CN108163481B - A kind of damping type automated guided vehicle - Google Patents
A kind of damping type automated guided vehicle Download PDFInfo
- Publication number
- CN108163481B CN108163481B CN201711490885.8A CN201711490885A CN108163481B CN 108163481 B CN108163481 B CN 108163481B CN 201711490885 A CN201711490885 A CN 201711490885A CN 108163481 B CN108163481 B CN 108163481B
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- Prior art keywords
- damping
- bottom plate
- steering wheel
- driven wheel
- body shell
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2207/00—Indexing codes relating to constructional details, configuration and additional features of a handling device, e.g. Conveyors
- B65G2207/20—Earthquake protection
Abstract
The invention discloses a kind of damping type automated guided vehicles, comprising: the bottom of body shell is arranged in body shell, damping steering wheel device and driven wheel device, damping steering wheel device and driven wheel device；It can enable steering wheel and driven wheel while effectively contact ground, and have shock absorbing effect under steam.
Description
Technical field
The invention belongs to automated guided vehicle technical field more particularly to a kind of damping type automated guided vehicles.
Background technique
AGV is the abbreviation of automated guided vehicle, refers to and magnetically or optically waits homing guidances device equipped with electricity, can be along regulation
Guide path traveling, the transport vehicle with safeguard protection and various transfer functions.In recent years, certainly with China's Factory Logistics
The fields such as dynamicization, automated assembly line are flourished, the reduction of labour and the increase of cost, and AGV has automation journey
The features such as high, safe and flexible is spent, therefore the demand of AGV increasingly increases, and is now widely used for automobile manufacture, machining etc.
Automated production and warehousing system industry.
The driving method of AGV has differential driving, steering wheel driving etc., since differential driving running precision is low, bearing capacity is weak
And driving wheel serious wear, so the high occasion of precision, bearing requirements can not be adapted to, and steering wheel mechanism has bearing capacity
By force, flexibility is good and the features such as positioning accuracy is high, steering wheel driving by be the following AGV developing direction, be widely used at present and swashing
Light fork truck, electric pallet truck and attach together the industries such as AGV.
Twin Rudders wheel AGV is Twin Rudders wheel driving type AGV, has the function of omnidirection driving, i.e., by adjusting two steering wheels
Angle and speed can make AGV realize lane change, the movement such as steering in the case where not rotating headstock, or even can realize along any
The turning motion of radius has extremely strong flexibility.
In the implementation of the present invention, the inventor finds that the existing technology has at least the following problems: but existing steering wheel
AGV tractive force is big, and apparatus of load acts directly on steering wheel device in operation process, since the operation road surface of steering wheel AGV is complicated
It is changeable, if steering wheel AGV, without damping device, the gear inside steering wheel is also easy to produce gear failure during repeat impact is measuring body,
So as to cause the damage of steering wheel device；The wheel of steering wheel device does not have the ability of flexible deformation, in out-of-flatness ground handling, drives
Driving wheel and driven wheel cannot land simultaneously, be also easy to produce slippage problems, lead to steering wheel AGV fluctuation of service.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of steering wheels and driven wheel effectively to contact ground simultaneously,
And has the damping type automated guided vehicle of shock absorbing effect under steam.
In order to solve the above-mentioned technical problem, the technical scheme adopted by the invention is that: a kind of damping type homing guidance transport
Vehicle, comprising:
Body shell, damping steering wheel device and driven wheel device, the damping steering wheel device and driven wheel device setting exist
The bottom of the body shell；
The damping steering wheel device includes
Fixed bottom plate；
Steering wheel mechanism is arranged in the fixed bottom plate lower end；
Movable panel, upper end are connect with body shell, and lower end is connect by damping with the upper end of the fixed bottom plate,
The damping at least has two groups；
The damping includes
Body supports chain, first end are hinged on the fixed bottom plate；
Damping mechanism is fixed on the movable panel, and the second end of the body supports chain is hinged on the damping machine
On structure；
The driven wheel device includes
Mounting rack is mounted on the body shell；
Universal wheel is mounted on the mounting rack.
