275604.7A CN201711275604A CN107914532A CN 107914532 A CN107914532 A CN 107914532A CN 201711275604 A CN201711275604 A CN 201711275604A CN 107914532 A CN107914532 A CN 107914532A
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- China
- Prior art keywords
- suspension
- agv
- frame structure
- screw rod
- driving wheel
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/02—Resilient suspensions for a single wheel with a single pivoted arm
- B60G3/04—Resilient suspensions for a single wheel with a single pivoted arm the arm being essentially transverse 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/10—Independent suspensions
- B60G2200/13—Independent suspensions with longitudinal arms only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/40—Indexing codes relating to the wheels in the suspensions
- B60G2200/422—Driving wheels or live axles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
- B60G2204/10—Mounting of suspension elements
- B60G2204/14—Mounting of suspension arms
- B60G2204/143—Mounting of suspension arms on the vehicle body or chassis
Abstract
The invention discloses a kind of AGV and its suspension frame structure, suspension frame structure includes：The suspension fork mechanism being connected for the hub unit with driving wheel；And the supporting mechanism being connected for the car body with AGV；Suspension fork mechanism rotates and is arranged on supporting mechanism so that suspension fork mechanism can drive hub unit to do curvilinear motion around supporting mechanism.The present invention improves the grabs ground ability of driving wheel, avoids driving wheel and hanging phenomenon occurs, so as to effectively prevent driving wheel skidding；More preferably, phenomena such as also effectively prevent tilting of car body；So as to ensure that the stability on the chassis in AGV heavy duty shutdown processes, and then it ensure that the running precision of AGV.
Description
Technical field
The present invention relates to AGV technical fields, espespecially a kind of AGV and its suspension frame structure.
Background technology
AGV is had been widely used in logistic storage transport, industrialized production enterprise and assembling producing line at present, but in the market is
Some AGV products, most of intelligence are satisfied with the operating modes such as warehouse, big flat bed, do not possess driving wheel suspension system.From 3 points of decisions
As soon as a plane is understood, as long as the AGV chassis more than three-wheel must add suspended structure, the hanging phenomenon of driving wheel is just avoided that.
The chassis structure of the especially small-sized AGV cars of traditional AGV cars is since installation space limits, and chassis is without suspension system
System, causes the inadequate ground of the vehicle-mounted flatness of AGV when driving, can frequently occur driving wheel slipping phenomenon, cause AGV cannot normal row
Sail.Further, since driving wheel suspension is complicated, the relatively low product of some start and stop required precisions on the market, by chassis suspension
System is placed on driven wheel structure.This driven wheel suspension modes can solve the hanging slippage problems of driving wheel to a certain extent,
But during AGV heavy duty start and stop, rocking for chassis is obvious, requires high AGV not apply to running precision.
Therefore, this invention address that providing a kind of AGV and its suspension frame structure.
The content of the invention
The object of the present invention is to provide a kind of AGV and its suspension frame structure, improves the grabs ground ability of driving wheel, avoids drive
There is hanging phenomenon in driving wheel, so as to effectively prevent driving wheel skidding；More preferably, it is existing also to effectively prevent tilting of car body etc.
As；So as to ensure that the stability on the chassis in AGV heavy duty shutdown processes, and then it ensure that the running precision of AGV.
Technical solution provided by the invention is as follows：
A kind of suspension frame structure suitable for AGV, including：
The suspension fork mechanism being connected for the hub unit with driving wheel；And
For the supporting mechanism being connected with the car body of the AGV；
The suspension fork mechanism rotates and is arranged on the supporting mechanism so that the suspension fork mechanism can drive the hub unit around
The supporting mechanism does curvilinear motion.
In the technical program, since hub unit can do curvilinear motion with suspension fork mechanism around supporting mechanism, so that AGV
Not enough walk even in flatness on the ground of (i.e. uneven), can also ensure that the driving wheel of AGV is contacted with ground all the time,
So as to improve the grabs ground ability of driving wheel, avoid driving wheel and hanging phenomenon occur, beaten so as to effectively prevent driving wheel
It is sliding；More preferably, phenomena such as also effectively prevent tilting of car body；So as to ensure that the stabilization on the chassis in AGV heavy duty shutdown processes
Property, and then ensure that the running precision of AGV.
