CN108146182A - Regulating device and guiding vehicle - Google Patents
Regulating device and guiding vehicle Download PDFInfo
- Publication number
- CN108146182A CN108146182A CN201810004351.8A CN201810004351A CN108146182A CN 108146182 A CN108146182 A CN 108146182A CN 201810004351 A CN201810004351 A CN 201810004351A CN 108146182 A CN108146182 A CN 108146182A
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- regulating device
- damper
- gear
- vehicle
- adjustment portion
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- 230000001105 regulatory effect Effects 0.000 title claims abstract description 47
- 230000033001 locomotion Effects 0.000 claims abstract description 42
- 230000003014 reinforcing effect Effects 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 3
- 238000013016 damping Methods 0.000 description 7
- 230000037396 body weight Effects 0.000 description 4
- 239000002184 metal Substances 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 230000006837 decompression Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000000465 moulding Methods 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 229920001967 Metal rubber Polymers 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 230000000739 chaotic effect Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/06—Characteristics of dampers, e.g. mechanical dampers
-
- 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
-
- 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
- B60G2204/40—Auxiliary suspension parts; Adjustment of suspensions
Abstract
The present invention relates to a kind of regulating device and guiding vehicle, wherein, regulating device is used to guide the damper of vehicle, and the regulating device is installed on at least one side of the vehicle width direction of guiding vehicle or the two sides in vehicle commander direction, and the regulating device includes：Driving portion, for being arranged on the side of guiding vehicle；Adjustment portion is connect along overall height direction one end with driving portion, and the other end with damper for connecting, and the driving portion can do circumferential movement and the adjustment portion is driven to be moved along the extending direction of damper, so that the elastic element of damper is compressed or stretched.Regulating device of the vehicle using the present invention is guided, the frictional force of wheel over the ground can be adjusted, it is easy to use.
Description
Technical field
The present invention relates to guiding vehicle technical fields, and in particular to a kind of regulating device and guiding vehicle.
Background technology
21 century manufacturing industry will enter a new phase, and agile manufactruing will be as the dominant pattern of enterprise.AGV
(Automated Guided Vehicle, automatic guided vehicle) is the important equipment in Modern Manufacturing Enterprise logistics system, mainly
For all kinds of materials of storage and transportation, important guarantee is provided for system flexibility, integrated, Effec-tive Function.AGV mainly has two class shapes
Formula, one kind are fixed route AGV, its operating path is fixed, and has track, therefore guidance technology is relatively easy；It is another
It is free path AGV, due to not having track, it provides maximum possible for AGV free-running operations.Traditional AGV chassis traveling machine
Structure is using Three-wheel type, four wheeled, six wheeled or caterpillar chassis structures.
Wherein, Three-wheel type is simple in structure, and there is no because having skidded phenomenon during structure mounting height；Four wheeled structure is similar
Automobile chassis is laid out, wherein the two-wheeled of same axis is driving wheel, other two-wheeled deflecting roller in order to control, advantage be it is simple in structure,
Shortcoming is that turning radius is larger, it is impossible to realize pivot turn.
Six wheeled constructions are the walking layout structures that most of AGV are used now, the advantage is that achievable reciprocating linear
Movement, driving wheel, which is arranged on car body central axes, can be achieved pivot turn, and the radius of gyration is relatively small.
Such as the Chinese patent literature of Publication No. CN203786563U provides a kind of AGV self-aiming vehicles of six wheel constructions,
Including car body and guidance system.Car body includes vehicle frame and 3 row's wheels below vehicle frame, often arranges there are two wheels, three row's vehicles
Be mutually parallel between wheel, and often two wheels being included of row's wheel along vehicle frame center line symmetrical setting, wherein first row wheel
Comprising two wheels be universal wheel, two wheels that second row wheel is included are driving wheel, third row's wheel institute
Comprising two wheels be fast pulley.Car body is using two universal wheels, two fast pulleys, two driving wheels, compared to four-wheel
The car body of structure, turning radius smaller, direction are also easier to control.