The damping mechanism includes
Guide rod, both ends are mounted on the movable panel；
Sliding block is slidably mounted on the guide rod, and the second end of the body supports chain is hinged on the sliding block
On；
Two buffer springs, are set on the guide rod of sliding block two sides.
The driven wheel device also has regulating mechanism, and the regulating mechanism includes
Pressure plate, the universal wheel are mounted on the pressure plate；
Regulation handle, periphery are equipped with external screw thread, and the bottom of the regulation handle is flexibly connected with the pressure plate, adjust
The near middle of handle is threadedly coupled with the mounting rack.
Guiding mechanism is additionally provided in the driven wheel device, the guiding mechanism has guide blot, the guide blot
One end is fixedly connected with the pressure plate, and the other end passes through the mounting rack, and the mounting rack can be on the guide blot
Sliding.
Battery case, tooling control cabinet, master control cabinet and supplied laser navigation apparatus are additionally provided on the body shell.
The damping steering wheel device and driven wheel device have two groups, and two groups of damping steering wheel devices are located at rectangular body shell
A cornerwise both ends, two groups of driven wheel devices are located at another cornerwise both ends of rectangular body shell.
Fixed bottom plate is located at the top of steering wheel mechanism, is fixedly connected with by screw and steering wheel mechanism, in the fixed bottom plate
Center is equipped with bottom plate string holes, the extraction of the pipeline for steering wheel mechanism, and surrounding space is symmetrical arranged eight bottom plate installations
Hole, for being fixedly connected with steering wheel mechanism；The body supports chain has four groups and is located between fixed bottom plate and movable panel, under
End is fixedly connected with by screw and fixed bottom plate, and upper end is connected by prismatic pair with the lower end of movable panel；The movable panel
Upper end be fixedly connected with by screw and body shell；Plane where the fixed bottom plate and the plane where movable panel are mutual
In parallel.
The pressure plate is located at the top of universal wheel, is fixedly connected with by screw and universal wheel, and pressure plate is universal for compressing
Wheel contacts always with road surface；There are four the guide blots, and space symmetr is arranged, lower end is mutually solid with pressure plate by nut
Even, middle part is connected by prismatic pair with driven wheel mounting rack, and the upper end is equipped with stop nut；The driven wheel mounting rack
Middle part above by welding consolidated spigot nut, guiding movement and positioning for regulation handle, both ends are symmetrically arranged with two
To mounting rack mounting hole, for being fixedly connected with body shell；The regulation handle is located above the middle part of driven wheel mounting rack,
Lower end is connected by cylindrical pair with pressure plate, and middle part is connected by screw thread pair with the spigot nut of driven wheel mounting rack,
For moving and positioning, the end of the regulation handle is stained with non-slip rubber set.
The body supports chain includes bottom ear mount, middle connecting plate, top ear mount, and the lower end of the bottom ear mount is by screw and admittedly
Determine bottom plate to be fixedly connected with, upper end is connected by hinge with the lower end of middle connecting plate, the upper end of the middle connecting plate by hinge with
The lower end of top ear mount is connected, and the upper end of the top ear mount is fixedly connected with by screw and sliding block, passes through shifting in the middle part of the sliding block
Dynamic pair is connected with movable panel, and the axis between the sliding block is parallel to each other, mutual with the axis of middle connecting plate hinged place
Vertically, and with the plane where fixed bottom plate it is parallel to each other.
The guiding ear mount is ears seat, and the upper end of the ears seat is fixedly arranged on movable panel by welding, described to lead
To there are two bars, and it is arranged symmetrically, middle part is connected by prismatic pair with sliding block, and both ends are fixedly connected with by nut and ears seat,
There are two the buffer springs, between ears seat and sliding block, is connected by prismatic pair with guide rod.