It is further preferred that the suspension fork mechanism includes suspension shaft and the suspension branch for connecting the hub unit
Frame；The supporting mechanism is two support bases being oppositely arranged, including the first support base and the second support base；The suspension shaft
Axis is connected to first support base and second support base respectively at both ends so that the suspension strut passes through the suspension and turns
Axis is articulated in the support base.
In the technical program, movement (i.e. circumference can be swung up and down around support base by articulated manner suspension fork mechanism
Movement), articulated manner it is self adaptive good, the method for operation is flexible, so as to ensure that the stability and essence in AGV operational process
Parasexuality (precision positioned in such as shutdown process).
It is further preferred that the suspension shaft is installed at the support base by bearing.
In the technical program, in order to protect suspension shaft, extend its service life and service life, and then extend this suspension
The service life and service life of structure；Suspension shaft is installed on support base by bearing；More preferably, bearing can also make suspension
The rotation feedback of shaft is quick, uniform, so as to ensure that the stability and accuracy (such as shutdown process in AGV operational process
The precision of middle positioning).
It is further preferred that further including the driving mechanism for driving the hub unit, the driving mechanism is arranged on institute
State at suspension fork mechanism.
In the technical program, in order to improve the efficient utilization rate of the installation space of AGV, the occupied space of AGV, AGV are reduced
Driving mechanism be installed on suspension fork mechanism on so that driving mechanism also does curvilinear motion with suspension fork mechanism, due to driving machine
Structure has certain weight, so that the pressure that wheel is certain to hub unit during with surface relief, so as to protect
Fine contact between wheel and ground has been demonstrate,proved, and then ensure that the grabs ground ability of wheel, effectively prevent wheel-slip, AGV
Chassis in shutdown process wave phenomena such as.
It is further preferred that the driving mechanism includes servomotor, planetary reduction gear and connecting bushing；The servo electricity
After machine is connected composition drive component with the planetary reduction gear, it is connected by the connecting bushing with the hub unit.
In the technical program, the accuracy of AGV operations is ensure that by servomotor and planetary reduction gear.
It is further preferred that the suspension fork mechanism further includes movable suspended rack assembly, the activity suspended rack assembly includes suspension
Plate, suspension screw rod, elastic component, pressing plate；The suspension strut includes first end and second end, the first end of the suspension strut with
The supporting mechanism connection；The second end of the suspension strut is connected with the suspension plate；The suspension screw rod sequentially passes through institute
After stating suspension plate and the pressing plate, and it is connected with the car body of the AGV；The bullet is equipped between the suspension plate and the pressing plate
Property part.
In the technical program, using the restoring force and cushion performance of elastomer, so that suspension plate is in upper and lower beat
During movement, as elastomer is compressed or is extended, implement to adjust normal pressures of the AGV according to needed for its traveling road conditions, ensure driving
Wheel is all contacted with ground all the time under any road conditions, and AGV normally travels are driven to provide enough frictional force.
It is further preferred that the suspension screw rod includes the 3rd end and the 4th end, the 3rd end of the suspension screw rod and institute
The car body for stating AGV is fixedly connected, and the end at the 4th end of the suspension screw rod is bolted with fixing piece；The fixing piece can be along described
The precession of extension direction or back-out of suspension screw rod so that the elastic component compression is extended.
In the technical program, by with the fixing piece that suspension screw rod is spirally connected precession or back-out on suspension screw rod, so as to press
Contracting or extension elastomer, and then according to the different loads value of AGV come the precompression of regulation elasticity part, and then realize driving wheel over the ground
The adjusting of the normal pressure in face, so as to ensure that AGV is not in that trailing wheel (i.e. driven wheel) is tilted at light load, when overloaded because of precompression
Phenomenon that is insufficient and causing driving wheel skidding；So as to ensure that the stability of AGV operations.
It is further preferred that the suspension screw rod includes the 3rd end and the 4th end, the 3rd end of the suspension screw rod and institute
The car body for stating AGV is fixedly connected；The suspension plate is set close to the 3rd end of the suspension screw rod, and the suspension plate is provided with use
In the strip hole through the suspension screw rod.
