CN108773432B

CN108773432B - Suspension structure and AGV

Info

Publication number: CN108773432B
Application number: CN201810668087.8A
Authority: CN
Inventors: 周全; 梁明庄
Original assignee: Shenzhen Kung Fu Robot Co ltd
Current assignee: Shenzhen Kung Fu Robot Co ltd
Priority date: 2018-06-26
Filing date: 2018-06-26
Publication date: 2023-06-27
Anticipated expiration: 2038-06-26
Also published as: CN108773432A

Abstract

The invention provides a suspension structure and an AGV, wherein the suspension structure comprises a first rotating connecting piece, a second rotating connecting piece and an elastic component, the first rotating connecting piece is rotatably arranged on a vehicle body structure and is provided with a first rotating male end and a first rotating female end, a first rotating connecting hole is formed between the first rotating male end and the first rotating female end of the first rotating connecting piece, the first rotating connecting hole is rotatably connected with the vehicle body structure, and the first rotating male end is rotatably connected with a wheel; the second rotates the connecting piece and rotates and install on the body structure, and the second rotates the connecting piece and has the public end of second rotation and the female end of second rotation, and the second rotates the connecting hole of second rotation has been seted up between public end of second rotation and the female end of second rotation, and the second rotates the connecting hole and rotates with the body structure to be connected, and the public end of second rotation rotates with the wheel to be connected. The suspension structure can reduce the vibration of the wheels in the running process, and ensure that the wheels can still well land on uneven road surfaces.

Description

Suspension structure and AGV

Technical Field

The invention belongs to the technical field of unmanned transport vehicles, and particularly relates to a suspension structure and an AGV using the same.

Background

AGV (Automated Guided Vehicle) is a transport vehicle equipped with an automatic guidance device such as electromagnetic or optical, and the like, the AGV having wheels capable of traveling along a predetermined guidance path and having safety protection and various transfer functions, and the AGV generally includes a vehicle body, a power system mounted on the vehicle body, and steering wheels mounted on the vehicle body and driving the steering wheels connected to the power system.

The ground that AGV actually marches is not necessarily very ideal, probably has uneven ground such as boss, channel, when the AGV marches uneven ground, wheel in-process can produce great vibration, reduces the life of wheel.

Disclosure of Invention

The invention aims to provide a suspension structure and aims to solve the technical problem that in the prior art, large vibration can be generated in the running process of a wheel.

The invention is realized in such a way, a suspension structure is used for buffering the vibration between a vehicle body structure and wheels which are connected with each other, the suspension structure comprises a first rotating connecting piece, a second rotating connecting piece and an elastic component, the first rotating connecting piece is rotatably arranged on the vehicle body structure, the first rotating connecting piece is provided with a first rotating male end formed at one end of the first rotating connecting piece and a first rotating female end formed at the other end of the first rotating connecting piece, the first rotating male end and the first rotating female end form a height difference, a first rotating connecting hole is formed between the first rotating male end and the first rotating female end, the first rotating connecting hole is rotatably connected with the vehicle body structure, the first rotating male end is rotatably connected with the wheels, a connecting line between the first rotating male end and the first rotating connecting hole forms an included angle with a vertical line, and the first rotating male end drives the first rotating female end to synchronously rotate; the second rotating connecting piece is rotatably arranged on the vehicle body structure, the second rotating connecting piece is provided with a second rotating male end formed at one end of the second rotating connecting piece and a second rotating female end formed at the other end of the second rotating connecting piece, the second rotating male end and the second rotating female end form a height difference, a second rotating connecting hole is formed between the second rotating male end and the second rotating female end of the second rotating connecting piece, the second rotating connecting hole is rotatably connected with the vehicle body structure, the second rotating male end is rotatably connected with a wheel, and a connecting line between the second rotating male end and the second rotating connecting hole and a vertical line form an included angle; the elastic component comprises an elastic piece and a limiting seat fixedly connected with the vehicle body structure or connected with the vehicle body structure in an up-down sliding mode, and the elastic piece is elastically connected between the limiting seat and the second rotating female end.

Further, the hanging structure further comprises a connector, one end of the connector is rotationally connected with the first rotating female end, the other end of the connector is rotationally connected with the second rotating female end, the limiting seat is provided with a through hole for the connector to pass through, and a swinging gap for the connector to swing up and down is arranged between the through hole and the connector.

Further, the suspension structure further comprises a connector, one end of the connector is rotationally connected with the first rotating female end, the other end of the connector is rotationally connected with the second rotating female end, the limiting seat connector is provided with a through hole for the connector to pass through, the connector is in sliding fit with the hole wall of the through hole, and the limiting seat is in up-down sliding connection with the vehicle body structure.

Further, the connector is in guide fit with the elastic piece, and the elastic assembly further comprises an abutting structure which is arranged at a distance from the limiting seat to assemble the elastic piece, and the abutting structure is fixedly connected with the connector.