AGV almost has shock-damping structure in driving group on the market at present, in order to more preferably protect drive module, and have
There is shock-absorbing effect, make smooth ride.But existing AGV can cause to drive when having relatively large load to cross boss or zero load
Frictional force generates large change to wheel over the ground, and trouble is caused to using.
Invention content
To solve the above-mentioned problems, the purpose of the present invention is to provide a kind of regulating device, for guiding the damper of vehicle,
The regulating device is installed on at least one side of the vehicle width direction of guiding vehicle or the two sides in vehicle commander direction, the regulating device
Including：Driving portion, for being arranged on the side of guiding vehicle；Adjustment portion is connect along overall height direction one end with driving portion, and the other end is used
It is connect in damper, the driving portion can do circumferential movement and the adjustment portion is driven to be transported along the extending direction of damper
It is dynamic, so that the elastic element of damper is compressed or is stretched.
Further, the adjustment portion can be realized with the driving portion after the driving portion stops circumferential movement and be locked
Only.
Further, the driving portion includes：Worm screw, the worm screw are equipped with helical tooth, and the worm screw can be cooked circumferential direction
Movement；
The adjustment portion includes：
Gear, with the spiral tooth engagement；
Ontology, for the ontology for being connected with damper, the ontology is equipped with rack towards the part of the gear, described
Rack is engaged with the gear.
Further, the helical tooth includes：Interval is set on the first helical tooth and the second helical tooth on the worm screw；Institute
Gear is stated to include：
First gear, with the first spiral tooth engagement；
Second gear, with the second spiral tooth engagement；
The rack includes：
First rack set on the ontology towards the part of the first gear, is engaged with the first gear；
Second rack set on the ontology towards the part of the second gear, is engaged with the second gear；
The rotation direction of first helical tooth and second helical tooth meets：After the worm screw is cooked circumferential movement, the first tooth
The direction of motion of item and the second rack is consistent.
Further, first helical tooth and second helical tooth is oppositely oriented, the first gear and described
Second gear is located at the same side of the worm screw.
Further, the driving portion includes：Ball-screw, the ball-screw have leading screw；
The adjustment portion includes：
Nut is sheathed on the leading screw, and the circumferential movement of the leading screw can be converted into the linear motion of the nut；
Ontology, for being moved along the extending direction of damper, the ontology is connect with the nut.
Further, the leading screw includes：The first leading screw and the second leading screw being mutually parallel；
The nut includes：
First nut is sheathed on first leading screw；
Second nut is sheathed on second leading screw；
The ontology is connect respectively with first nut and second nut.
Further, the guide part extended in a first direction is further included, the adjustment portion has through-hole, and the adjustment portion is led to
It crosses the through-hole to be slideably sheathed on the guide part, the direction of motion of the adjustment portion is consistent with the first direction.
Further, the guide part for two and more than, and be mutually parallel.
Further, fixed part is further included, the fixed part is used to be arranged on the side of guiding vehicle, and the guide part is fixed
In the fixed part.
Further, reinforcing rib is further included, backwards to the side of the guide part on the fixed part.
Further, the reinforcing rib is spaced multiple.
Further, the other end of the adjustment portion is connect by flexural pivot with damper.
The present invention also provides a kind of guiding vehicle, including：Car body；
Wheel, set on the vehicle width direction of the car body or the two sides in vehicle commander direction, at least one side of two sides is installed
There is regulating device described in any one of the above embodiments；
Damper, described damper one end are connect with the adjustment portion, and the other end is connect with the wheel.
Further, mounting portion is further included, is rotatablely connected set on the bottom of the car body, and with the car body；
The mounting portion is equipped with motor, and the output shaft of the motor is connect with the wheel；
Described damper one end is connect with the adjustment portion, and the other end is connect with the mounting portion.
