CN109398011A - The nonelastic suspension frame structure of automatic guided vehicle - Google Patents
The nonelastic suspension frame structure of automatic guided vehicle Download PDFInfo
- Publication number
- CN109398011A CN109398011A CN201811534315.9A CN201811534315A CN109398011A CN 109398011 A CN109398011 A CN 109398011A CN 201811534315 A CN201811534315 A CN 201811534315A CN 109398011 A CN109398011 A CN 109398011A
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- CN
- China
- Prior art keywords
- drive wheel
- cam part
- wheel assemblies
- rotary shaft
- frame portion
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G1/00—Suspensions with rigid connection between axle and frame
-
- 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
Abstract
The present invention relates to a kind of suspension frame structures, and the automatic guided vehicle used in factory automation etc. can be made on the ground of out-of-flatness, can also realize the ground connection of holding level and drive shaft always, and above-mentioned suspension frame structure does not have elasticity up and down.As embodiment, provide a kind of nonelastic suspension frame structure of automatic guided vehicle, its frame portion and drive wheel assemblies for connecting automatic guided vehicle lower part, and includes: vertical guide members, a pair of driving wheels component is supported in a manner of moving a pair of driving wheels component along vertical direction relative to frame portion；Rotary shaft is rotationally fixed to frame portion；And first cam part and the second cam part, it is prejudicially incorporated into rotary shaft and rotates together with rotary shaft, and the upper surface of each drive wheel assemblies of the periphery face contact of the first cam part and the second cam part, the first cam part from the direction of center bias of rotary shaft and the direction of the second cam part from the center bias of rotary shaft be opposite direction.
Description
Technical field
The present invention relates to a kind of suspension frame structures, can make the automatic guided vehicle used in factory automation etc.
(automated guided vehicle) can also realize the ground connection of holding level and drive shaft on the ground of out-of-flatness always,
And above-mentioned suspension frame structure does not have elasticity up and down.
Background technique
Automatic guided vehicle is used for: in factory automation system or warehouse automation system etc., by receiving the system of coming from
Tote is transferred to the destination of distant distance by the input signal of control unit in a manner of unpiloted.
In the running of automatic guided vehicle, the position and traveling for tracking vehicle are very important.For this purpose, control structure
It is designed to receive information of vehicles from multiple sensors to execute feedback control (feedback control).
Nevertheless, can also there is the various external factor for making automatic guided vehicle be difficult to operate, one of factor is
The ground of out-of-flatness.When traditional common factory is transformed into unmanned automatic factory, may be particularly easy to that above-mentioned ask occurs
Topic.Moreover, even if in the factory being initially deleveled, by the aging on multiple equipment changing or ground, ground it is flat
Property can also reduce and the above problem occurs.
When automatic guided vehicle on uneven ground when driving, can there is a problem of it is a part of hanging in tire,
Also, when hanging tire is connected to drive shaft, can there are problems that driving direction offset.It is utilized in view of farthest
While fast speed, the case where operation in a manner of close by minimum range with other barriers and pass through, the above problem is big
The hidden danger with the collision of works or other vehicles is increased greatly.
On the other hand, automatic guided vehicle realizes Article handling by automatic machinery people, therefore permanent in order to remain
Fixed height differently with general car does not preferably have to flexible suspension.
[existing technical literature]
[patent document]
(patent document 0001) KR published patent the 10-2013-0041940th (2013.04.25)
(patent document 0002) US granted patent the 5344276th (1994.09.06)
Summary of the invention
The technical problem to be solved in the present invention
The present invention is the invention for solving the above problems, its purpose is to provide a kind of suspension of automatic guided vehicle,
Even across uneven ground, it is also able to achieve the ground connection for being connected to the tire of drive shaft, and without elasticity up and down or vibration.
In addition, by following particular contents, the expert or researcher of the art clearly can grasp and manage
Solve specific purpose of the invention.