In the technical program, in order to avoid AGV occurs running into the road conditions of flatness poor (i.e. surface relief degree high)
Suspension fork mechanism is excessive around the yaw motion that supporting mechanism is done so that suspension fork mechanism collides loading platform, and then rigidity occurs and connects
Touch；And can produced compared with pitchpole during suspension fork mechanism rises and falls after rise, and then the degree of operating steadily of AGV is influenced, because
This, the height that suspension plate rises is limited by strip hole, and then limits the deflected height of suspension fork mechanism, so that AGV is protected, and
Improve the stationarity in AGV operational process.
Present invention also offers a kind of AGV, including：
Car body, driving wheel, and the suspension frame structure suitable for AGV described in the claims 1-8 any one；
Two driving wheels are arranged at the both sides of the car body by the hub unit of the suspension frame structure.
In the technical program, since hub unit can do curvilinear motion with suspension fork mechanism around supporting mechanism, so that AGV
Not enough walk even in flatness on the ground of (i.e. uneven), can also ensure that the driving wheel of AGV is contacted with ground all the time,
So as to improve the grabs ground ability of driving wheel, avoid driving wheel and hanging phenomenon occur, beaten so as to effectively prevent driving wheel
It is sliding；More preferably, phenomena such as also effectively prevent tilting of car body；So as to ensure that the stabilization on the chassis in AGV heavy duty shutdown processes
Property, and then ensure that the running precision of AGV.
It is further preferred that each described driving wheel is equipped with a suspension frame structure；The driving wheel passes through described
Hub unit is arranged at the car body；And/or driven wheel is further included, the driven wheel is arranged on institute along the direct of travel of the AGV
State the rear of driving wheel.
In the technical program, a driving wheel sets a suspension frame structure, so that two driving wheels are running into road conditions
When flatness is different, the degree that it is deflected up and down is also different, further increases the smoothness and fortune of the movement of AGV
Capable precision.
A kind of AGV and its suspension frame structure provided by the invention, can bring following at least one beneficial effect：
1st, in the present invention, since hub unit can do curvilinear motion with suspension fork mechanism around supporting mechanism, so that AGV is
Make not enough to walk on the ground of (i.e. uneven) in flatness, can also ensure that the driving wheel of AGV is contacted with ground all the time, from
And the grabs ground ability of driving wheel is improved, avoiding driving wheel there is hanging phenomenon, so as to effectively prevent driving wheel skidding；
More preferably, phenomena such as also effectively prevent tilting of car body；So as to ensure that the stability on the chassis in AGV heavy duty shutdown processes,
And then it ensure that the running precision of AGV.
2nd, in the present invention, movement can be swung up and down around support base by articulated manner suspension fork mechanism, and (i.e. circumference is transported
It is dynamic), articulated manner it is self adaptive good, the method for operation is flexible, so as to ensure that stability in AGV operational process and precisely
Property (precision positioned in such as shutdown process).
3rd, in the present invention, suspension shaft is installed on support base by bearing, is protected suspension shaft, is extended it and use the longevity
Life and service life, and then extend the service life and service life of this suspension frame structure；More preferably, bearing can also make suspension shaft
Rotation feedback it is quick, uniformly, so as to ensure that stability in AGV operational process and accuracy are (fixed in such as shutdown process
The precision of position).
4th, in the present invention, using the restoring force and cushion performance of elastomer, so that suspension plate is transported in upper and lower beat
When dynamic, as elastomer is compressed or is extended, implement to adjust normal pressures of the AGV according to needed for its traveling road conditions, ensure driving wheel
All contacted all the time with ground under any road conditions, AGV normally travels are driven to provide enough frictional force.
5th, the present invention in, by with the fixing piece that suspension screw rod is spirally connected precession or back-out on suspension screw rod, so as to compress
Or extension elastomer, and then according to the different loads value of AGV come the precompression of regulation elasticity part, and then realize driving wheel to ground
Normal pressure adjusting, so as to ensure that AGV is not in that trailing wheel (i.e. driven wheel) is tilted at light load, when overloaded because of precompression not
Phenomenon that is sufficient and causing driving wheel skidding；So as to ensure that the stability of AGV operations.
