CN108583735B - A drive wheel hangs damper, chassis, AGV dolly for AGV dolly - Google Patents
A drive wheel hangs damper, chassis, AGV dolly for AGV dolly Download PDFInfo
- Publication number
- CN108583735B CN108583735B CN201810723302.XA CN201810723302A CN108583735B CN 108583735 B CN108583735 B CN 108583735B CN 201810723302 A CN201810723302 A CN 201810723302A CN 108583735 B CN108583735 B CN 108583735B
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- spring
- guide rail
- plate
- fixing
- agv
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- 239000000725 suspension Substances 0.000 claims abstract description 64
- 238000013016 damping Methods 0.000 claims abstract description 41
- 230000007246 mechanism Effects 0.000 claims description 60
- 125000006850 spacer group Chemical group 0.000 claims description 11
- 238000009434 installation Methods 0.000 claims description 5
- 230000035939 shock Effects 0.000 claims 3
- 239000000853 adhesive Substances 0.000 abstract description 8
- 230000001070 adhesive effect Effects 0.000 abstract description 8
- 230000000694 effects Effects 0.000 abstract description 4
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000013598 vector Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- 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
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
A driving wheel suspension damper for AGV dolly, suspension damping mounting panel upper surface fixedly connected with slider fixed plate, slider fixed plate are close to one side of driving wheel and are installed a plurality of sliders, install 2 guide arms on the suspension damping mounting panel, have set gradually locknut, first spring spacing pad, rectangle spring, second spring spacing pad, spring fixing base from last to down on the guide arm. The suspension structure adopts a structure that the linear guide rail is matched with the damping spring, and has the advantages of simple and compact structure, smooth operation, good damping effect, strong bearing capacity, larger adhesive force provided for the driving wheel and good adaptability to complex road surfaces.
Description
Technical Field
The invention relates to the field of AGV (Automated Guided Vehicle) trolleys, in particular to a driving wheel suspension damping mechanism for an AGV trolley, a chassis and the AGV trolley.
Background
The existing AGV (Automated Guided Vehicle) trolley suspension structure usually adopts a cross rod type suspension system or a linear bearing type suspension system, and has the following defects: (1) the structure is not compact enough and the occupied space is more; (2) The requirement of the cross rod type structure on the machining precision of the cross rod is high, and the cost is high; (3) The cross rod and the linear bearing type suspension system are easy to operate unsmoothly in the use process, on one hand, the adhesion force of the driving wheel is insufficient, the stability of the trolley is poor, and on the other hand, the unsmoothly operation also causes the abrasion of the suspension system to be quicker, so that the service life of the whole suspension system is reduced; (4) The cross rod type structure and the linear bearing type structure have lower bearing capacity.
The suspension structure is required to be simple and compact due to the limitation of the overall size of the AGV, the size of the motor, the installation space of the battery and the electric cabinet and other conditions; in order to improve the running smoothness of the suspension structure, the service life of the suspension system is prolonged; in order to increase the adhesive force of the AGV driving wheel, adapt to a more complex road surface, reduce the vibration of a vehicle body and improve the running stability of the trolley, the invention provides an improved driving wheel suspension damping mechanism for the AGV trolley.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide the driving wheel suspension damping mechanism for the AGV, and the suspension structure adopts a structure that a linear guide rail is matched with a damping spring, so that the suspension mechanism is simple and compact in structure, high in modularization degree, easy to install and disassemble, smooth in running of the AGV and high in adhesive force. In addition, the suspension damping mechanism adopts the linear guide rail mechanism, so that the whole mechanism has high rigidity in all directions, has strong bearing capacity, can maintain higher precision for a long time, and has long service life.
The device has the advantages of simple and compact structure, smooth operation, good damping effect, strong bearing capacity, larger adhesive force provided for the driving wheel and good adaptability to complex pavements.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
the driving wheel suspension damping mechanism for the AGV trolley is arranged on a chassis of the AGV trolley, and a guide rail fixing plate, a sliding block fixing plate, a linear guide rail, a sliding block limiting mechanism, a guide rod fixing mechanism, a spring fixing device and a spring limiting device are arranged on the chassis; the guide rail fixing plate comprises a guide rail fixing part plate which is vertically arranged, a linear guide rail is vertically arranged on the guide rail fixing part plate, the slide block fixing plate comprises a slide block fixing part plate which is vertically arranged, a slide block is arranged on the slide block fixing part plate along the vertical direction, the slide block can slide up and down along the vertical direction on the linear guide rail, and a slide block limiting mechanism is arranged on the guide rail fixing plate to limit the slide block; the guide rail fixing plate is connected with a guide rod through a spring fixing device, and the lower end of the guide rod is fixed on the chassis through a guide rod fixing mechanism; the spring is arranged on the guide rod above the spring fixing device, and the guide rod is also provided with a spring limiting device for limiting the spring.