Further, the wheel is driving wheel.
As above, on AGV using damper regulating device provided by the invention, adjustment portion and damping in regulating device
Device connects, and driving portion can drive adjustment portion to be moved along the extending direction of damper, so that elastic element is compressed or stretched.
When driving wheel is too small to the pressure on ground, causes driving wheel original place " skidding ", adjustment portion is driven along damping by driving portion
The extending direction movement of device so that elastic element is compressed, and then damper realizes supercharging to the driving wheel of AGV；Driving wheel pair
The pressure increase on ground, increases frictional force, so as to solve the problems, such as driving wheel original place " skidding ".
When AGV in the case that idling carry, because car body weight itself is not enough to compressed spring, car body is caused to be propped up by driving wheel
When coming, adjustment portion is driven to be moved along the extending direction of damper by driving portion so that elastic element is compressed, then damping
Device realizes supercharging to the driving wheel of AGV；Driving wheel increases the pressure on ground, solves car body and props up ask by driving wheel
Topic.In the case of AGV is loaded, to realize the shock-absorbing function of damper, adjustment portion can be driven by driving portion along damping
The extending direction movement of device so that elastic element is stretched, and then damper realizes decompression to the driving wheel of AGV；Damper is sent out
Wave shock-absorbing function.
For allow the present invention the above can be clearer and more comprehensible, preferred embodiment cited below particularly and with reference to attached drawing specifically
It is bright.
Description of the drawings
Fig. 1 is the stereogram one for the guiding vehicle that the embodiment of the present invention is equipped with regulating device；
Fig. 2 is the side view one for the guiding vehicle that the embodiment of the present invention is equipped with regulating device；
Fig. 3 is the side view two for the guiding vehicle that the embodiment of the present invention is equipped with regulating device；
Fig. 4 is the stereogram two for the guiding vehicle that the embodiment of the present invention is equipped with regulating device；
Fig. 5 is the stereogram three for the guiding vehicle that the embodiment of the present invention is equipped with regulating device.
Specific embodiment
Embodiments of the present invention are illustrated by particular specific embodiment below, those skilled in the art can be by this specification
Revealed content understands other advantages and effect of the present invention easily.Although description of the invention will combine preferred embodiment
It introduces together, but this feature for not representing the invention is only limitted to the embodiment.On the contrary, it is invented with reference to embodiment
The purpose of introduction is to cover based on claim of the invention and it is possible that the other selections or transformation extended.In order to carry
Understand for the depth to the present invention, many concrete details will be included in being described below.The present invention can not also use these thin
Section is implemented.In addition, in order to avoid the emphasis of the chaotic or fuzzy present invention, some details will be omitted in the de-scription.
With reference to figure 1, the present invention provides a kind of regulating device, and for guiding the damper 22 of vehicle 20, regulating device is installed on
Guide at least the one of the vehicle width direction (in Fig. 1 shown in X-direction) of vehicle 20 or the two sides of vehicle commander direction (in Fig. 1 shown in Y-direction)
Side.In the present embodiment, the damper 22 being connect with wheel 21 is equipped in the two sides of the vehicle width direction of guiding vehicle 20, each
Side A is mounted on regulating device；Can be that the wherein one side of vehicle width direction is equipped with regulating device in other embodiments.
With reference to figure 2 and with reference to shown in Fig. 1, the regulating device of the present embodiment includes：Driving positioned at 20 the same side of guiding vehicle
Portion 10 and adjustment portion 11；Driving portion 10 is used to be arranged on the side A of guiding vehicle 20, and adjustment portion 11 is along overall height direction (Z side in Fig. 1
To shown) one end connect with driving portion 10, and for the other end for being connect with damper 22, driving portion 10 can do circumferential movement driving
Adjustment portion 11 is moved along the extending direction (in Fig. 2 shown in W directions) of damper 22, so that the elastic element 221 of damper 22
It is compressed or is stretched.Wherein, elastic element 221 can be with shock absorbing and shock-absorbing functions, the spring being made by steel,
It can be the liquid spring with damping action, gas spring and metal-rubber, be selected in the present embodiment most common by steel system
Make the spiral spring formed.