Technical solution
To solve the above-mentioned problems, as embodiment, the present invention provides a kind of nonelastic suspension knot of automatic guided vehicle
Structure connects the frame portion (sash) and drive wheel assemblies of automatic guided vehicle lower part, and includes: vertical guide members, with
A pair of above-mentioned drive wheel assemblies are made to support a pair of above-mentioned driving wheel group along the mode that vertical direction moves relative to above-mentioned frame portion
Part；Rotary shaft is rotationally fixed to above-mentioned frame portion；And first cam (cam) component and the second cam part, it is eccentric
Ground is incorporated into above-mentioned rotary shaft and rotates together with above-mentioned rotary shaft, and above-mentioned first cam part and above-mentioned second cam part
The upper surface of each above-mentioned drive wheel assemblies of the periphery face contact of part, the center of above-mentioned first cam part from above-mentioned rotary shaft are inclined
The direction of the heart and the direction of above-mentioned second cam part from the center bias of above-mentioned rotary shaft are opposite directions.
Further, above-mentioned first cam part and above-mentioned second cam part can be the wheel disc with circular section
(Disc) shape, the outer circumferential surface section contacted with the upper end of above-mentioned drive wheel assemblies can pass through bearing support.
On the other hand, above-mentioned first cam part and above-mentioned second cam part can be the wheel disc with oval-shaped profile
Shape.
On the other hand, supporting block is prominent on the top of above-mentioned drive wheel assemblies, and above-mentioned frame portion is formed with for above-mentioned supporting block
The through-hole passed through, above-mentioned rotary shaft, above-mentioned first cam part and above-mentioned second cam part can be formed in above-mentioned frame portion
Top, and supported by the upper surface of above-mentioned supporting block outstanding above the upper surface of above-mentioned frame portion.
Further, above-mentioned vertical guide members can be multiple linear guides (LM guide), above-mentioned linear guide
Shell is fixed on above-mentioned frame portion, is fixed on above-mentioned drive wheel assemblies in the bar portion that above-mentioned shell freely extends.
As further embodiment, the present invention provides a kind of nonelastic suspension frame structure of automatic guided vehicle, and connection is certainly
The frame portion and drive wheel assemblies of dynamic guiding lower vehicle, and include: vertical guide members, so that a pair of above-mentioned driving wheel group
Part supports a pair of above-mentioned drive wheel assemblies along the mode that vertical direction moves relative to above-mentioned frame portion；Rotary shaft, it is rotatable
Ground is fixed on above-mentioned frame portion；Shaft gear is incorporated into the both ends of above-mentioned rotary shaft, and integrally rotates with above-mentioned rotary shaft；
And rack member, be incorporated into each above-mentioned drive wheel assemblies, and integrally go up and down with above-mentioned drive wheel assemblies and with it is above-mentioned
Shaft gear gear combines, more than the bonding position of the above-mentioned rack member of each above-mentioned drive wheel assemblies and each above-mentioned shaft gear
It states symmetrical on the basis of the axis center of rotary shaft, thus operates to the lifting relativity of two above-mentioned drive wheel assemblies.
Beneficial effect
According to an embodiment of the invention, the driving wheel of automatic guided vehicle can also completely attach to even if ground is uneven
Ground, so as to realize the expected traveling of automatic guided vehicle.Further, vehicle can keep horizontal, therefore can make
Minimization of tilt and prevent falling off for carrier.Also, support the drive wheel assemblies of vehicle to operate in a manner of stiff, so that
When loading and unloading carrier, the height of vehicle does not change, so as to effective operation Article handling robot.
In addition, by following particular content or in implementing the present invention, it may, the art expert or grind
Studying carefully personnel can clearly grasp and understand effect of the invention.
Detailed description of the invention
Fig. 1 is to show the solid of the nonelastic suspension frame structure separation of automatic guided vehicle according to an embodiment of the present invention
Figure.
Fig. 2 is the rearview for showing the suspension frame structure according to the embodiment for being shown in Fig. 1.Fig. 3 is to show that Fig. 2 will be shown in
Embodiment simplify perspective view.