Further, the guide fixing plate comprises two vertical guide fixing part plates and a first connecting part plate for connecting the two guide fixing part plates, and the two guide fixing part plates are perpendicular to the first connecting part plate; the slide block fixing plate comprises two vertical slide block fixing part plates and a second connecting part plate connected with the two slide block fixing part plates, and the slide block fixing part plates are perpendicular to the second connecting part plates.
Further, the device further comprises a servo motor which penetrates through the guide rail fixing plate and the sliding block fixing plate and is limited below the first connecting part plate and the second connecting part plate.
Further, the number of the sliding blocks matched with one linear sliding rail is 2.
Further, the sliding block limiting mechanism comprises a sliding block limiting mounting plate and a positioning bolt, wherein the sliding block limiting mounting plate is arranged on the guide rail fixing plate, the sliding block limiting mounting plate is arranged above the linear guide rail, and the positioning bolt downwards extends out of the sliding block limiting mounting plate for a certain length.
Further, the spring is a rectangular spring.
Further, the spring fixing device comprises a spring fixing seat and a connecting plate, the spring fixing seat is provided with a circular through hole to be sleeved on the guide rod, the connecting plate is perpendicular to the spring fixing seat, and the spring fixing seat is fixedly connected to the guide rail fixing plate; the spring limiting device comprises a spring limiting pad and nuts, wherein the spring limiting pad is arranged at the upper end and the lower end of the spring, the nuts are locknuts, and the nuts are located at the upper top ends of the guide rods.
Further, the servo motor is provided with a motor extension shaft, the motor extension shaft is positioned at the radial periphery of an output shaft of the servo motor, a double-row angular contact ball bearing is arranged at the periphery of the motor extension shaft, the double-row angular contact ball bearing is positioned at one side of the guide rail fixing plate, which is close to the driving wheel, and the double-row angular contact ball bearing is positioned and installed through a guide rod fixing plate shoulder; one end of the guide rod fixing plate shoulder is abutted against the double-row angular contact ball bearing, the other end of the guide rod fixing plate shoulder is abutted against the spacer bush, and the spacer bush is arranged on the periphery of the motor extension shaft.
The invention also provides an AGV trolley chassis, which comprises the driving wheel suspension damping mechanism for the AGV trolley, wherein the AGV trolley chassis is provided with a mounting notch used for mounting the suspension damping mechanism, and the servo motor is connected with the driving wheel.
The invention also provides the AGV trolley which is characterized by comprising the AGV trolley chassis. According to the driving wheel suspension damping mechanism for the AGV trolley, the chassis and the AGV trolley, the suspension damping structure adopts the structure that the linear guide rail is matched with the damping spring, so that the suspension mechanism is simple and compact in structure, high in modularization degree, easy to install and detach, smooth in operation of the trolley and high in adhesive force. In addition, the suspension damping mechanism adopts the linear guide rail mechanism, so that the whole mechanism has high rigidity in all directions, has strong bearing capacity, can maintain higher precision for a long time, and has long service life. The device has the advantages of simple and compact structure, smooth operation, good damping effect, strong bearing capacity, larger adhesive force provided for the driving wheel and good adaptability to complex pavements.