In the prior art, driving wheel is too small to the pressure on ground, and driving wheel grabs ground ability is inadequate, and the frictional force of generation is insufficient
, by boss, to cause driving wheel original place " skidding " with AGV.In addition, the spring tension in shock-damping structure is larger, just will appear
It is carried in idling because car body weight itself is not enough to compressed spring, car body is caused to prop up the phenomenon that coming by driving wheel.
Using damper regulating device provided by the invention on AGV, when wheel 21 is too small to the pressure on ground, cause
During 21 original place of wheel " skidding ", adjustment portion 11 is driven to be moved along the extending direction of damper 22 by driving portion 10 so that bullet
Property element 221 compressed, then damper 22 realizes supercharging to the wheel 21 of AGV；Wheel 21 increases the pressure on ground, increase
Frictional force, so as to solving the problems, such as 21 original place of wheel " skidding ".
When AGV in the case that idling carry, because car body weight itself is not enough to compression elastic element 221, cause car body by vehicle
When wheel 21 props up next, adjustment portion 11 is driven to be moved along the extending direction of damper 22 by driving portion 10 so that elastic element
221 are compressed, and then damper 22 realizes supercharging to the wheel 21 of AGV；Wheel 21 increases the pressure on ground, solves car body
The problem of coming is propped up by wheel 21.
In the case of AGV is loaded, to realize the shock-absorbing function of damper 22, can adjustment portion be driven by driving portion 10
11 move along the extending direction of damper 22 so that elastic element 221 is stretched, and then damper 22 is to the wheel 21 of AGV
Realize decompression；Damper 22 plays shock-absorbing function.
It should be noted that regulating device of the invention is installed on the two sides of the vehicle width direction of guiding vehicle 20, can save
The inner space of vehicle 20 is guided, the internal element installation that guide vehicle 20 will not be caused to interfere.
Particularly, with reference to figure 1 and Fig. 2, the driving portion 10 of the present embodiment includes：Worm screw 100, worm screw 100 are equipped with spiral shell
Rotation tooth and worm screw knob 103, worm screw 100 can do circumferential movement.Can manual turn worm screw knob 103 so that worm screw 100 is cooked
Circumferential movement can also connect with the driving equipment of auxiliary, such as be connected with the motor shaft of auxiliary motor, as long as worm screw can be driven
100 circumferential movements.
Adjustment portion 11 includes：Spiral tooth engagement on gear, with worm screw 100；And ontology 114, ontology 114 are used for and subtract
Shake device 22 connects, and ontology 114 is equipped with rack, rack and pinion engagement towards the part of gear.Gear, rack and the spiral shell of the present invention
The quantity of rotation tooth is not limited, as long as enabling driving portion 10 that adjustment portion 11 is driven to be moved along the extending direction of damper 22
.
For example, in the present embodiment, with reference to figure 2, helical tooth includes：Interval is set on 101 He of the first helical tooth on worm screw 100
Second helical tooth 102；Gear includes：It the first gear 110 that is engaged with the first helical tooth 101 and is nibbled with the second helical tooth 102
The second gear 111 of conjunction.Ontology 114 is equipped with the first rack 112, the first rack 112 and first towards the part of first gear 110
Gear 110 engages；Ontology 114 is equipped with the second rack 113, the second rack 113 and second gear towards the part of second gear 111
111 engagements.The rotation direction of first helical tooth 101 and the second helical tooth 102 meets：After worm screw 100 is cooked circumferential movement, the first rack
112 is consistent with the direction of motion of the second rack 113.