Further, the suspension structure further comprises a suspension mounting piece fixed on the vehicle body structure, the first rotation connecting hole of the first rotation connecting piece is rotationally connected to the suspension mounting piece, the second rotation connecting hole of the second rotation connecting piece is rotationally connected to the suspension mounting piece, and the limiting seat is fixedly connected with the suspension mounting piece or is in up-down sliding connection.

The invention also provides an AGV, which comprises a vehicle body structure, at least two groups of wheel assemblies connected with the vehicle body structure and suspension systems arranged in one-to-one correspondence with the wheel assemblies, wherein each wheel assembly comprises a wheel, each suspension system comprises a synchronous connecting piece and two suspension structures, the two suspension structures are arranged on two sides of the wheel, and each synchronous connecting piece is fixedly connected with two second rotating connecting pieces or two first rotating connecting pieces.

Further, the wheel assembly further comprises a wheel mounting piece for mounting the wheel, the suspension mounting piece is fixedly connected with the vehicle body structure, and the first rotating male end and the second rotating male end in the suspension structure are respectively connected with the wheel mounting piece in a rotating mode through a rotating shaft.

Further, the AGV further comprises at least one supporting system fixed on the vehicle body structure for supporting the vehicle body structure, the supporting system comprises a first supporting mechanism, a second supporting mechanism and a driving unit, the first supporting mechanism is fixed on the vehicle body structure and comprises a first crank rotatably installed on the vehicle body structure, a first connecting rod rotatably connected with the free end of the first crank and a first sliding supporting piece rotatably connected with the free end of the first connecting rod and connected with the vehicle body structure in an up-down sliding mode, the heights of the first crank, the first connecting rod and the first sliding supporting piece are sequentially reduced, and the height of a rotating joint of the first crank and the vehicle body structure is higher than that of a rotating joint of the first crank and the first connecting rod; the second supporting mechanism is fixed on the vehicle body structure and is installed at intervals with the first supporting mechanism, the second supporting mechanism comprises a second crank rotatably installed on the vehicle body structure, a second connecting rod rotatably connected with the free end of the second crank and a second sliding supporting piece rotatably connected with the free end of the second connecting rod and vertically and slidably connected with the vehicle body structure, the heights of the second crank, the second connecting rod and the second sliding supporting piece are sequentially reduced, and the height of the rotating connection part of the second crank and the vehicle body structure is higher than that of the rotating connection part of the second crank and the second connecting rod; the driving unit is connected between the first supporting mechanism and the second supporting mechanism and is movably connected with the vehicle body structure, the driving unit comprises a first output end 75 which is rotationally connected with a first crank or a first connecting rod and a second output end 76 which is rotationally connected with a second crank or a second connecting rod, the first crank is arranged at an angle with a vertical line, one end of the first crank, which is rotationally connected with the first connecting rod, is close to the driving unit relative to the other end, the second crank is arranged at an angle with the vertical line, and one end of the second crank, which is rotationally connected with the second connecting rod, is close to the driving unit relative to the other end.

Further, the second crank includes the body of being connected with the rotation of second connecting rod and the extension that sets up with the body an organic whole, and the second crank rotates with the body structure in body and extension junction to be connected, and the height at extension and body place reduces in proper order, and braced system still includes one end and first crank rotation and the other end and the free end of extension rotate the synchronous connecting rod of being connected, and the synchronous connecting rod is connected in the position between the both ends of first crank.

Further, the AGV includes at least two support systems extending in a fore-aft direction of the body structure.

Compared with the prior art, the invention has the technical effects that: when the advancing wheel passes through the boss and collides with the boss, the boss can generate upward jumping acting force on the wheel, the acting force can be transmitted to the first rotating male end by the wheel due to the fact that the first rotating male end is rotationally connected with the wheel, and the first rotating connecting piece is rotationally connected to the vehicle body structure due to the fact that the first rotating connecting hole between the first rotating male end and the first rotating female end is rotationally connected to the vehicle body structure, and an included angle between a connecting line between the first rotating male end and the first rotating connecting hole and a vertical thread is formed, therefore, the upward acting force can drive the first rotating male end to swing upwards by taking the vehicle body structure as a support and drive the first rotating female end to synchronously rotate, namely, the first rotating connecting piece can swing upwards and downwards by taking the vehicle body structure as the support, and similarly, the second rotating male end can also synchronously rotate by taking the vehicle body structure as the support. The limiting seat is fixedly connected with the vehicle body structure, and the elastic piece is elastically connected with the limiting seat and the second rotating female end, so that the second rotating female end is close to the limiting seat when rotating upwards, and the elastic piece between the limiting seat and the second female end can be compressed at the moment so as to absorb energy generated by acting force, thereby buffering the vibration between the vehicle body structure and the vehicle wheels and further reducing the looseness of the connecting part of the vehicle body structure and the vehicle wheels; because the first rotating connecting piece and the second rotating connecting piece can swing upwards to drive the wheels to swing upwards, the wheels can be prevented from being rigidly collided with obstacles such as bosses, and the like, thereby avoiding the damage of the wheels and prolonging the service life of the wheels and the vehicle body structure.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following description will briefly explain the embodiments of the present invention or the drawings used in the description of the prior art, and it is obvious that the drawings described below are only some embodiments of the present invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic elevational view of an AGV according to an embodiment of the present invention.