Brief description of the drawings
Below by a manner of clearly understandable, preferred embodiment is described with reference to the drawings, to the upper of AGV and its suspension frame structure
Characteristic, technical characteristic, advantage and its implementation is stated to be further described.
Fig. 1 is a kind of example structure schematic diagram of the suspension frame structure of the present invention；
Fig. 2 is a kind of example structure schematic diagram of the AGV of the present invention；
Fig. 3 is the section figure structure schematic representation of Fig. 2.
Drawing reference numeral explanation：
1. suspension frame structure, 111. suspension struts, 112. suspension shafts, 113. suspension plates, 1131. strip holes, 114. suspensions
Screw rod, 1141. ring-shaped bases, 115. springs, 116. pressing plates, 117. fixing pieces, 121. first support bases, 122. second supports
Seat, 13. hub units, 131. first sub- hub units, 132. second sub- hub units, 14. driving mechanisms, 21. chassis, 221.
First driving wheel, 222. second driving wheels, 231. first driven wheels, 232. second driven wheels.
Embodiment
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, control is illustrated below
The embodiment of the present invention.It should be evident that drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, without creative efforts, other can also be obtained according to these attached drawings
Attached drawing, and obtain other embodiments.
To make simplified form, part related to the present invention is only schematically show in each figure, their not generations
Its practical structures as product of table.In addition, so that simplified form readily appreciates, there is identical structure or function in some figures
Component, only symbolically depict one of those, or only marked one of those.Herein, "one" not only table
Show " only this ", can also represent the situation of " more than one ".Herein, it is necessary to illustrate, unless otherwise clear and definite
Regulation and limit, term " installation ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or
It is detachably connected, or is integrally connected；Can mechanically connect or be electrically connected；It can be directly connected, can also lead to
Cross intermediary to be indirectly connected, can be the connection inside two elements.For the ordinary skill in the art, can be with
Concrete condition understands the concrete meaning of above-mentioned term in the present invention.Herein, up, down, left and right refers to described attached
The up, down, left and right of figure, not fully represents actual conditions.
In embodiment one, as shown in Figs. 1-3, a kind of suspension frame structure suitable for AGV, including：For with driving wheel
The suspension fork mechanism (not indicated in figure) that hub unit 13 connects；And the supporting mechanism being connected for the car body with AGV is (in figure
Do not indicate)；Suspension fork mechanism rotates and is arranged on supporting mechanism so that suspension fork mechanism can drive hub unit 13 to do curve around supporting mechanism
Movement.
In practical applications, during AGV is run, the hub unit 13 and suspension fork mechanism of this suspension frame structure 1 are equal
It is to be fixedly connected by supporting mechanism with the car body of AGV, therefore, when road conditions of the driving wheel with out-of-flatness, hub unit 13
Move up and down with wheel, be connected due to suspension fork mechanism with hub unit 13, suspension fork mechanism also can be with hub unit 13
Lower movement, furthermore suspension fork mechanism is rotatably arranged on supporting mechanism, therefore suspension fork mechanism, hub unit 13, driving wheel with
When ground moves up and down, also doing around supporting mechanism curvilinear motion (such as upper and lower beat movement, circular motion, eccentric motion),
Supporting mechanism is fixedly connected with the car body of AGV, therefore, in suspension fork mechanism, hub unit 13, driving wheel with being transported above and below ground
When dynamic, driving wheel is remained and contacted with ground under the action of this suspension frame structure 1.