In the present embodiment, oppositely oriented, 110 and second tooth of first gear of the first helical tooth 101 and the second helical tooth 102
Wheel 111 is located at the same side of worm screw 100." the same side " can be understood as：It is object of reference with worm screw 100, first gear 110 and
Two gears 111 are located at the upside or downside of the central axes of worm screw 100, and first gear 110 and second gear 111 are shown in Fig. 2
Positioned at the downside of the central axes of worm screw 100.
In use, turn worm screw 100 is cooked circumferential movement (in Fig. 2 shown in T directions), under the drive of worm screw 100,
The first helical tooth 101 driving first gear 110 on worm screw 100 rotates clockwise (in Fig. 2 shown in A directions), on worm screw 100
Second helical tooth 102 driving second gear 111 rotates counterclockwise (in Fig. 2 shown in B directions)；Later, the driving of first gear 110 the
One rack 112 moves downward (in Fig. 2 shown in C directions), and second gear 111 drives the second rack 113 to move downward (C side in Fig. 2
To shown).Since the first rack 112 and the second rack 113 are fixed at respectively on ontology 114, so in 112 He of the first rack
While second rack 113 moves downward, it will also be moved downward with ontology 114 (in Fig. 2 shown in C directions).
Ontology 114 is connect by flexural pivot 220 with damper 22, and during ontology 114 moves downward, ontology 114 passes through
220 downward compression shock absorption device 22 of flexural pivot, then wheel 21 realization supercharging of the damper 22 to AGV；Wheel 21 is to the pressure on ground
Increase, increases frictional force.
The present embodiment can stop week by the fit form of worm screw 100, gear and rack, adjustment portion 11 in driving portion 10
After movement locking is realized with driving portion 10.That is, with reference to figure 2, driving portion 10 drives adjustment portion 11 to move downward, and driving portion 10 stops
Only after circumferential movement, adjustment portion 11 will not move upwards, and ensure that the stability of adjusting.
In other embodiments, one spiral of processing or installation right over adjustment portion center can be located on worm screw
Tooth, the rack being set on adjustment portion center by the gear being meshed with a helical tooth driving are moved, can also be realized
The up and down motion of ontology in adjustment portion, and then realize the variation of damper elastic element pressure.
In addition, first gear and second gear can be located at the not homonymy of worm screw in other embodiments, such as first gear position
On the upside of the worm screw, second gear is located at worm screw downside, as long as after worm screw is enabled to do circumferential movement, passing through first gear and the
The transmission of two gears so that the direction of motion of the first rack and the second rack is consistent.
In addition, the concrete structure of adjustment portion 11 and driving portion 10 is not limited to above-mentioned form.With reference to figure 3, driving portion 10 includes：
Ball-screw, ball-screw have leading screw；Adjustment portion 11 includes：Nut is sheathed on leading screw, and the circumferential movement of leading screw can turn
Turn to the linear motion of nut；And ontology 114, for being transported along the extending direction of damper 22 (in Fig. 3 shown in W directions)
Dynamic, ontology 114 is connect with nut.
In the present embodiment, leading screw includes：The first leading screw 140 and the second leading screw 141 being mutually parallel；First leading screw, 140 He
The axial direction of second leading screw 141 is consistent (in Fig. 3 shown in W directions) with the extending direction of damper 22.First leading screw 140 and second
Thick stick 141 is installed on by supporting rack 104 on car body, and is not moved in axial direction.Supporting rack 104 is fixedly mounted or is welded in guiding vehicle
On 20, the leading screw knob 142 convenient for turn is equipped on the first leading screw 140 and the second leading screw 141.The turn of leading screw knob 142
Mode is not limited, can manual turn, can also connect with the driving equipment of auxiliary, such as be connected with the motor shaft of auxiliary motor,
As long as 141 circumferential movement of the first leading screw 140 and the second leading screw can be driven.