FIG. 2 is a schematic diagram of a left-hand configuration of an AGV according to an embodiment of the present invention.

Fig. 3 is a schematic front view of a suspension structure according to an embodiment of the present invention.

Fig. 4 is a schematic view of a part of a suspension structure according to an embodiment of the present invention.

Fig. 5 is a perspective view of a suspension structure and wheel assembly provided by an embodiment of the present invention.

Fig. 6 is a perspective view of a portion of the structure of fig. 5.

Fig. 7 is a schematic structural diagram of a support system according to an embodiment of the present invention.

Reference numerals illustrate:

Detailed Description

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.

In the description of the present invention, it will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing and simplifying the description based on the orientation or positional relationship shown in the drawings, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the invention.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

It should be further noted that, in the embodiment of the present invention, the XYZ rectangular coordinate system established in fig. 1 is defined as follows: one side in the negative direction of the X axis is defined as the front, and one side in the positive direction of the X axis is defined as the rear; one side in the positive Y-axis direction is defined as above and one side in the negative Y-axis direction is defined as below.

The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent.

As shown in fig. 1 to 6, the embodiment of the present invention provides a suspension structure 31 for damping vibrations between an interconnected vehicle body structure 10 and a wheel 21, and in particular, as shown in fig. 3 and 4, the suspension structure 31 includes a first rotational link 32, a second rotational link 38, and an elastic member 45.

The first rotary connecting member 32 is rotatably mounted on the vehicle body structure 10, the first rotary connecting member 32 has a first rotary male end 34 formed at one end thereof and a first rotary female end 36 formed at the other end thereof, the first rotary male end 34 and the first rotary female end 36 are formed with a height difference, a first rotary connecting hole 37 is formed between the first rotary male end 34 and the first rotary female end 36 of the first rotary connecting member 32, the first rotary connecting hole 37 is rotatably connected with the vehicle body structure 10, the first rotary male end 34 is rotatably connected with the vehicle wheel 21, and a connecting line between the first rotary male end 34 and the first rotary connecting hole 37 is arranged at an included angle with a vertical thread.

The second rotary connecting member 38 is rotatably mounted on the vehicle body structure 10, the second rotary connecting member 38 has a second rotary male end 41 formed at one end thereof and a second rotary female end 43 formed at the other end thereof, the second rotary male end 41 and the second rotary female end 43 are formed with a height difference, a second rotary connecting hole 44 is provided between the second rotary male end 41 and the second rotary female end 43 of the second rotary connecting member 38, the second rotary connecting hole 44 is rotatably connected with the vehicle body structure 10, the second rotary male end 41 is rotatably connected with the wheel 21, and a connecting line between the rotary connecting second rotary male end 41 and the second rotary connecting hole 44 is arranged at an angle with a vertical line.

The elastic component 45 includes an elastic member 46 and a limiting seat 47 fixedly connected or slidably connected up and down with the vehicle body structure 10, where the elastic member 46 is elastically connected between the limiting seat 47 and the second rotating female end 43.

In this embodiment, when the traveling wheel 21 passes the boss and collides with the boss, the boss generates an upward jumping force on the wheel 21, and the first rotating male end 34 is rotationally connected with the wheel 21, so that the wheel 21 can transmit the upward jumping force to the first rotating male end 34, and the first rotating connecting piece 32 is rotationally connected to the vehicle body structure 10 through the first rotating connecting hole 37 between the first rotating male end 34 and the first rotating female end 36, and the connecting line between the first rotating male end 34 and the first rotating connecting hole 37 is arranged at an angle with respect to a vertical line, so that the upward jumping force can drive the first rotating male end 34 to swing upwards around the vehicle body structure 10 as a support and drive the first rotating female end 36 to synchronously rotate, that is, the first rotating connecting piece 32 can swing upwards and downwards around the vehicle body structure 10 as a support, and the second rotating female end 43 can synchronously rotate around the vehicle body structure 10 as a support, that is, so that the second rotating male end 41 can swing upwards and downwards around the vehicle body structure 10 as a support. Because the limiting seat 47 is fixedly connected with the vehicle body structure 10, the elastic piece 46 is elastically connected with the limiting seat 47 and the second rotating female end 43, so that the second rotating female end 43 rotates upwards and approaches to the limiting seat 47, and the elastic piece 46 between the limiting seat 47 and the second female end can be compressed at the moment so as to absorb energy generated by the acting force, thereby buffering the vibration between the vehicle body structure 10 and the wheels 21 and further reducing the looseness of the joint of the vehicle body structure 10 and the wheels 21; because the first rotating connecting piece 32 and the second rotating connecting piece 38 swing upwards to drive the wheel 21 to swing upwards, the wheel 21 can be prevented from being rigidly collided with obstacles such as bosses, and the like, thereby avoiding the damage of the wheel 21 and prolonging the service lives of the wheel 21 and the vehicle body structure 10.