In embodiment two, as shown in Figs. 1-3, on the basis of embodiment one, suspension fork mechanism include suspension shaft 112 with
And for connecting the suspension strut 111 of hub unit 13；Supporting mechanism is two support bases being oppositely arranged, including the first support
121 and second support base 122 of seat；Axis is connected to the first support base 121 and the second support base 122 respectively at the both ends of suspension shaft 112,
So that suspension strut 111 is articulated in support base (i.e. the first support base 121 and the second support base 122) by suspension shaft 112.Into
And suspension strut 111 can be moved in a circle around the central axis of suspension shaft 112, and the mode being pivotally connected causes suspension strut
111 rotation more flexible, reliable, it is self adaptive good, it is preferable that suspension shaft 112 is connected with support base contact.When
So, suspension shaft 112 is also preferably installed on support base by bearing, is being reduced between suspension shaft 112 and support base
Also ensure its running accuracy while friction coefficient.Its middle (center) bearing is preferably rolling bearing.In practical operation, suspension frame structure 1
Curvilinear motion also can be by suspension shaft 112 and support base clearance fit, so that suspension fork mechanism is lower on wheel
During volt movement, the beat up and down that suspension fork mechanism does bias with suspension shaft 112 together moves.And suspension strut 111 and support
Other rotation connection modes, other connection modes (hinge connection) in being such as hinged are alternatively between seat.And support base
Quantity can be configured according to actual needs, and the axis of suspension shaft 112 and support base connects mode and can be adjusted according to actual needs
Whole, when support base only has one, suspension shaft 112 is connected with suspension strut 111 respectively through the support base and its both ends, is hanged
The position of corresponding support base is provided with groove among frame stent 111 so that suspension strut 111 can be rotated around the support base.Work as support
When the quantity of seat is three, suspension strut 111 can sequentially pass through three support bases, and suspension strut 111 is with being located at adjacent two
Suspension shaft 112 between a support base connects, and at this time, the support base that suspension strut 111 corresponds to centre is provided with groove so that suspension
Stent 111 can rotate around it.
In embodiment three, as shown in Figs. 1-3, on the basis of embodiment one or two, further include for drive hub group
The driving mechanism 14 of part 13, driving mechanism 14 are arranged at suspension fork mechanism.Preferably, driving mechanism 14 includes servomotor (in figure
Do not indicate), planetary reduction gear (not indicated in figure) and connecting bushing (not indicated in figure)；Servomotor is connected with planetary reduction gear
Drive component (not indicated in figure) is formed, drive component is connected by connecting bushing with hub unit 13.Preferably, servo electricity
Machine, planetary reduction gear are sequentially arranged in below along the extension direction of suspension strut 111.Preferably, servomotor passes through motor
Stent (not indicated in figure) is detachable to be fixed on suspension strut 111, planetary reduction gear by reducer stent (in figure not
Sign) detachable it is fixed on suspension strut 111.
In example IV, as shown in Figs. 1-3, on the basis of embodiment one, two or three, suspension fork mechanism further includes activity
Suspended rack assembly, movable suspended rack assembly include suspension plate 113, suspension screw rod 114, elastic component (not indicated in figure), pressing plate 116；It is outstanding
Frame stent 111 includes first end (not indicated in figure) and second end (not indicated in figure), the first end of suspension strut 111 and support
Mechanism connects；The second end of suspension strut 111 is connected with suspension plate 113；Suspension screw rod 114 sequentially passes through suspension plate 113 and pressure
After plate 116, and it is connected with the car body of AGV；Elastic component is equipped between suspension plate 113 and pressing plate 116.When elastic component is hollow bullet
Property part when, such as spring 115, cylindric elastomer, at this time, elastic component is sheathed on the outside of suspension screw rod 114, and can pass through adjusting
The distance between suspension plate 113 and pressing plate 116 realize the precompression of elastomer；When elastomer is columnar elastomer, bullet
Property body both ends can be installed in respectively between suspension plate 113 and pressing plate 116, and adjust between suspension plate 113 and pressing plate 116
Distance realizes the precompression of elastomer.Here when precompression refers to that elastomer is installed between suspension plate 113 and pressing plate 116
Compressive state, i.e., may be at nature extended state when elastomer is installed on suspension plate 113 and pressing plate 116 and (be uncompressed
Also it is not stretched), it can also be in compressive state, extended configuration etc. can also be in.It can be selected according to the load value of actual AGV
Select.
It is further preferred that suspension screw rod 114 is two, elastic component is also two, and elastomer is preferably spring 115；
I.e. spring 115 is sheathed on the outside of suspension screw rod 114, and two springs 115 are arranged between suspension plate 113 and pressing plate 116.