(a) of Fig. 4 is the side view for showing the left part of embodiment for being shown in Fig. 2, and (b) of Fig. 4 is to show diagram
In the side view of the right part of the embodiment of Fig. 2.
Fig. 5 is the figure for showing the use state for the embodiment for being shown in Fig. 2.
Fig. 6 is the figure for showing another use state of the embodiment for being shown in Fig. 2.
Fig. 7 is the side view for showing cam (cam) component for another embodiment of the present invention.
Fig. 8 is the nonelastic suspension frame structure for briefly showing automatic guided vehicle in accordance with another embodiment of the present invention
Top view.
Fig. 9 is the nonelastic suspension frame structure for schematically showing the automatic guided vehicle of further embodiment according to the present invention
Perspective view.
(a) of Figure 10 is the side view for showing the left part of embodiment for being shown in Fig. 9, and (b) of Figure 10 is to show figure
Show the side view in the right part of the embodiment of Fig. 9.
Appended drawing reference
10: works
20: frame portion 21: through-hole
30,30L, 30R, 301: drive wheel assemblies
31: bottom plate 311: supporting block
32: deflecting plate 321: steering motor portion
33: bracket 331: wheel 332: driving motor portion
34: rack member
40: vertical guide members 41: shell 42: bar portion
50: rotary shaft 51: center 52: shaft supporting part
60A: the first the 60B: the second cam part of cam part 60C, 60D: cam part
61: bearing 62: outer circumferential surface section 63: center
80: shaft gear
P1, p2: arrow V: vertical line
Specific embodiment
Referring to the following drawings, illustrate composition, the function of the nonelastic suspension frame structure of automatic guided vehicle according to the present invention
And effect.Only, in accompanying drawings and embodiments, the appended drawing reference of the same or similar constituent element will be used uniformly.
Also, in the following description, using the terms such as " first ", " second " is for the ease of distinguishing technical meaning identical
The composition of range will count.That is, any one, which is constituted, can be named as " first is constituted " or " second is constituted ".
Attached drawing is the embodiment being applicable in for showing the present invention, and therefore, technical idea of the invention should not pass through attached drawing
To limit and explain.In the angle for the expert for belonging to the technical field, if part or all for being shown in attached drawing is explained
At shape, apperance and the sequence for being not configured to implementation of the invention and being necessarily required to, then attached drawing does not limit and is recorded in claim
The invention of book.
Also, it is hereby stated that in order to make it easy to understand, a part of attached drawing omits or simple a part of constituent element, one
In the attached drawing of part, deformation extent etc. is exaggerated.
Also, for the ease of the understanding in direction, the Roman character I and II in attached drawing refers respectively to revolver and the right side of vehicle
Wheel.
Fig. 1 is to show that the automatic guided vehicle (hereinafter referred to as " vehicle of suspension frame structure according to an embodiment of the present invention will be used
") separation figure.
Framed portion (sash) 20 is combined in the lower part for forming the works 10 of contour of the vehicle, is combined with 4 in the frame portion 20
Drive wheel assemblies (drive wheel assembly).In the illustrated embodiment, two drive wheel assemblies 30L, 30R at rear
It is applicable in desired suspension frame structure of the invention, two drive wheel assemblies 30 in front use it and are directly fixed on frame portion 20
Structure.In another embodiment, rotatable common wheel can be set to replace two drive wheel assemblies in front.
Referring to Fig. 2, drive wheel assemblies 30L, 30R have wheel 331, and drive wheel assemblies 30L, 30R include: driving electricity
Machine portion 332 rotates wheel 331 along forward or backwards；And steering motor portion 321, rotate wheel centered on vertical axis.
The lower surface of bottom plate (base plate) 31 is combined with rotatable deflecting plate 32, passes through steering motor portion 321
Operating, deflecting plate 32 can rotate in the horizontal plane relative to bottom plate 31.In a manner of rotating deflecting plate 32 relative to bottom plate 31
The structure of connection and structure for rotating deflecting plate 32 can use well known structure.