A technical solution in above-mentioned technical proposal has the following advantages that or beneficial effect, as damping type Twin Rudders wheel AGV
For traveling when roughness pavement jolts, pumping for damping steering wheel device generation passes to fixed bottom plate, fixed bottom plate
The buffer spring that guiding ears seat is transferred energy to by body supports chain has damping type Twin Rudders wheel AGV slow
Eat up part of the ability of shake.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the damping type automated guided vehicle provided in the embodiment of the present invention；
Fig. 2 is the body shell structural schematic diagram of Fig. 1；
Fig. 3 is the master control cabinet of Fig. 1, supplied laser navigation apparatus structural schematic diagram；
Fig. 4 is the damping steering wheel apparatus structure schematic diagram of Fig. 1；
Fig. 5 is the shock absorbing part structural schematic diagram of the damping steering wheel device of Fig. 1；
Fig. 6 is the driven wheel device structural schematic diagram of Fig. 1；
Fig. 7 is the full sectional view of the driven wheel device of Fig. 1.
Label in above-mentioned figure is equal are as follows: 1, body shell, 11, main structure, 12, main bracing frame, 2, damping steering wheel dress
It sets, 21, steering wheel mechanism, 22, fixed bottom plate, 221, bottom plate string holes, 23, body supports chain, 231, bottom ear mount, 232, middle connection
Plate, 233, top ear mount, 234, sliding block, 24, movable panel, 241, car body connecting plate, 2411, top plate string holes, 2412, top plate peace
Dress, 242, guiding ears seat, 2421, ears seat, 2422, guide rod, 2423, buffer spring, 3, driven wheel device, 31, universal
Wheel, 32, pressure plate, 33, mounting rack, 331, spigot nut, 34, guide blot, 35, regulation handle, 4, battery case, 5, tooling control
Case processed, 6, master control cabinet, 61, control panel, 62, loudspeaker, 63, sliding door, 7, supplied laser navigation apparatus, 71, bracket, 72, laser
Radar installations.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is described in further detail.
Referring to Fig. 1-7, a kind of damping type automated guided vehicle, comprising:
Body shell 1, damping steering wheel device 2 and driven wheel device 3, damping steering wheel device 2 and the setting of driven wheel device 3 exist
The bottom of body shell 1；Body shell 1 includes main structure 11, main bracing frame 12, anticollision strip 13 and laser obstacle avoidance apparatus
14, the middle part of main structure 11 is equipped with tooling mounting base 111, for installing the matching used tooling device of Twin Rudders wheel AGV, two
End is symmetrically arranged with four rectangle working holes 112, provides installation space for damping steering wheel device 2 and driven wheel device 3, and to adjust
The height for saving driven wheel device 3 provides operating space, and main bracing frame 12 is located at the inside of main structure 11, is body shell 1
Main load bearing component, by welding with 11 concrete mutually of main structure, main bracing frame 12 include rectangular tube and channel steel, with field word
The mode of type is welded, and there are four anticollision strips 13, is arranged symmetrically in front and back side and the left and right sides of main structure 11, passes through screw
It is fixedly connected with main structure 11, for protecting body shell, there are two laser obstacle avoidance apparatus 14, between anticollision strip 13, with
Diagonal form is arranged in the front of main structure 11, rear, is fixedly connected with by the main structure 11 of screw and body shell 1,
For detecting peripheral obstacle, play a part of to protect AGV.
Battery case 4, tooling control cabinet 5, master control cabinet 6 and supplied laser navigation apparatus 7 are additionally provided on body shell 1.