The first rotating link 32 and the second rotating link 38 swing up and down with the vehicle body structure 10 as a support, so that the wheels 21 can be made to float up and down, and the wheels 21 can be ensured to always land even if the wheels 21 pass through uneven road surfaces, and can pass through normally.

Of course, in other embodiments of the present invention, the limiting seat 47 may be slidably connected to the vehicle body structure 10 up and down, and since the limiting seat 47 and the vehicle body structure 10 can only slide up and down and cannot move horizontally, when the second rotating connecting member 38 swings, the limiting seat 47 remains relatively stationary in the horizontal direction, so that the distance between the limiting seat 47 and the second rotating female end 43 is ensured to be changed, and the elastic member 46 is compressed.

Further, as shown in fig. 3 and 4, the first rotary connecting member 32 includes a first portion 33 and a first mating portion 35 fixedly connected to the first portion 33, the first portion 33 and the first mating portion 35 are disposed at an included angle, the first rotary male end 34 is disposed at a free end of the first portion 33, the first rotary female end 36 is disposed at a free end of the first mating portion 35, and the first rotary connecting hole 37 is formed at a junction between the first portion 33 and the first mating portion 35.

In this embodiment, the first portion 33 and the first mating portion 35 are disposed at an included angle, so that the first portion 33 and the first mating portion 35 can be prevented from being collinear, and therefore, it is ensured that an external force acting on the first rotating connecting member 32 cannot be simultaneously collinear with the first portion 33 and the first mating portion 35, and further, the first rotating connecting member 32 can rotate when the first rotating connecting member 32 is subjected to an external force in any direction in a vertical plane, that is, when the wheel 21 collides with an obstacle such as a boss, the first rotating connecting member 32 can rotate with the vehicle body structure 10 as a support.

Further, as shown in fig. 3 and 4, the second rotary connecting piece 38 includes a second sub-portion 39 and a second mating portion 42 fixedly connected to the second sub-portion 39, the second sub-portion 39 and the second mating portion 42 are disposed at an included angle, the second rotary male end 41 is disposed at a free end of the second sub-portion 39, the second rotary female end 43 is disposed at a free end of the second mating portion 42, and the second rotary connecting hole 44 is disposed at a junction between the second sub-portion 39 and the second mating portion 42.

In this embodiment, the second sub portion 39 and the second mating portion 42 are disposed at an included angle, so that the second sub portion 39 and the second mating portion 42 can be prevented from being collinear, and therefore, it is ensured that an external force acting on the second rotary connecting member 38 cannot be simultaneously collinear with the second sub portion 39 and the second mating portion 42, and further, it is ensured that the second rotary connecting member 38 can rotate when the second rotary connecting member 38 is subjected to an external force in any direction in a vertical plane, that is, when the wheel 21 collides against an obstacle such as a boss, the second rotary connecting member 38 can rotate with the vehicle body structure 10 as a support.

Further, the suspension structure 31 further includes a connector 48, one end of the connector 48 is rotatably connected to the first rotating female end 36, the other end of the connector 48 is rotatably connected to the second rotating female end 43, the limiting seat 47 is provided with a through hole through which the connector 48 passes, and a swinging gap for swinging the connector 48 up and down is provided between the through hole and the connector 48.

In this embodiment, one end of the connector 48 is rotationally connected to the first rotating female end 36, and the other end of the connector 48 is rotationally connected to the second rotating female end 43, so that the first rotating female end 36 and the second rotating female end 43 can synchronously move, and the first rotating male end 34 and the second rotating male end 41 synchronously move, and since the first rotating male end 34 and the second rotating male end 41 are both rotationally connected to the wheel 21, the wheel 21 can be prevented from shaking due to the asynchronous rotation of the first rotating connecting piece 32 and the second rotating connecting piece 38 in the process of floating the wheel 21 up and down, and the stability of the wheel 21 can be further improved when the wheel 21 floats up and down.

In this embodiment, the limiting seat 47 is provided with a through hole through which the connector 48 passes, and a swinging gap for the connector 48 to swing up and down is provided between the through hole and the connector 48, and this gap can avoid interference between the connector 48 and the limiting seat 47 in the process of swinging up and down along with the first rotating female end 36 and the second rotating female end 43, and meanwhile, the through hole can also avoid sliding friction between the limiting seat 47 and the connector 48, so as to avoid noise and mechanical energy loss generated by friction between the limiting seat 47 and the connector 48.

Of course, the limiting seat 47 is connected with the vehicle body structure 10 in a vertically sliding manner, in the vertical swinging process of the connector 48, the limiting seat 47 slides up and down relative to the vehicle body structure along with the connector 48, the connector 48 slides back and forth in the through hole, the limiting seat 47 and the connector 48 cannot interfere, the connector 48 is in sliding fit with the hole wall of the through hole, and vibration generated by the swinging clearance between the connector 48 and the limiting seat 47 can be reduced.