The bracket 33 for being combined with wheel 331 and driving motor portion 332 is fixed on the lower part of deflecting plate 32.
Drive wheel assemblies 30L, 30R can be such that wheel 331 rotates along forward or backwards as a result, and can control wheel
331 driving direction.This drive wheel assemblies 30L, 30R can be using one of common various products.
Drive wheel assemblies 30L, 30R positioned at 20 rear of frame portion or so are incorporated into frame portion 20 by vertical guide members 40.
In the illustrated embodiment, vertical guide members 40 are multiple linear guides (linear motion guide, LM
guide).Specifically, the shell 41 of linear guide is fixed on frame portion 20, and solid in the bar portion 42 that above-mentioned shell 41 freely extends
Determine the bottom plate 31 of drive wheel assemblies.
By the way that multiple linear guides are arranged side by side in a drive wheel assemblies, drive wheel assemblies can be stably installed at frame
Portion.And it is possible to which reliably Constraints driven wheel assembly only moves up and down.
Although it is not shown, still vertical guide members can be changed to the various mechanisms that can ensure freely to move linearly or
Device.Further, damper (shock absorber) etc. and linear moving mechanism etc. can also be used together, it is above-mentioned to subtract
Shake the elasticity for the load that device has less than frame portion or the works being placed in frame portion.
Frame portion 20 is combined with fixed rotary shaft 50 in a manner of rotatable, and the first cam part 60A and second is convex
Wheel component 60B is fixed on the both ends of rotary shaft 50 in a manner of deviateing the axis center of rotary shaft 50.First cam part 60A and
Second cam part 60B and rotary shaft 50 are integrally formed, and rotate together with rotary shaft 50.
Wherein, the first cam part 60A and the second cam part 60B is identical section shape, and relative to rotation
The direction of the axis center bias of axis 50 is opposite direction.
Wherein, eccentric direction refers to the section center from the center of circular cam part 60A, 60B towards rotary shaft 50
Direction vector (direction vector).Specifically, referring to Fig. 3, eccentric direction is by the first cam part 60A from rotary shaft
The direction (reference arrow p1) of 50 center bias and the second cam part 60B are from the direction of the center bias of rotary shaft 50
(reference arrow p2) is indicated, and the two is opposite direction.
Rotary shaft 50 by be set to frame portion 20 shaft supporting part 52 constrain and fix its position, the first cam part 60A and
Second cam part 60B contacts the upper surface of drive wheel assemblies 30L, 30R respectively.
Drive wheel assemblies 30L, 30R of left and right inelastically bear the load of frame portion 20 and works as a result,.The drive in front
Drive wheel assemblies are directly fixed on the lower part of frame portion, and therefore, frame portion and works are supported in a manner of inelastic by drive wheel assemblies.
Referring again to Fig. 1 and Fig. 2, supporting block 311 is prominent on the top of drive wheel assemblies 30L, 30R, and frame portion 20 is formed with
The through-hole 21 passed through for supporting block 311.
Also, rotary shaft 50, the first cam part 60A and the second cam part 60B are set to the top of frame portion 20.First
Cam part 60A and the second cam part 60B is placed in contact drive wheel assemblies 30L, 30R by the exposure of each through-hole 21
Supporting block 311 upper surface.
The configuration structure of these constituent elements reduces the terrain clearance of vehicle, therefore, can reduce vehicle as much as possible
Center of gravity, ensure the effect of big bearing space while improving the correlated performance of vehicle so as to obtain.
On the other hand, it is shown in the embodiment of Fig. 1 to Fig. 5, the first cam part 60A and the second cam part 60B are
Wheel disk shape with circular section.
Each cam part exists with the upper surface (upper surface of supporting block) of drive wheel assemblies due to grinding caused by contacting
The hidden danger of damage, therefore, each cam part 60A, 60B are equipped with bearing 61, so that outer circumferential surface section 62 is freely rotatable.