Damping steering wheel device 2 includes fixed bottom plate 22；Steering wheel mechanism 21, setting is in fixed 22 lower end of bottom plate；Movable panel
24, upper end is connect with body shell 1, and lower end is connect by damping with the upper end of fixed bottom plate 22, and damping at least has
There are two groups；
Damping includes body supports chain 23, and first end is hinged on fixed bottom plate 22；Damping mechanism is fixed on work
On dynamic top plate 24, the second end of body supports chain 23 is hinged on damping mechanism；
Damping steering wheel device 2 has two groups, inside the main structure 11 of body shell 1, and is arranged with diagonal form
In left front, the right back of the main structure 11 of body shell 1, it is fixedly connected with by screw and body shell 1；Driven wheel device 3
There are two groups, inside the main structure 11 of body shell 1, and is arranged in diagonal form the main structure of body shell 1
11 right front, left back, are fixedly connected with by screw and body shell 1；Battery case 4 is located at the main structure 11 of body shell 1
Back upper place, by weld with 11 concrete mutually of main structure of body shell 1, battery case 4 is for storing AGV battery；Master control
Cabinet 6 is located above the front end of the main structure 11 of body shell 1, by welding 11 concrete mutually of main structure with body shell 1,
It is equipped with control panel 61 in the top of master control cabinet 6, for controlling AGV and tooling device, side is symmetrically arranged with two and raises
Sound device 62, for reminding staff to take care, front set there are four control cabinet sliding door 63, for facilitating the debugging of control panel
And maintenance；Tooling control cabinet 5 is located at the top of body shell 1 and the rear of master control cabinet 6, passes through welding and body shell 1
11 concrete mutually of main structure, tooling control cabinet 5 is for placing tooling device control panel, related components and component.
As shown in Figure 1, Figure 3, supplied laser navigation apparatus 7 is located at the middle position of 6 back upper place of master control cabinet, supplied laser navigation apparatus
7 include bracket 71 and laser radar apparatus 72, and by welding and 6 concrete mutually of master control cabinet, the upper end passes through for the lower end of bracket 71
The lower end of screw and laser radar apparatus 72 is fixedly connected with, and laser radar apparatus 72 is located at the middle position of 71 top of bracket, is used for
Laser navigation.
Driven wheel device 3 includes mounting rack 33, is mounted on body shell 1；Universal wheel 31 is mounted on mounting rack 33.
Damping mechanism includes guide rod 2422, and both ends are mounted on movable panel 24；Sliding block 234, is slidably mounted in guide rod
On 2422, the second end of body supports chain 23 is hinged on sliding block 234；Two buffer springs 2423, are set in sliding block 234
On the guide rod 2422 of two sides.
Driven wheel device 3 also has regulating mechanism, and regulating mechanism includes pressure plate 32, and universal wheel 31 is mounted on pressure plate
On 32；Regulation handle 35, periphery are equipped with external screw thread, and the bottom of regulation handle 35 is flexibly connected with pressure plate 32, regulation handle
35 near middle is threadedly coupled with mounting rack 33.
Guiding mechanism is additionally provided in driven wheel device 3, guiding mechanism has guide blot 34,34 one end of guide blot and pressure
Tight plate 32 is fixedly connected, and the other end passes through mounting rack 33, and mounting rack 33 can slide on guide blot 34.
Damping steering wheel device 2 and driven wheel device 3 have two groups, and two groups of damping steering wheel devices 2 are located at rectangular body shell 1
A cornerwise both ends, two groups of driven wheel devices 3 are located at another cornerwise both ends of rectangular body shell 1.
As shown in Figure 4, Figure 5, fixed bottom plate 22 is located at the top of steering wheel mechanism 21, solid with 21 phase of steering wheel mechanism by screw
Even, be equipped with bottom plate string holes 221 in the center of fixed bottom plate 22, the extraction of the pipeline for steering wheel mechanism 21, around it is empty
Between be symmetrical arranged eight bottom plate mounting holes, for being fixedly connected with steering wheel mechanism 21；Body supports chain 23, which has four groups and is located at, to be fixed
Between bottom plate 22 and movable panel 24, lower end is fixedly connected with by screw and fixed bottom plate 22, and upper end passes through prismatic pair and activity
The lower end of top plate 24 is connected；The upper end of movable panel 24 is fixedly connected with by screw with body shell 1；Where fixed bottom plate 22
Plane is parallel to each other with the plane where movable panel 24.