Drawings
FIG. 1 is an isometric view of the overall structure of the suspension damping mechanism of the present invention in an AGV cart chassis;
FIG. 2 is an isometric view of a suspension damper mechanism of the present invention;
FIG. 3 is an alternative perspective isometric view of a suspension damper mechanism of the present invention;
FIG. 4 is a front view of the suspension damping mechanism of the present invention;
FIG. 5 is a side view of the suspension damper mechanism of the present invention;
FIG. 6 is a top view of the suspension damper mechanism of the present invention
FIG. 7 is a cross-sectional view of the suspension damping mechanism of the present invention;
in the figure: AGV dolly chassis P, suspension damper 1, servo motor 2, drive wheel 3, guide rail fixed plate 4, slider fixed plate 5, linear guide 6, slider 7, guide arm fixed block 8, fixed pin 9, guide arm 10, spring fixing base 11, spring spacing pad 12, rectangular spring 13, locknut 14, slider spacing mounting panel 15, positioning bolt 16, motor backing plate 17, motor add long axle 18, antifriction bearing/biserial angular ball bearing 19, guide arm fixed plate shoulder 20, shrouding 21, spacer 22, suspension damper mounting panel 23, connecting plate 24, sensor 25, sensor 26.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
First embodiment
The embodiment provides a driving wheel suspension damping mechanism 1 for an AGV, referring to fig. 1-7, the suspension damping mechanism 1 comprises a guide rail fixing plate 4, a sliding block fixing plate 5, a linear guide rail 6, a sliding block 7, a sliding block limiting mechanism, a guide rod 10, a guide rod fixing mechanism, a spring fixing device and a spring limiting device.
The guide rail fixing plate 4 is arranged on the chassis P and comprises two vertical guide rail fixing part plates and a first connecting part plate for connecting the two guide rail fixing part plates, the two guide rail fixing part plates are perpendicular to the first connecting part plate, and the linear guide rail 6 is arranged on the guide rail fixing part plate on the guide rail fixing plate 4 along the vertical direction; the sliding block fixing plate 5 is arranged on the chassis P and comprises two vertical sliding block fixing part plates and a second connecting part plate for connecting the two sliding block fixing part plates, the sliding block fixing part plates are perpendicular to the second connecting part plate, the sliding block 7 is arranged on the sliding block fixing part plate of the sliding block fixing plate 5 along the vertical direction, and the sliding block 7 can slide up and down along the vertical direction on the linear guide rail 6. The technical proposal ensures that the servo motor 2 can be limited below the first connecting and fixing plate and the second connecting and fixing plate; and moreover, a more accurate assembly of the sliding rail and the sliding block can be realized, and the vertical up-and-down direction guide can be realized.
The side of the slide block fixing plate 5 far away from the guide rail fixing plate 4 is also provided with a plurality of reinforcing connecting plates which are of right trapezoid structures and are used for supporting and bearing.
The number of the sliders 7 which are engaged with one linear rail 6 is 2, so that the arrangement is mainly considered in the case of stress, and is applicable if one slider 7 is provided for the case of light weight and small bearing capacity of agv to which the driving wheel suspension damping mechanism is applied.
In order to realize the spacing of slider, still include slider stop gear, slider stop gear is including setting up slider spacing mounting plate 15 and positioning bolt 16 on the guide rail fixed plate 4, specifically, slider spacing mounting plate 15 sets up the top of linear guide 6, positioning bolt 16 downwardly extending slider spacing mounting plate 15 a certain length.
The guide rail fixing plate 4 is connected with the guide rod 10 through a spring fixing device, the guide rod 10 is vertically arranged and parallel to the linear guide rail 6, the guide rod is fixed on the chassis P through the guide rod fixing mechanism, a spring 13 is sleeved on one end, far away from the guide rod fixing mechanism, of the guide rod 10, a spring limiting mechanism is further arranged on the guide rod, the spring 13 is limited on the guide rod 10, in the embodiment, the spring is a 13 rectangular spring, the rectangular spring is a common mechanical part in the prior art, the interval range of force which can be born is larger, and the size is also suitable for an AGV trolley; in this embodiment, the number of the guide rods 10 is 2, and may be configured according to actual requirements in other cases.
The guide rod fixing mechanism comprises a guide rod fixing block 8 and a fixing pin 9, wherein the fixing pin 9/screw 9 is arranged along the radial direction of a guide rod 10, so that the guide rod 10 is fixed on the chassis P.
The spring fixing device comprises a spring fixing seat 11 and a connecting plate 24, wherein the spring fixing seat 11 is provided with a circular through hole to be sleeved on the guide rod 10, the connecting plate 24 is perpendicular to the spring fixing seat 11, the spring fixing seat 11 is fixedly connected to the guide rail fixing plate 4, particularly to the guide rail fixing part plate, the spring fixing seat 11 is not excluded from being fixedly connected to other positions, for example, the spring fixing seat 11 can be connected to the slide block fixing plate 5, particularly to the slide block fixing part plate; the connection plate 24 may be connected to the rail fixing plate 4 by a plurality of screws.