Further, as shown in fig. 3 and 4, the connector 48 is in guiding engagement with the elastic member 46 to avoid the elastic member 46 from bending laterally, so as to prolong the service life of the elastic member 46 and enhance the energy absorbing effect, and the elastic assembly 45 further includes an abutting structure 49 spaced from the limiting seat 47 to assemble the elastic member 46, where the abutting structure 49 is fixedly connected with the connector 48.

In this embodiment, in the process that the connector 48 swings with the first rotating female end 36 and the second rotating female end 43, the connector 48 includes a vertical movement and a front-rear movement, when the limiting seat 47 is fixedly connected with the vehicle body structure 10 and a swinging gap is provided between the through hole and the connector 48, the front-rear movement of the connector 48 changes the horizontal distance between the second rotating female end 43 and the limiting seat 47, and the connector 48 moves forward while moving upward, at this time, the horizontal distance between the limiting seat 47 and the second rotating female end 43 is reduced, so that the elastic member 46 is compressed and deformed, thereby absorbing energy in the up-down movement of the wheel 21, further achieving the purpose of buffering vibration generated when the wheel 21 collides with an obstacle such as a boss, and increasing stability in the operation of the wheel 21.

When the limiting seat 47 is slidably connected with the vehicle body structure 10 up and down, the connector 48 drives the limiting seat 47 to move during the swinging process of the connector 48, so that the limiting seat 47 can only slide up and down and keep relatively static in the front-rear direction, and therefore, the horizontal distance between the limiting seat 47 and the second rotating female end 43 also changes during the front-rear movement process of the connector 48, and the elastic piece 46 can also be enabled to generate compression deformation so as to absorb energy in the up-down movement process of the wheel 21, thereby achieving the purpose of buffering vibration generated when the wheel 21 collides with an obstacle such as a boss, and increasing the stability of the wheel 21 in the operation process.

Further, as shown in fig. 3, 5 and 6, the suspension structure 31 further includes a suspension mounting member 51 fixed to the vehicle body structure 10, the first rotation coupling hole 37 of the first rotation coupling member 32 is rotatably coupled to the suspension mounting member 51, the second rotation coupling hole 44 of the second rotation coupling member 38 is rotatably coupled to the suspension mounting member 51, and the restriction seat 47 is fixedly coupled or slidably coupled up and down to the suspension mounting member 51.

In this embodiment, the first rotation connecting hole 37 of the first rotation connecting member 32 is rotatably connected to the suspension mounting member 51, the first rotation connecting member 32 is rotatably mounted to the vehicle body structure 10 through the suspension mounting member 51 so that the first rotation connecting member 32 can rotate with the vehicle body structure 10 as a support, the second rotation connecting hole 44 of the second rotation connecting member 38 is rotatably connected to the suspension mounting member 51, and the second rotation connecting member 38 is rotatably mounted to the vehicle body structure 10 through the suspension mounting member 51 so that the second rotation connecting member 38 can rotate with the vehicle body structure 10 as a support.

As shown in fig. 1, 2 and 5, other embodiments of the present invention further provide an AGV100, which includes a body structure 10, at least two sets of wheel assemblies 20 connected to the body structure 10, and suspension systems disposed in one-to-one correspondence with the wheel assemblies 20, wherein each wheel assembly 20 includes a wheel 21, and as shown in fig. 5, the suspension systems include a synchronous connecting member 52 and two suspension structures 31 as described above, the two suspension structures 31 are disposed on two sides of the wheel 21, and the synchronous connecting member 52 is fixedly connected with the two second rotational connecting members 38.

In this embodiment, the two suspension structures 31 are arranged on two sides of the wheel 21, so as to improve the balance of vibration damping on two sides of the wheel 21, and the synchronous connecting members 52 and the two second rotating connecting members 38 can improve the synchronization of vibration damping between the wheel 21 and the vehicle body structure 10 of the two suspension structures 31, so that the wheel 21 is prevented from vibrating due to the asynchronism of movement of the first rotating connecting members 32 of the two suspension structures 31 during the vertical floating process of the wheel 21, and further improve the vertical floating stability of the wheel 21.

Of course, in other embodiments of the present invention, the synchronous link 52 may be fixedly connected to the two first rotating links 32.

Further, as shown in fig. 1, the AGV100 includes two wheel assemblies 20, the vehicle body structure 10 includes an upper support frame 11, a lower support frame 13 disposed at a distance from the upper support frame 11, and a plurality of support columns 12 supporting and connecting the upper support frame 11 and the lower support frame 13, the bottom end of the suspension mounting member 51 is fixedly connected with the lower support frame 13, the wheels 21 are connected with the lower support frame 13 through the first rotation connecting member 32, the second rotation connecting member 38 and the suspension mounting member 51, the upper support frame 11, the lower support frame 13 and the plurality of support columns 12 together enclose an installation cavity, and the two wheel assemblies 20 are installed in the installation cavity.

Further, the AGV100 further includes a plurality of driven wheels 24 disposed around the bottom of the lower support frame 13, where the driven wheels 24 are disposed in pairs, and the driven wheels 24 serve as auxiliary supports and auxiliary rolls during the running process of the AGV 100.