As shown in Figure 6, Figure 7, pressure plate 32 is located at the top of universal wheel 31, is fixedly connected with by screw and universal wheel 31, pressure
Tight plate 32 is contacted for compressing universal wheel 31 with road surface always；There are four guide blots 34, and space symmetr is arranged, lower end is logical
It crosses nut to be fixedly connected with pressure plate 32, middle part is connected by prismatic pair with driven wheel mounting rack 33, and the upper end installation is limited
Position nut；Spigot nut 331 is consolidated by welding above the middle part of driven wheel mounting rack 33, the guiding for regulation handle 35
Movement and positioning, both ends are symmetrically arranged with 33 mounting hole of two pairs of mounting frame, for being fixedly connected with body shell 1；Regulation handle 35
Above the middle part of driven wheel mounting rack 33, lower end is connected by cylindrical pair with pressure plate 32, and middle part passes through screw thread pair
It is connected with the spigot nut 331 of driven wheel mounting rack 33, for moving and positioning, the end of regulation handle 35 is stained with anti-skidding rubber
Gum cover.
As shown in figure 5, body supports chain 23 includes bottom ear mount 231, middle connecting plate 232, pushes up ear mount 233, bottom ear mount 231
Lower end is fixedly connected with by screw and fixed bottom plate 22, and upper end is connected by hinge with the lower end of middle connecting plate 232, middle connecting plate
232 upper end is connected by hinge with the lower end of top ear mount 233, and the upper end of top ear mount 233 is solid with 234 phase of sliding block by screw
Even, the middle part of sliding block 234 is connected by prismatic pair with movable panel 24, and the axis between sliding block 234 is parallel to each other, in
The axis of 232 hinged place of connecting plate is mutually perpendicular to, and is parallel to each other with the plane where fixed bottom plate 22.
As shown in Figure 4, Figure 5, movable panel 24 including car body connecting plate 241 and is oriented to ears seat 242, in car body connecting plate
Heart position is equipped with top plate string holes 2411, for the pipeline of the motor of steering wheel mechanism 21, sensor to be guided to master control cabinet 6, week
It encloses and is symmetrically arranged with eight mounting of roof plate holes 2412, for being fixedly connected with body shell 1；Guiding ears seat 242 has four groups, is located at vehicle
The lower section of body connecting plate 241, and it is arranged symmetrically in the surrounding of car body connecting plate 241, it is solid with 241 phase of car body connecting plate by welding
Knot.
As shown in figure 5, guiding ear mount is ears seat, the upper end of ears seat is fixedly arranged on movable panel 24 by welding, is led
It to there are two bars 2422, and is arranged symmetrically, middle part is connected by prismatic pair with sliding block 234, and both ends pass through nut and ears seat
It is fixedly connected with, there are two buffer springs 2423, between ears seat and sliding block 234, is connected by prismatic pair with guide rod 2422
It connects.
In use, the height of 35 driven wheel devices 3 is adjusted by regulation handle first, so that damping type Twin Rudders wheel AGV
Damping steering wheel device 2 and the wheel of driven wheel device 3 are contacted with road surface simultaneously；Then pass through the independence to damping steering wheel device 2
Control is realized to the athletic posture of AGV and the control of movement velocity, finally realizes damping type Twin Rudders wheel AGV omnidirectional moving, including
Advance, retrogressing, translation, pivot stud etc.；Finally when damping type Twin Rudders wheel AGV travels the damping rudder when roughness pavement jolts
Pumping for the generation of wheel apparatus 2 passes to fixed bottom plate 22, and fixed bottom plate 22 is passed energy by body supports chain 23
The buffer spring 2423 for passing guiding ears seat 242, the ability for finally making damping type Twin Rudders wheel AGV that there is bumper and absorbing shock.
So that damping type Twin Rudders wheel AGV traveling has bumper and absorbing shock ability, protects steering wheel when roughness pavement jolts
Mechanism also ensures that damping steering wheel device has stronger road holding in the complex road surface of out-of-flatness always.Driven wheel device tool
There is level adjustability, as the ground level of driven wheel device contact is different, manually adjusts the height of driven wheel device, so that
Driven wheel device effectively contacts always with ground.When any road surface works, four wheels can effectively be contacted with road surface, tool
There are good complex environment adaptability and stability.
After above-mentioned structure, steering wheel and driven wheel can be enable while effectively contacting ground, and travelled
In have shock absorbing effect.