The spring limiting device comprises a spring limiting pad 12 and nuts 14, wherein the spring limiting pad 12 is arranged at the upper end and the lower end of the spring 13, the nuts 14 are locknuts, and the locknuts are positioned at the upper top ends of the guide rods 10.
The suspension damping mechanism further comprises a suspension damping mounting plate 23, the suspension damping mounting plate 23 is mounted on the AGV trolley chassis P through screws, the suspension damping mounting plate 23 is located below the AGV trolley chassis P, and the guide rail fixing plate 4, the slide block fixing plate 5, the guide rod 10 and the like can be mounted on the chassis P through the suspension damping mounting plate 23.
The suspension damping mechanism further comprises a servo motor 2, the output end of the servo motor 2 is connected with a driving wheel 3, a motor base plate 17 is arranged on the installation end face of the servo motor 2, the output shaft end of the servo motor 2 is connected with a motor extension shaft 18 through a connecting piece, a specific connection mode can be that an A-shaped flat key is matched with a key groove or spline teeth are matched with a spline groove, so that torque is transmitted, the motor extension shaft 18 is positioned at the radial periphery of an output shaft of the servo motor 2, a double-row angular contact ball bearing 19 is installed at the periphery of the motor extension shaft 18, the double-row angular contact ball bearing 19 is positioned at one side of a guide rail fixing plate 4, which is close to the driving wheel 3, the double-row angular contact ball bearing 19 is positioned and installed through a guide rod fixing plate stop shoulder 20, and the double-row angular contact ball bearing 19 is adopted because the double-row angular contact ball bearing 19 can bear radial force and axial force and has small volume; one end butt guide arm fixed plate keeps off shoulder 20 of biserial angular contact ball bearing 19, guide arm fixed plate keeps off shoulder 20 other end butt spacer 22, spacer 22 installs in motor extension axle 18 periphery, radial protruding flange edge of spacer 22 passes through a plurality of screws and is connected with drive wheel 3, the axle head face of motor extension axle 18 is equipped with shrouding 21, shrouding 21 passes through the screw and is connected with the screw hole of the axle terminal surface of motor extension axle 18, drive wheel 3 cover is established on spacer 22, shrouding 21 a side and spacer 22 a side butt, motor extension axle 18 passes through shrouding 21 and realizes the location of spacer 22, drive wheel 3, it is fixed.
When the driving wheel suspension damping mechanism 1 encounters a raised pavement, the driving wheel 3 is upwards, the stress of the driving wheel is mainly concentrated on a wheel body right below the driving wheel 3, the servo motor 2, the guide rail fixing plate 4 and the sliding block fixing plate 5 are driven to upwards, the sliding block 7 moves along the vertical direction, the spring 13 is compressed in the vertical direction, and the driving wheel 3 is tightly pressed on the ground; when the driving wheel 3 runs down in a depression on a road surface, the stress of the driving wheel 3 is mainly concentrated on a wheel body right below the driving wheel 3, the servo motor 2 is driven to be downward, the guide rail fixing plate 4 and the slide block fixing plate 5 are driven to be downward, the slide block 7 moves along the vertical direction, the spring 13 stretches in the vertical direction, and the driving wheel 3 is tightly pressed on the ground.
Second embodiment
The present embodiment provides a driving wheel suspension damper mechanism for an AGV carriage, on the basis of the first embodiment, a plurality of sensors 25 are installed on a side of a slider fixing plate 5 of the suspension damper mechanism 1, which is close to a spring 13, the plurality of sensors 25 are disposed in a vertical direction for detecting the compression and/or extension amount of a rectangular spring 13, the relative displacement amount of a linear guide 6 and a slider 7, one/more sensors 26 are provided on a groove surface of a side of a suspension damper mounting plate 23 opposite to a servo motor 2, the sensors 26 are used for detecting the relative positions of the servo motor 2 and the suspension damper mounting plate 23, and comparing with a preset value, thereby judging the state of the suspension damper mechanism, such as whether an error occurs, whether a malfunction occurs, whether a damage occurs, or the like.