It is further preferred that in order to improve the utilization rate of the accommodating space of AGV, the space occupancy rate of this suspension frame structure 1, this suspension are reduced
Stent 111 and suspension plate 113 are preferably integrally formed, and suspension plate 113 is preferably L shaped plate, i.e. suspension strut 111 installs driving machine
End after structure 14 is extended downward the first plate (not indicated in figure), and then, the extension end of the first bottom plate is towards away from support base one
The direction of side, which is extended, the second plate (not indicated in figure), and the second plate is provided with for through hole (the i.e. strip through suspension screw rod 114
Hole 1131), i.e., elastic component is arranged between the second plate and pressing plate 116.
In embodiment five, as shown in Figs. 1-3, on the basis of example IV, suspension screw rod 114 includes the 3rd end and the
Four ends, the 3rd end of suspension screw rod 114 are fixedly connected with the car body of AGV, and the end at the 4th end of suspension screw rod 114 is bolted with admittedly
Determine part 117；Fixing piece 117 can be along the precession of extension direction or back-out of suspension screw rod 114 so that elastic component is compressed or extended.Such as
Shown in Fig. 1, when the 3rd end (i.e. the lower end of suspension screw rod 114) of suspension screw rod 114 and the fixed company of the car body (such as chassis 21) of AGV
When connecing, then the end at the 4th end (i.e. the upper end of suspension screw rod 114) of suspension screw rod 114, which is equipped with, is used for and 117 screw thread of fixing piece
The external thread part of connection so that fixing piece 117 (nut of screw thread is set in such as) can spinning in and out along the vertical direction so that
The distance between pressing plate 116 and suspension plate 113 shorten or elongated, so that elastic component is compressed or the effect in its restoring force
Lower extension, so as to adjust the precompression of elastic component.In practical applications, can be set according to the different loads situation of AGV, and then
Realize adjusting of the driving wheel to the normal pressure on ground, so that ensure that AGV is not in that trailing wheel (i.e. driven wheel) is tilted at light load,
The phenomenon for causing driving wheel to skid because of precompression deficiency when overloaded；So as to ensure that the stability of AGV operations.It is worth what is pointed out
It is that suspension screw rod 114 can be also connected with the component in addition to chassis 21 in the car body of AGV, such as the upper end of suspension screw rod 114
It is connected with the component positioned at the top of chassis 21 in the car body of AGV, for the ease of between adjustment pressing plate 116 and suspension plate 113
Distance (i.e. the precompression of elastomer), fixing piece 117 at this time are preferably provided at the lower end of suspension screw rod 114.
In embodiment six, as shown in Figs. 1-3, on the basis of example IV or five, suspension screw rod 114 includes the 3rd end
With the 4th end, the 3rd end of suspension screw rod 114 is fixedly connected with the car body of AGV；Suspension plate 113 close to suspension screw rod 114
Three ends are set, and suspension plate 113 is provided with for the strip hole 1131 through suspension screw rod 114 so that suspension plate 113 is with wheel
There is limit value, such as when AGV is in smooth road conditions walking, suspension screw rod 114 at this time is located at strip when doing beat movement up and down
The centre position in hole 1131；When AGV is in raised road conditions walking, suspension screw rod 114 at this time is located at its of strip hole 1131
In an end, and contacted with the inner wall of 1131 end of strip hole；When AGV walks in the road conditions of indent, suspension at this time
Screw rod 114 is located at another end of strip hole 1131, and is contacted with the inner wall of 1131 end of strip hole；So as to pass through strip
The extended length in hole 1131 carrys out limiting wheel and this suspension frame structure 1 swings height.
It is further preferred that the movable sleeve of the suspension screw rod 114 above suspension plate 113 is equipped with ring-shaped base 1141,
So that spring 115 is installed on the ring-shaped base 1141, i.e., suspension plate 113 compresses spring 115 by the ring-shaped base 1141.
Preferably, gasket is equipped between fixing piece 117 and pressing plate 116, effectively avoids the rigidity between fixing piece 117 and pressing plate 116 from connecing
Touch.
It is worth noting that what the extension direction of strip hole 1131 can advance with the extension direction of strip hole 1131 with AGV
Direction is identical, then the extension direction of suspension strut 111 is identical with the direct of travel of AGV at this time, and driving wheel is arranged on the frame of suspension
The wherein side of end；It is further preferred that strip hole 1131 is along the direction of the direct of travel perpendicular to AGV and suspension screw rod
114 clearance fits；The extension direction of strip hole 1131 also can be identical with the direction of the direct of travel perpendicular to AGV, i.e., suspension it
The extension direction of frame is perpendicular to the direct of travel of AGV, and driving wheel is arranged on the end of suspension strut 111 at this time.