Nut includes：First nut 143 and the second nut 144, the first nut 143 are sheathed on the first leading screw 140, and second
Nut 144 is sheathed on the second leading screw 141；Ontology 114 is connect respectively with the first nut 143 and the second nut 144.First nut
143 and second nut 144 be fixedly mounted or be welded in the both ends of ontology 114.
When adjusting, while the first leading screw 140 and the second leading screw 141,140 He of the first leading screw are rotated with identical speed in the same direction
Second leading screw, 141 circumferential movement is converted into the linear motion up and down of the first nut 143 and the second nut 144, due to the first nut
143 and second nut 144 be fixedly installed on ontology 114, ontology 114 is under the driving of the first leading screw 140 and the second leading screw 141
It realizes straight reciprocating motion up and down, and then realizes the variation of 22 elastic element of damper, 221 pressure.
It should be noted that leading screw of the invention and the quantity of nut are not limited, as long as driving portion 10 is enabled to drive
Adjustment portion 11 is moved along the extending direction (in Fig. 3 shown in W directions) of damper 22, can such as be located at ontology on the car body
A vertically-mounted leading screw on the position at 114 centers drives ontology 114 to move by a nut matched with leading screw, real
The variation of 221 pressure of existing elastic element.
The shape of the ontology 114 of the present invention is not limited, in the present embodiment, with reference to figure 4 and with reference to shown in Fig. 1 to Fig. 3, this
Body 114 includes bottom plate 116, vertical riser 117, the end plate set on 117 both ends of bottom plate 116 and riser for being set on 116 edge of bottom plate
118th, to enhance the reinforcing rib 115 of bonding strength between bottom plate 116 and riser 117, bottom plate 116 is equipped with can be along guide part
120 through-holes 119 to move up and down.First rack 112 and the second rack 113 are respectively arranged on positioned at 117 both ends of bottom plate 116 and riser
End plate 118 on.
Reinforcing rib 115 is solderable above bottom plate 116, and is connect with riser 117, and the quantity of reinforcing rib 115 can basis
The setting of the intensity interval of bottom plate 116 and riser 117 is multiple.The making material and molding mode of ontology 114 are not limited, Ke Yiwei
Integrally formed sheet metal component or casting, or the weldment that polylith the welding of sheet metal parts forms, as long as support can be met
Intensity requirement and cooperation require.
Wherein, guide part 120 extends (in Fig. 4 shown in P directions) along the first direction, and adjustment portion 11 can be slided by through-hole 119
It is sheathed on dynamicly on guide part 120, the direction of motion of adjustment portion 11 is consistent with first direction.Ontology 114 during exercise, driving portion
10 move up and down driving ontology 114 along guide part 120, ensure regulating device steady operation.The concrete shape of guide part 120
Also it is not limited, guide part 120 is in the form of a column in the present embodiment.The quantity of guide part 120 is not limited, and is two in the present embodiment
And be mutually parallel, can be more than two or other quantity in other embodiments.
With continued reference to Fig. 4 and with reference to shown in Fig. 1 to Fig. 3, regulating device further includes fixed part 13, and fixed part 13 is used to set
In the side of guiding vehicle 20, guide part 120 is fixedly arranged on fixed part 13.Fixed part 13 can be fixedly mounted or be welded in vehicle body side
On A.Reinforcing rib 130 is equipped with backwards to the side of guide part 120 on fixed part 13, the quantity of reinforcing rib 130 can be according to fixed part 13
Intensity interval setting it is multiple.
With continued reference to Fig. 1 and with reference to shown in Fig. 5, vehicle 20 is guided the present invention also provides a kind of, including：Car body, subtracts wheel 21
The regulating device described in device 22, mounting portion 231 and any of the above-described embodiment is shaken, wheel 21 is mounted on car body by mounting portion 231
Vehicle width direction X two sides A, the quantity of wheel 21 can be even number, such as four, six or odd number, such as three.