Further, as shown in fig. 1, 5 and 6, the wheel assembly 20 further includes a wheel 21 mounting member 22 for mounting the wheel 21 and connected to the wheel 21, and a connection bracket 23 fixedly connected to the wheel 21 mounting member 22 and extending beyond the outer periphery of the wheel 21 mounting member 22, wherein the connection bracket 23 is respectively coupled to the first rotational connecting member 32 and the second rotational connecting member 38, the suspension mounting member 51 is fixedly connected to the vehicle body structure 10, the first rotational male end 34 and the second rotational male end 41 in the suspension structure 31 are respectively rotatably connected to the connection bracket 23 via a rotation shaft, and the wheel 21 is floatably connected to the vehicle body structure 10 via the first rotational connecting member 32, the second rotational connecting member 38 and the suspension mounting member 51.

Further, as shown in fig. 1, 2 and 7, the AGV100 also includes at least one support system 60 secured to the body structure 10 to support the body structure 10, the support system 60 including a first support mechanism 61, a second support mechanism 66 and a drive unit 74.

The first support mechanism 61 is fixed to the vehicle body structure 10, the first support mechanism 61 includes a first crank 62 rotatably mounted to the vehicle body structure 10, a first link 63 rotatably connected to a free end of the first crank 62, and a first slide support 64 rotatably connected to a free end of the first link 63 and slidably connected to the vehicle body structure 10 up and down, and the heights of the first crank 62, the first link 63, and the first slide support 64 are sequentially lowered, and the height of the rotational connection of the first crank 62 to the vehicle body structure 10 is higher than the height of the rotational connection of the first crank 62 to the first link 63.

The second support mechanism 66 is fixed on the vehicle body structure 10 and is installed at a distance from the first support mechanism 61, the second support mechanism 66 comprises a second crank 67 rotatably installed on the vehicle body structure 10, a second connecting rod 71 rotatably connected with the free end of the second crank 67, and a second sliding support piece 72 rotatably connected with the free end of the second connecting rod 71 and vertically slidably connected with the vehicle body structure 10, and the heights of the second crank 67, the second connecting rod 71 and the second sliding support piece 72 are sequentially reduced, and the height of the rotational connection position of the second crank 67 and the vehicle body structure 10 is higher than the height of the rotational connection position of the second crank 67 and the second connecting rod 71.

The driving unit 74 is connected between the first support mechanism 61 and the second support mechanism 66 and is movably connected with the vehicle body structure 10, the driving unit 74 includes a first output end 75 rotatably connected with the first crank 62 or the first link 63, and a second output end 76 drivingly connected with the second crank 67 or the second link 71 and outputting driving force, the first crank 62 is disposed at an angle to the vertical line, one end of the first crank 62 rotatably connected with the first link 63 is close to the driving unit 74 with respect to the other end, the second crank 67 is disposed at an angle to the vertical line, and one end of the second crank 67 rotatably connected with the second link 71 is close to the driving unit 74 with respect to the other end.

The AGV100 is generally used for carrying cargo, and includes a vehicle body structure and wheels connected to the bottom of the vehicle body structure, and is generally supported by the wheels during operation, and is generally engaged with a transfer robot at both a pick-up location and a discharge location, so that the transfer robot transfers and loads cargo onto or removes cargo from the vehicle body structure, and when the transfer robot loads or removes cargo, the transfer robot cannot ensure that cargo is completely loaded or removed in a vertical direction, and in this process, the vehicle body structure is subject to external forces in a horizontal direction, and because the vehicle body structure is only supported by the wheels, the vehicle body structure is prone to shaking under the external forces.

In this embodiment, when the AGV100 is parked at the pick-up location, the second output 76 of the drive unit 74 outputs a driving force (specifically, the driving force is a pushing force) to the second support mechanism 66 such that the second crank 67 and the second link 71 move away from the drive unit 74, and at the same time, the second crank 67 or the second link 71 generates a reverse force on the second output 76, which, due to the movable connection of the drive unit 74 to the body structure 10, pushes the drive unit 74 to move and moves the drive unit 74 closer to the first support mechanism 61, and in the process, the first output 75 pushes the first crank 62 and the first link 63 to move away from the drive unit 74 as the drive unit 74 approaches the first support mechanism 61.

Specifically, the second output 76 moves the rotational connection of the second crank 67 and the second link 71 away from the driving unit 74, during which the second crank 67 rotates with the vehicle body structure 10 as a support, and the height of the rotational connection of the second crank 67 and the vehicle body structure 10 is always constant, and the height of the rotational connection of the second crank 67 and the vehicle body structure 10 is higher than the height of the rotational connection of the second crank 67 and the second link 71, so that the end of the second crank 67, which is in rotational connection with the second link 71, has a component of downward movement when moving away from the driving unit 74, and thus the second crank 67 can drive the second link 71 to move, and the movement of the second link 71 also has a component of downward movement, and further, because the second link 71 is in rotational connection with the second slide support 72, the second slide support 72 is in up-down sliding connection with the vehicle body structure 10, and thus the second crank 67 can drive the second slide support 72 to move down in a straight line through the second link 71 until the second link 72 abuts against the ground support 10.