In embodiment seven, as shown in Figs. 1-3, a kind of AGV, including：Car body, driving wheel, and above-mentioned any one institute
The suspension frame structure 1 suitable for AGV stated；Two driving wheels are arranged at the both sides of car body by the hub unit 13 of suspension frame structure 1.
In practical applications, two driving wheels can be installed on the both sides of the car body of AGV by a suspension frame structure 1, at this time hub unit
13 include the first sub- 131 and second sub- hub unit 132 of hub unit, wherein, the first sub- hub unit 131 is provided with the first drive
Driving wheel 221, the second sub- hub unit 132 are provided with the second driving wheel 222.Certainly, each driving wheel can set a suspension
Structure 1, in this way, each driving wheel has the suspension frame structure 1 of corresponding setting so that the first driving wheel 221 and second
Driving wheel 222 is adjusted respectively in corresponding suspension frame structure 1, so that improving each driving wheel is its own correspondence
Road conditions there is self good adjustment capability, so as to greatly improve this AGV traveling comforts.
What deserves to be explained is suspension frame structure 1 can be set along the extension direction (i.e. the direct of travel of AGV) of car body, i.e. suspension
The both sides of structure 1 connect driving wheel (i.e. the first driving wheel by the connecting bushing for the driving mechanism 14 being disposed thereon respectively
221 and second driving wheel 222)；And the supporting mechanism of suspension frame structure 1 can be arranged on the front of driving wheel along the direct of travel of AGV,
The rear of driving wheel can be arranged on along the direct of travel of AGV.Certainly, if the size of AGV along its vertical direct of travel is larger, the
One driving wheel 221 can into symmetrical formula arrangement with 222 swing frame structure of the second driving wheel.As it can be seen that this suspension frame structure 1 is AGV's
Mounting means and installation site can be according to the installation spaces of AGV come accommodation.It is further preferred that further include driven
Wheel, and the direct of travel of driven wheel along AGV are arranged on the rear of driving wheel, it is preferable that the quantity of driven wheel can be one or two,
When the quantity of driven wheel is two, including the first driven wheel 231 and the second driven wheel 232, wherein, the first driven wheel 231 is set
In the rear of the first driving wheel 221；Second driven wheel 232 is arranged on the rear of the second driving wheel 222, four trapezoidal settings.
It should be noted that above-described embodiment can be freely combined as needed.The above is only the preferred of the present invention
Embodiment, it is noted that for those skilled in the art, do not departing from the premise of the principle of the invention
Under, some improvements and modifications can also be made, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (10)
- A kind of 1. suspension frame structure suitable for AGV, it is characterised in that including：The suspension fork mechanism being connected for the hub unit with driving wheel；AndFor the supporting mechanism being connected with the car body of the AGV；The suspension fork mechanism rotates and is arranged on the supporting mechanism so that the suspension fork mechanism can drive the hub unit around described Supporting mechanism does curvilinear motion.
- 2. the suspension frame structure according to claim 1 suitable for AGV, it is characterised in that：The suspension fork mechanism includes suspension shaft and the suspension strut for connecting the hub unit；The supporting mechanism is two support bases being oppositely arranged, including the first support base and the second support base；Axis is connected to first support base and second support base respectively at the both ends of the suspension shaft so that the suspension branch Frame is articulated in the support base by the suspension shaft.
- 3. the suspension frame structure according to claim 2 suitable for AGV, it is characterised in that：The suspension shaft is installed at the support base by bearing.
- 4. the suspension frame structure according to claim 1 suitable for AGV, it is characterised in that further include：For driving the driving mechanism of the hub unit, the driving mechanism is arranged at the suspension fork mechanism.
- 5. the suspension frame structure according to claim 4 suitable for AGV, it is characterised in that：The driving mechanism includes servomotor, planetary reduction gear and connecting bushing；After the servomotor is connected composition drive component with the planetary reduction gear, pass through the connecting bushing and the wheel hub Component connects.