In the present embodiment, 22 one end of damper is connect with adjustment portion 11, and the other end is connect with mounting portion 231.
Wherein, mounting portion 231 is set on the bottom of car body, is connected by a connecting plate 234 and rotation axis 233 with car body rotation
It connects, connecting plate 234 is integrally formed with car body and processes, and also can be fixedly mounted or be welded on car body.Mounting portion can be integrated bending
Molding or the package assembly of sheet metal structural or the sheet metal part assembly of welding fabrication.With reference to figure 5, mounting portion 231 includes
To motor 24 is installed installing plate 230, to hold tightly the motor of motor 24 embrace plate 232, the output shaft 240 and wheel of motor 24
21 connections.It is a pair being arranged in parallel that motor, which embraces plate 232, is connect respectively by rotation axis 233 with connecting plate 234.
Wheel 21 in the present embodiment can be driving wheel or other wheels except driving wheel in addition to it, and car body both sides can
To install the regulating device described in above-mentioned any embodiment simultaneously, can also be installed described in above-mentioned any embodiment in car body side
Regulating device.
When wheel 21 is too small to the pressure on ground, 21 grabs ground ability of wheel is inadequate, and the frictional force of generation is not enough to AGV
Movement when causing 21 original place of wheel " skidding ", can drive extending direction W of the adjustment portion 11 along damper 22 by driving portion 10
Movement so that elastic element 221 is compressed, and increases pressure and frictional force of the wheel 21 to ground, so as to solve 21 original place of wheel
The problem of " skidding ".Elastic element 221 restores original state after the completion of adjusting in order to prevent, and adjustment portion 11 is in driving portion 10
Locking can be realized after stopping circumferential movement with driving portion 10.
When AGV in the case that idling carry, because car body weight itself is not enough to compression elastic element 221, car body is caused to be supportted
Get up, adjustment portion 11 can be driven to be moved along the extending direction W of damper 22 by driving portion 10 at this time so that elastic element
221 are compressed, and then damper 22 realizes supercharging to the wheel 21 of AGV；Wheel 21 increases the pressure on ground, solves car body 20
It is propped up the problem of coming.
In the case of AGV is loaded, preferably to realize the shock-absorbing function of damper 22, it can be driven by driving portion 10
Adjustment portion 11 is moved along the extending direction of damper 22 so that elastic element 221 is stretched, and then damper 22 is to AGV's
Wheel 21 realizes decompression；Damper 22 plays shock-absorbing function.
In conclusion it is provided by the invention the above-described embodiments merely illustrate the principles and effects of the present invention rather than
For limiting the present invention.Any person skilled in the art all can be under the spirit and scope without prejudice to the present invention, to above-mentioned reality
It applies example and carries out modifications and changes.Therefore, such as those of ordinary skill in the art without departing from disclosed
Spirit and all equivalent modifications for being completed under technological thought or change, should be covered by the claim of the present invention.
Claims (16)
1. a kind of regulating device, for guiding the damper of vehicle, which is characterized in that the regulating device is installed on the vehicle of guiding vehicle
At least one side of the two sides in wide direction or vehicle commander direction, the regulating device include：
Driving portion, for being arranged on the side of guiding vehicle；
Adjustment portion is connect along overall height direction one end with driving portion, and for being connect with damper, the driving portion can be done the other end
Circumferential movement drives the adjustment portion to be moved along the extending direction of damper, so that the elastic element of damper is compressed or drawn
It stretches.
2. regulating device according to claim 1, which is characterized in that the adjustment portion can stop week in the driving portion
After movement locking is realized with the driving portion.
3. regulating device according to claim 2, which is characterized in that the driving portion includes：
Worm screw, the worm screw are equipped with helical tooth, and the worm screw can be cooked circumferential movement；
The adjustment portion includes：
Gear, with the spiral tooth engagement；
Ontology, for the ontology for being connected with damper, the ontology is equipped with rack, the rack towards the part of the gear
It is engaged with the gear.