Similarly, the first output end 75 may also drive the first sliding support 64 to move downward through a crank and the first link 63, and may also enable the first sliding support 64 to be in abutting engagement with the ground to support the vehicle body structure 10. In this way, even if the transfer robot applies an external force in the horizontal direction to the vehicle body structure 10 when loading or unloading the load, the vehicle body structure 10 does not shake due to the supporting action of the first slide support 64 and the second slide support 72 on the vehicle body structure 10.

In this embodiment, the driving unit 74 drives the first crank 62, the first link 63, and the first sliding support 64 to move, and when the rotational axis of the rotational joint of the first crank 62 and the first link 63, the rotational axis of the rotational joint of the first link 63 and the first sliding support 64, and the rotational axis of the rotational joint of the first crank 62 and the vehicle body structure 10 are coplanar, the first supporting mechanism 61 can complete self-locking, and even if the driving unit 74 stops outputting the driving force, the first supporting mechanism 61 can still support the vehicle body structure 10, and the energy consumption of the driving unit 74 can be saved. Similarly, the second supporting mechanism 66 can also be self-locking, and energy consumption of the driving unit 74 can be saved.

In this embodiment, the supporting system 60 is compact, it does not occupy a large installation space, and the supporting system 60 is precise in structure, the first link 63 cooperates with the first sliding support 64 and the first crank 62 to amplify the driving force, and similarly, the second link 71 cooperates with the second sliding support 72 and the second crank 67 to amplify the driving force, so that the supporting force output by the supporting system 60 is large and stable, and the driving unit 74 may support the load on the AGV100 and the AGV100 with a small driving force, thereby reducing the energy consumption.

Further, as shown in fig. 7, the second crank 67 includes a body 68 rotatably connected to the second link 71 and an extension 69 integrally provided with the body 68, the second crank 67 is rotatably connected to the vehicle body structure 10 at a junction of the body 68 and the extension 69, the heights of the extension 69 and the body 68 are sequentially lowered, the support system 60 further includes a synchronization link 77 having one end rotatably connected to the first crank 62 and the other end rotatably connected to a free end of the extension 69, and the synchronization link 77 is connected to a position between both ends of the first crank 62.

In this embodiment, there may be a time difference when the driving unit 74 drives the first crank 62 and the second crank 67, since one end of the synchronizing link 77 is rotatably connected to the first crank 62 and the other end is rotatably connected to the free end of the extension 69, the synchronizing link 77 is fixedly connected to a position between both ends of the first crank 62, so when the end of the first crank 62, which is opposite to the first link 63, moves away from the driving unit 74, the first crank 62 transmits a force to the free end of the extension 69 through the synchronizing link 77 and drives the free end of the extension 69 to move in a direction approaching to the driving unit 74, at this time, the second crank 67 rotates with the vehicle body structure 10 as a support, and since the second crank 67 is rotatably connected to the vehicle body structure 10 at a junction of the body 68 and the extension 69 and the height of the body 68 decreases in sequence, the body 68 is opposite to the direction of movement of the extension 69, specifically, the body 68 moves away from the driving unit 74, and the second sliding support 72 is driven by the second link 71 to move in a direction away from the driving unit 74, and the second sliding support 64 moves in a synchronous manner with the first sliding support 64, and the first sliding support 64 does not move in a stable straight line, and the lifting and lowering of the first sliding support 64 does not cause a problem due to the synchronous lifting and lowering of the sliding support 10.

Further, as shown in fig. 7, the first sliding support 64 includes a first foot pad 65 for cooperating with a ground support, and the second sliding support 72 includes a second foot pad 73 for cooperating with the ground support, and bottoms of the first foot pad 65 and the second foot pad 73 are each provided in a plate shape, so that stability can be increased.

Further, as shown in FIG. 1, the AGV100 includes at least two support systems 60 extending in the fore-and-aft direction of the body structure 10, with the two support systems 60 being disposed at opposite ends of the body structure 10 to further increase the stability of the AGV100 during loading or unloading.

The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.

Claims

1. A suspension structure for damping vibrations between an interconnected vehicle body structure and a wheel, characterized in that the suspension structure comprises,

the first rotating connecting piece is rotatably mounted on the vehicle body structure, the first rotating connecting piece is provided with a first rotating male end formed at one end of the first rotating connecting piece and a first rotating female end formed at the other end of the first rotating connecting piece, the first rotating male end and the first rotating female end form a height difference, a first rotating connecting hole is formed between the first rotating male end and the first rotating female end of the first rotating connecting piece, the first rotating connecting hole is in rotating connection with the vehicle body structure, the first rotating male end is in rotating connection with the wheels, a connecting line between the first rotating male end and the first rotating connecting hole is arranged at an included angle with a vertical line, and the first rotating male end drives the first rotating female end to synchronously rotate;

the second rotating connecting piece is rotatably arranged on the vehicle body structure, the second rotating connecting piece is provided with a second rotating male end formed at one end of the second rotating connecting piece and a second rotating female end formed at the other end of the second rotating connecting piece, the second rotating male end and the second rotating female end form a height difference, a second rotating connecting hole is formed between the second rotating male end and the second rotating female end of the second rotating connecting piece, the second rotating connecting hole is rotatably connected with the vehicle body structure, the second rotating male end is rotatably connected with the wheels, and a connecting line between the second rotating male end and the second rotating connecting hole and a vertical line form an included angle;

the elastic component comprises an elastic piece and a limiting seat fixedly connected with the vehicle body structure or connected with the vehicle body structure in an up-down sliding mode, and the elastic piece is elastically connected between the limiting seat and the second rotating female end.