The present invention is exemplarily described above in conjunction with attached drawing, it is clear that the present invention implements not by aforesaid way
Limitation, as long as the improvement for the various unsubstantialities that the inventive concept and technical scheme of the present invention carry out is used, or without changing
It is within the scope of the present invention into the conception and technical scheme of the invention are directly applied to other occasions.
Claims (9)
1. a kind of damping type automated guided vehicle comprising:
Body shell, damping steering wheel device and driven wheel device, the damping steering wheel device and driven wheel device are arranged described
The bottom of body shell；
The damping steering wheel device includes
Fixed bottom plate；
Steering wheel mechanism is arranged in the fixed bottom plate lower end；
Movable panel, upper end are connect with body shell, and lower end is connect by damping with the upper end of the fixed bottom plate, described
Damping at least has two groups；
The damping includes
Body supports chain, first end are hinged on the fixed bottom plate；
Damping mechanism is fixed on the movable panel, and the second end of the body supports chain is hinged on the damping mechanism；
The driven wheel device includes
Mounting rack is mounted on the body shell；
Universal wheel is mounted on the mounting rack；
The damping mechanism includes
Guide rod, both ends are mounted on the movable panel；
Sliding block is slidably mounted on the guide rod, and the second end of the body supports chain is hingedly on the slide block；
Two buffer springs, are set on the guide rod of sliding block two sides.
2. damping type automated guided vehicle as described in claim 1, which is characterized in that the driven wheel device also has adjusting
Mechanism, the regulating mechanism include
Pressure plate, the universal wheel are mounted on the pressure plate；
Regulation handle, periphery are equipped with external screw thread, and the bottom of the regulation handle is flexibly connected with the pressure plate, regulation handle
Near middle be threadedly coupled with the mounting rack.
3. damping type automated guided vehicle as claimed in claim 2, which is characterized in that be additionally provided with and lead in the driven wheel device
To mechanism, the guiding mechanism has guide blot, and described guide blot one end is fixedly connected with the pressure plate, and the other end is worn
The mounting rack is crossed, the mounting rack can slide on the guide blot.
4. damping type automated guided vehicle as described in claim 1, which is characterized in that be additionally provided with battery on the body shell
Case, tooling control cabinet, master control cabinet and supplied laser navigation apparatus.
5. damping type automated guided vehicle as described in claim 1, which is characterized in that the damping steering wheel device and driven wheel
Device has two groups, and two groups of damping steering wheel devices are located at a cornerwise both ends of rectangular body shell, two groups of driven wheel dresses
Setting in another cornerwise both ends of rectangular body shell.
6. damping type automated guided vehicle as claimed in claim 2, which is characterized in that fixed bottom plate is located at the upper of steering wheel mechanism
Side, is fixedly connected with by screw and steering wheel mechanism, is equipped with bottom plate string holes in the center of the fixed bottom plate, is used for steering wheel mechanism
Pipeline extraction, surrounding space is symmetrical arranged eight bottom plate mounting holes, for being fixedly connected with steering wheel mechanism；The main body branch
Support chain has four groups and is located between fixed bottom plate and movable panel, and lower end is fixedly connected with by screw and fixed bottom plate, and upper end is logical
Prismatic pair is crossed to be connected with the lower end of movable panel；The upper end of the movable panel is fixedly connected with by screw and body shell；Institute
Plane and the plane where movable panel where fixed bottom plate is stated to be parallel to each other.
7. damping type automated guided vehicle as claimed in claim 3, which is characterized in that the pressure plate is located at the upper of universal wheel
Side, is fixedly connected with by screw and universal wheel, and pressure plate is contacted for compressing universal wheel with road surface always；The guide blot has four
It is a, and space symmetr is arranged, lower end is fixedly connected with by nut and pressure plate, and middle part passes through prismatic pair and driven wheel mounting rack
It is connected, the upper end is equipped with stop nut；Spigot nut has been consolidated by welding above the middle part of the driven wheel mounting rack,
Guiding movement and positioning for regulation handle, both ends are symmetrically arranged with two pairs of mounting frame mounting hole, for mutually solid with body shell
Even；The regulation handle is located above the middle part of driven wheel mounting rack, and lower end is connected by cylindrical pair with pressure plate, wherein
Portion is connected by screw thread pair with the spigot nut of driven wheel mounting rack, for moving and positioning, the end of the regulation handle
It is stained with non-slip rubber set.