- 6. according to the suspension frame structure suitable for AGV described in claim 1-5 any one, it is characterised in that：The suspension fork mechanism further includes movable suspended rack assembly, and the activity suspended rack assembly includes suspension plate, suspension screw rod, elasticity Part, pressing plate；The suspension strut includes first end and second end, and the first end of the suspension strut is connected with the supporting mechanism；Institute The second end for stating suspension strut is connected with the suspension plate；After the suspension screw rod sequentially passes through the suspension plate and the pressing plate, and it is connected with the car body of the AGV；The elastic component is equipped between the suspension plate and the pressing plate.
- 7. the suspension frame structure according to claim 6 suitable for AGV, it is characterised in that：The suspension screw rod includes the 3rd end and the 4th end, and the 3rd end of the suspension screw rod is fixed with the car body of the AGV to be connected Connect, the end at the 4th end of the suspension screw rod is bolted with fixing piece；The fixing piece can be along the precession of extension direction or back-out of the suspension screw rod so that the elastic component compression is extended.
- 8. the suspension frame structure according to claim 6 suitable for AGV, it is characterised in that：The suspension screw rod includes the 3rd end and the 4th end, and the 3rd end of the suspension screw rod is fixed with the car body of the AGV to be connected Connect；The suspension plate is set close to the 3rd end of the suspension screw rod, and the suspension plate is provided with for running through the suspension spiral shell The strip hole of bar.
- A kind of 9. AGV, it is characterised in that including：Car body, driving wheel, and the suspension frame structure suitable for AGV described in the claims 1-8 any one；Two driving wheels are arranged at the both sides of the car body by the hub unit of the suspension frame structure.
- 10. AGV according to claim 9, it is characterised in that：Each described driving wheel is equipped with a suspension frame structure；The driving wheel is arranged on the car by the hub unit At body；And/orDriven wheel is further included, the direct of travel of the driven wheel along the AGV are arranged on the rear of the driving wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201711275604.7A CN107914532A (en) | 2017-12-06 | 2017-12-06 | A kind of AGV and its suspension frame structure |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711275604.7A CN107914532A (en) | 2017-12-06 | 2017-12-06 | A kind of AGV and its suspension frame structure |
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| CN107914532A true CN107914532A (en) | 2018-04-17 |
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| CN201711275604.7A Pending CN107914532A (en) | 2017-12-06 | 2017-12-06 | A kind of AGV and its suspension frame structure |
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Cited By (8)
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| CN110103655A (en) * | 2019-06-06 | 2019-08-09 | 梁芳文 | A kind of multi-functional antidetonation and anti-overturning motor vehicles suspended structure |
| WO2019242315A1 (en) * | 2018-06-19 | 2019-12-26 | 北京京东尚科信息技术有限公司 | Agv chassis mechanism and agv provided with same |
| CN110949120A (en) * | 2019-12-31 | 2020-04-03 | 杭州极木科技有限公司 | Differential driving device of non-independent suspension |
| CN111301081A (en) * | 2018-12-12 | 2020-06-19 | 沈阳新松机器人自动化股份有限公司 | Mechanical structure capable of increasing driving force |
| CN112078356A (en) * | 2020-08-28 | 2020-12-15 | 北京特种机械研究所 | Steering axle driven by small-angle swinging of steering wheel for AGV |
| CN113425265A (en) * | 2021-06-26 | 2021-09-24 | 沈阳天仁合一科技有限公司 | AGV mechanism for sleep monitoring therapeutic instrument |
| WO2023092586A1 (en) * | 2021-11-29 | 2023-06-01 | Abb Schweiz Ag | Driving system and automatic guided vehicle |
| CN110949120B (en) * | 2019-12-31 | 2024-04-19 | 杭州极木科技有限公司 | Differential driving device of non-independent suspension |
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| CN112078356A (en) * | 2020-08-28 | 2020-12-15 | 北京特种机械研究所 | Steering axle driven by small-angle swinging of steering wheel for AGV |
| CN113425265A (en) * | 2021-06-26 | 2021-09-24 | 沈阳天仁合一科技有限公司 | AGV mechanism for sleep monitoring therapeutic instrument |
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