The device also comprises a controller, wherein the controller is electrically connected with each electric element, each sensor and each moving part/WIFI and used for controlling the actions and states of the electric elements, the sensors and the moving parts. The controller comprises an analysis module, a calculation module, a conversion module and an output module, wherein the conversion module is used for converting signal vectors, the analysis module is used for comprehensive processing, the calculation module is used for data calculation and comparison, and the output module is used for outputting control instructions or warning signals.
Third embodiment
The embodiment provides an AGV chassis, referring to FIG. 1, which includes a driving wheel suspension damping mechanism for an AGV cart according to any of the first embodiment and the second embodiment.
Specifically, an installation notch is formed in the chassis P of the AGV trolley, and is used for installing the suspension damping mechanism 1, and can be arranged as a convex notch.
And, at least two driving wheel suspension damping mechanisms 1 are arranged on the AGV trolley chassis P.
Fourth embodiment
The embodiment provides an AGV trolley, which comprises an AGV chassis according to the third embodiment.
According to the driving wheel suspension damping mechanism for the AGV, the linear guide rail is matched with the damping spring, so that the suspension damping mechanism is simple and compact in structure, high in modularization degree, easy to install and detach, smooth in running and high in adhesive force. In addition, the suspension damping mechanism adopts the linear guide rail mechanism, so that the whole mechanism has high rigidity in all directions, has strong bearing capacity, can maintain higher precision for a long time, and has long service life. The device has the advantages of simple and compact structure, smooth operation, good damping effect, strong bearing capacity, larger adhesive force provided for the driving wheel and good adaptability to complex pavements.
The above-described embodiments are illustrative of the present invention and are not intended to be limiting, and it is to be understood that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the spirit and scope of the present invention as defined by the appended claims and their equivalents.
Claims (8)
1. A drive wheel suspension damper for AGV dolly installs its characterized in that on AGV dolly chassis: the chassis is provided with a guide rail fixing plate, a slide block fixing plate, a linear guide rail, a slide block limiting mechanism, a guide rod fixing mechanism, a spring fixing device and a spring limiting device;
the guide rail fixing plate comprises a guide rail fixing part plate which is vertically arranged, a linear guide rail is vertically arranged on the guide rail fixing part plate, the slide block fixing part plate comprises slide blocks which are vertically arranged, the slide blocks can vertically slide on the linear guide rail, and the guide rail fixing plate is provided with slide block limiting mechanisms for limiting the slide blocks, wherein the number of the slide blocks matched with one linear guide rail is 2;
the guide rail fixing plate is connected with a guide rod through a spring fixing device, and the lower end of the guide rod is fixed on the chassis through a guide rod fixing mechanism; the spring is arranged on a guide rod above the spring fixing device, and the guide rod is also provided with a spring limiting device for limiting the spring;
the spring fixing device comprises a spring fixing seat and a connecting plate, wherein the spring fixing seat is provided with a circular through hole to be sleeved on the guide rod, the connecting plate is mutually perpendicular to the spring fixing seat, and the spring fixing seat is fixedly connected to the guide rail fixing plate; the spring limiting device comprises a spring limiting pad and nuts, wherein the spring limiting pad is arranged at the upper end and the lower end of the spring, the nuts are locknuts, and the nuts are located at the upper top ends of the guide rods.
2. The drive wheel suspension shock absorbing mechanism for an AGV cart of claim 1 wherein: the guide rail fixing plate comprises two vertical guide rail fixing part plates and a first connecting part plate connected with the two guide rail fixing part plates, and the two guide rail fixing part plates are perpendicular to the first connecting part plate; the slide block fixing plate comprises two vertical slide block fixing part plates and a second connecting part plate connected with the two slide block fixing part plates, and the slide block fixing part plates are perpendicular to the second connecting part plates.
3. The drive wheel suspension shock absorbing mechanism for an AGV cart of claim 2 further comprising a servo motor passing through said rail mounting plate and said slider mounting plate and being limited to being below said first and second connecting portion plates.
4. The drive wheel suspension damping mechanism for an AGV trolley of claim 1, wherein the slider limit mechanism comprises a slider limit mounting plate and a positioning bolt, wherein the slider limit mounting plate is arranged on the guide rail fixing plate, the slider limit mounting plate is arranged above the linear guide rail, and the positioning bolt extends downwards to a certain length from the slider limit mounting plate.