8. damping type automated guided vehicle as described in claim 1, which is characterized in that the body supports chain includes bottom ear
The lower end of seat, middle connecting plate, top ear mount, the bottom ear mount is fixedly connected with by screw and fixed bottom plate, and upper end is by hinge in
The lower end of connecting plate is connected, and the upper end of the middle connecting plate is connected by hinge with the lower end of top ear mount, the top ear mount
Upper end be fixedly connected with by screw and sliding block, the middle part of the sliding block is connected by prismatic pair with movable panel, in the cunning
Axis between block is parallel to each other, and is mutually perpendicular to the axis of middle connecting plate hinged place, and the plane phase where with fixed bottom plate
It is mutually parallel.
9. damping type automated guided vehicle as claimed in claim 8, which is characterized in that the guiding ear mount is ears seat, institute
The upper end for stating ears seat is fixedly arranged on movable panel by welding, and there are two the guide rods, and is arranged symmetrically, and middle part passes through shifting
Dynamic pair is connected with sliding block, and both ends are fixedly connected with by nut and ears seat, and there are two the buffer springs, is located at ears seat and cunning
Between block, it is connected by prismatic pair with guide rod.
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| CN201711490885.8A CN108163481B (en) | 2017-12-30 | 2017-12-30 | A kind of damping type automated guided vehicle |
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| CN201711490885.8A CN108163481B (en) | 2017-12-30 | 2017-12-30 | A kind of damping type automated guided vehicle |
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| CN108163481A CN108163481A (en) | 2018-06-15 |
| CN108163481B true CN108163481B (en) | 2019-11-19 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110370872A (en) * | 2018-07-27 | 2019-10-25 | 北京京东尚科信息技术有限公司 | Shakeproof device for wheel and wheel shock mitigation system |
| CN109491342B (en) * | 2018-11-30 | 2019-09-24 | 山东师范大学 | A kind of multi-process intelligence RGV dynamic dispatching method, apparatus and system |
| CN110778647B (en) * | 2019-11-05 | 2021-09-07 | 广东博智林机器人有限公司 | Shock-absorbing device |
| CN113307184B (en) * | 2021-05-31 | 2022-07-29 | 合肥井松智能科技股份有限公司 | Heavy-load stacking forklift type AGV |
| CN114397883A (en) * | 2021-11-11 | 2022-04-26 | 安徽昌永得机械有限公司 | Control system of multi-axis heavy-load AGV (automatic guided vehicle) trolley of all directions |
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| CN103318290A (en) * | 2013-07-08 | 2013-09-25 | 北京理工大学 | Similar dual-A-arm suspended robot crotch lateral-deviation damping system |
| CN105128942A (en) * | 2015-06-30 | 2015-12-09 | 广东嘉腾机器人自动化有限公司 | Damping device and AGV frame using same |
| CN106585311A (en) * | 2015-10-19 | 2017-04-26 | 沈阳新松机器人自动化股份有限公司 | Low-gravity-center travelling mechanism with shock-absorption four wheels and shock-absorption chassis |
| CN105480299A (en) * | 2015-12-01 | 2016-04-13 | 南京航空航天大学 | Automated guided railless carrying train with flexibly configured kinds of carrying trains and operation control method |
| CN205632011U (en) * | 2016-03-29 | 2016-10-12 | 杭州瓦瑞科技有限公司 | AGV shock attenuation drive module |
| CN206201888U (en) * | 2016-11-10 | 2017-05-31 | 合肥哈工机器人有限公司 | A kind of multi link independent suspension chassis for heavily loaded AGV |
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|---|---|
| CN108163481A (en) | 2018-06-15 |
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