4. regulating device according to claim 3, which is characterized in that the helical tooth includes：Interval is set on the worm screw
On the first helical tooth and the second helical tooth；
The gear includes：
First gear, with the first spiral tooth engagement；
Second gear, with the second spiral tooth engagement；
The rack includes：
First rack set on the ontology towards the part of the first gear, is engaged with the first gear；
Second rack set on the ontology towards the part of the second gear, is engaged with the second gear；
The rotation direction of first helical tooth and second helical tooth meets：After the worm screw is cooked circumferential movement, the first rack and
The direction of motion of second rack is consistent.
5. regulating device according to claim 4, which is characterized in that first helical tooth and second helical tooth
Oppositely oriented, the first gear and the second gear are located at the same side of the worm screw.
6. regulating device according to claim 2, which is characterized in that the driving portion includes：Ball-screw, the ball
Leading screw has leading screw；
The adjustment portion includes：
Nut is sheathed on the leading screw, and the circumferential movement of the leading screw can be converted into the linear motion of the nut；
Ontology, for being moved along the extending direction of damper, the ontology is connect with the nut.
7. regulating device according to claim 6, which is characterized in that the leading screw includes：The first leading screw being mutually parallel
With the second leading screw；
The nut includes：
First nut is sheathed on first leading screw；
Second nut is sheathed on second leading screw；
The ontology is connect respectively with first nut and second nut.
8. regulating device according to claim 1, which is characterized in that further include the guide part extended in a first direction, institute
Adjustment portion is stated with through-hole, the adjustment portion is slideably sheathed on by the through-hole on the guide part, the adjustment portion
The direction of motion it is consistent with the first direction.
9. regulating device according to claim 8, which is characterized in that the guide part for two and more than, it is and mutually flat
Row.
10. regulating device according to claim 8, which is characterized in that further include fixed part, the fixed part is used to set
In the side of guiding vehicle, the guide part is fixedly arranged on the fixed part.
11. regulating device according to claim 8, which is characterized in that further include reinforcing rib, carried on the back on the fixed part
To the side of the guide part.
12. regulating device according to claim 11, which is characterized in that the reinforcing rib is spaced multiple.
13. regulating device according to claim 11, which is characterized in that the other end of the adjustment portion passes through flexural pivot
It is connect with damper.
14. a kind of guiding vehicle, which is characterized in that including：
Car body；
Wheel, set on the vehicle width direction of the car body or the two sides in vehicle commander direction, at least one side installation of two sides is had the right
Profit requires 1-13 any one of them regulating devices；
Damper, described damper one end are connect with the adjustment portion, and the other end is connect with the wheel.
15. guiding vehicle as claimed in claim 14, which is characterized in that mounting portion is further included, set on the bottom of the car body, and
It is rotatablely connected with the car body；
The mounting portion is equipped with motor, and the output shaft of the motor is connect with the wheel；
Described damper one end is connect with the adjustment portion, and the other end is connect with the mounting portion.
16. guiding vehicle as claimed in claim 14, which is characterized in that the wheel is driving wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810004351.8A CN108146182A (en) | 2018-01-03 | 2018-01-03 | Regulating device and guiding vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810004351.8A CN108146182A (en) | 2018-01-03 | 2018-01-03 | Regulating device and guiding vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108146182A true CN108146182A (en) | 2018-06-12 |
Family
ID=62460556
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810004351.8A Pending CN108146182A (en) | 2018-01-03 | 2018-01-03 | Regulating device and guiding vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108146182A (en) |
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| CN113525507A (en) * | 2021-07-16 | 2021-10-22 | 湖南国科智能技术研究院有限公司 | Shock attenuation steering wheel suitable for robot |
| US11419470B2 (en) * | 2018-02-05 | 2022-08-23 | Lg Electronics Inc. | Cleaner |
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