5. The drive wheel suspension shock absorbing mechanism for an AGV cart of claim 1 wherein said spring is a rectangular spring.
6. The driving wheel suspension damping mechanism for the AGV trolley according to claim 1, wherein the servo motor is provided with a motor extension shaft, the motor extension shaft is positioned at the radial periphery of an output shaft of the servo motor, a double-row angular contact ball bearing is arranged at the periphery of the motor extension shaft, the double-row angular contact ball bearing is positioned at one side of a guide rail fixing plate, which is close to a driving wheel, and the double-row angular contact ball bearing is positioned and installed through a guide rod fixing plate shoulder; one end of the guide rod fixing plate shoulder is abutted against the double-row angular contact ball bearing, the other end of the guide rod fixing plate shoulder is abutted against the spacer bush, and the spacer bush is arranged on the periphery of the motor extension shaft.
7. An AGV dolly chassis, characterized by, including the drive wheel suspension damper who is used for the AGV dolly of any one of claims 1-6, offered the installation breach on the AGV dolly chassis, this installation breach is used for installing suspension damper, servo motor connection drive wheel.
8. An AGV cart comprising the AGV cart chassis of claim 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810723302.XA CN108583735B (en) | 2018-07-04 | 2018-07-04 | A drive wheel hangs damper, chassis, AGV dolly for AGV dolly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810723302.XA CN108583735B (en) | 2018-07-04 | 2018-07-04 | A drive wheel hangs damper, chassis, AGV dolly for AGV dolly |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108583735A CN108583735A (en) | 2018-09-28 |
| CN108583735B true CN108583735B (en) | 2024-01-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810723302.XA Active CN108583735B (en) | 2018-07-04 | 2018-07-04 | A drive wheel hangs damper, chassis, AGV dolly for AGV dolly |
Country Status (1)
| Country | Link |
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| CN (1) | CN108583735B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109276728A (en) * | 2018-11-01 | 2019-01-29 | 华南智能机器人创新研究院 | A kind of wheel type mobile disinfection robot of floating type avoidance |
| CN110194027B (en) * | 2019-06-17 | 2021-12-10 | 珠海格力智能装备有限公司 | Wheel assembly and vehicle |
| CN110758038A (en) * | 2019-11-28 | 2020-02-07 | 苏州英博特智能科技有限公司 | Novel AGV drive chassis of floating |
| CN111609083B (en) * | 2020-05-20 | 2021-11-02 | 杭州程天科技发展有限公司 | Shock-absorbing device |
| CN111923680B (en) * | 2020-08-21 | 2021-12-14 | 三一机器人科技有限公司 | Wheel pressure adjusting device, suspension device, wheel assembly and vehicle |
| CN114313060A (en) * | 2021-11-22 | 2022-04-12 | 北京特种机械研究所 | AGV shielding shock attenuation hangs |
| CN114919352B (en) * | 2022-04-11 | 2023-07-07 | 南京邮电大学 | Multi-degree-of-freedom flying and climbing robot capable of being flexibly attached to curved surface of wind power blade |
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|---|---|---|---|---|
| KR20050120948A (en) * | 2004-06-21 | 2005-12-26 | 현대자동차주식회사 | Suspension structure of a vehicle |
| 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 |
| CN106828075A (en) * | 2017-03-20 | 2017-06-13 | 郑州大河智信科技股份公司 | A kind of AGV dollies independent-suspension damping formula driver element |
| CN208602592U (en) * | 2018-07-04 | 2019-03-15 | 哈工大机器人（昆山）有限公司 | It is a kind of for the drive wheel suspension damping of AGV trolley, chassis, AGV trolley |
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2018
- 2018-07-04 CN CN201810723302.XA patent/CN108583735B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20050120948A (en) * | 2004-06-21 | 2005-12-26 | 현대자동차주식회사 | Suspension structure of a vehicle |
| 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 |
| CN106828075A (en) * | 2017-03-20 | 2017-06-13 | 郑州大河智信科技股份公司 | A kind of AGV dollies independent-suspension damping formula driver element |
| CN208602592U (en) * | 2018-07-04 | 2019-03-15 | 哈工大机器人（昆山）有限公司 | It is a kind of for the drive wheel suspension damping of AGV trolley, chassis, AGV trolley |
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| Publication number | Publication date |
|---|---|
| CN108583735A (en) | 2018-09-28 |
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