2. The suspension structure of claim 1, further comprising a connector, wherein one end of the connector is rotatably connected to the first rotating female end, the other end of the connector is rotatably connected to the second rotating female end, the limiting seat is provided with a through hole through which the connector passes, and a swinging gap for swinging the connector up and down is provided between the through hole and the connector.

3. The suspension structure of claim 1 further comprising a connector having one end rotatably coupled to the first rotatable female end and the other end rotatably coupled to the second rotatable female end, the restrictor receptacle connector having a bore therethrough, the connector slidably engaging the bore wall of the bore, the restrictor receptacle slidably coupled up and down the body structure.

4. A suspension arrangement as claimed in claim 2 or claim 3, wherein the connector is in guided engagement with the resilient member, the resilient assembly further comprising an abutment arrangement spaced from the restraining base for mounting the resilient member, the abutment arrangement being fixedly connected to the connector.

5. A suspension structure according to any one of claims 1 to 3, further comprising a suspension mount member fixed to the vehicle body structure, wherein the first rotation coupling hole of the first rotation coupling member is rotatably coupled to the suspension mount member, wherein the second rotation coupling hole of the second rotation coupling member is rotatably coupled to the suspension mount member, and wherein the restriction seat is fixedly coupled to the suspension mount member or slidably coupled up and down.

6. The AGV is characterized by comprising a vehicle body structure, at least two groups of wheel assemblies connected with the vehicle body structure and suspension systems arranged in one-to-one correspondence with the wheel assemblies, wherein each wheel assembly comprises a wheel, each suspension system comprises a synchronous connecting piece and two suspension structures according to claim 5, the two suspension structures are arranged on two sides of the wheel, and the synchronous connecting piece is fixedly connected with the two second rotating connecting pieces or the two first rotating connecting pieces.

7. The AGV of claim 6 wherein said wheel assembly further includes a wheel mounting member for mounting said wheel, said suspension mounting member being fixedly coupled to said body structure, said first and second rotational male ends of said suspension structure each being rotatably coupled to said wheel mounting member by a pivot axis.

8. The AGV of claim 7 further comprising at least one support system secured to the body structure to support the body structure, the support system comprising,

the first support mechanism is fixed on the vehicle body structure and comprises a first crank rotatably installed on the vehicle body structure, a first connecting rod rotatably connected with the free end of the first crank and a first sliding support piece rotatably connected with the free end of the first connecting rod and vertically and slidably connected with the vehicle body structure, the heights of the first crank, the first connecting rod and the first sliding support piece are sequentially reduced, and the height of the rotating connection part of the first crank and the vehicle body structure is higher than the height of the rotating connection part of the first crank and the first connecting rod;

the second support mechanism is fixed on the vehicle body structure and is installed at intervals with the first support mechanism, the second support mechanism comprises a second crank rotatably installed on the vehicle body structure, a second connecting rod rotatably connected with the free end of the second crank, and a second sliding support piece rotatably connected with the free end of the second connecting rod and connected with the vehicle body structure in a vertical sliding mode, the heights of the second crank, the second connecting rod and the second sliding support piece are sequentially reduced, and the height of the rotating joint of the second crank and the vehicle body structure is higher than that of the rotating joint of the second crank and the second connecting rod;

the driving unit is connected between the first supporting mechanism and the second supporting mechanism and is movably connected with the vehicle body structure, the driving unit comprises a first output end and a second output end, the first output end is rotationally connected with the first crank or the first connecting rod, the second output end is in driving connection with the second crank or the second connecting rod at a rotational connection position, the first crank is arranged at an angle with a vertical line, one end of the first crank, which is rotationally connected with the first connecting rod, is close to the driving unit relative to the other end, the second crank is arranged at an angle with the vertical line, and one end of the second crank, which is rotationally connected with the second connecting rod, is close to the driving unit relative to the other end.

9. The AGV of claim 8 wherein said second crank includes a body rotatably coupled to said second link and an extension integrally formed with said body, said second crank rotatably coupled to said body structure at the intersection of said body and said extension, said extension and said body being successively lower in height, said support system further including a synchronizing link rotatably coupled at one end to said first crank and rotatably coupled at the other end to a free end of said extension, said synchronizing link being coupled at a location between the ends of said first crank.

10. The AGV of claim 8 or 9, wherein said AGV includes at least two of said support systems extending in a fore-aft direction of said body structure.