As a result, in operation process described below, cam part can more swimmingly rotate, so as to improve operating
Reliability and reduce the hidden danger because of abrasion caused by the friction with supporting block.
Fig. 3 to Fig. 6 is related to the use state of suspension frame structure according to the present invention.
In (a) and (b) of Fig. 5 and (b) of Fig. 6, among attached drawing is from the figure of overleaf observing suspension frame structure, left side
And right side is figure from left sides drive wheel assemblies respectively.
Reference schematically shows drive wheel assemblies 30L, 30R and Fig. 4 and Fig. 5, Fig. 4 and Fig. 5 of cam part 60A, 60B
It shows inclined according to the height of left and right sidesing driving wheel component 30L, 30R for being generated due to vehicle by uneven fabrication facility floor
Difference, rotary shaft 50 and cam part 60A, 60B rotation.
Rising or falling with the down or up of another drive wheel assemblies for any one drive wheel assemblies is linkage,
The alternating lifting operating of this left and right sidesing driving wheel component is by along the rotary shaft and each cam rotated integrally forward or backwards
Component and realize.
As a result, two drive wheel assemblies equably support vehicle load while, on the ground there are difference of height
It realizes and completely, is steadily grounded.At this point, vehicle keeps horizontal.
In (a) of (a) of Fig. 4, (b) and Fig. 5, the drive wheel assemblies of left and right are placed on flat ground, therefore its
It is practically at horizontal state.
In (a), (b) of Fig. 4, the center 51 of rotary shaft 50 is located across the wheel 331 having in drive wheel assemblies
On the vertical line V of axis center.On the other hand, the center 63 of each cam part 60A, 60B are from vertical line V spaced horizontal distance d.
Only, in the drive wheel assemblies 30L on the left of (a) for being shown in Fig. 4, the first cam part 60A is partial to the right side of attached drawing,
It is shown in the drive wheel assemblies 30R on the right side of (b) of Fig. 4, the second cam part 60B is partial to the left side of attached drawing, as a result, on a left side
In right driving wheel component, eccentric horizontal distance is identical d, but eccentric direction is opposite.
(b) of Fig. 5 and (a) of Fig. 6 conceptually illustrate the suspension frame structure occurred in the moment for entering uneven ground
Operating.When right side drive wheel component 30R enters the ground of recess, right side drive wheel component 30R is pasted due to own wt
Reduced ground moving.From the perspective of frame portion, right side drive wheel component 30R becomes from original level height reduction
State.
At this point, the load centralization of vehicle is in left side drive wheel component 30L, indicated in the accompanying drawings with block arrow.Due to
First cam part 60A has been eccentrically fastened to rotary shaft 50, therefore, generates in the counterclockwise direction in the first cam part 60A
Rotation (referring to Fig. 6 (a)).
As a result, the first cam part 60A is rotated in the counterclockwise direction angle A, and in new point as shown in (b) of Fig. 6
On supported by the supporting block of left side drive wheel component 30L, the second cam part 60B is also rotated in the counterclockwise direction angle A, and by
The supporting block of right side drive wheel component 30R supports.
In the process, the vehicle terrain clearance (ground clearance) of left side ground level reduces left and right ground height
The 1/2 of the difference of degree.From a different point of view, when using frame portion as benchmark, the drive wheel assemblies 30L in left side rises, right side
Drive wheel assemblies 30R decline.
As a result, the dead ground on the different ground of height of drive wheel assemblies 30L, 30R of left and right sides, and vehicle
Load is uniformly supported left and right sidesing driving wheel component by each cam part 60A, 60B.Also, although ground has deviation,
Vehicle including rotary shaft 50 is also able to maintain level.
On the other hand, (b) of Fig. 5 is illustrated for ease of the operative relation of understanding suspension frame structure according to the present invention,
It should be noted that cam part and work piece are continuously operated in a manner of unseparated during real-world operation.
When difference of height occurs for two drive wheel assemblies of adapted hanger bracket structure, above-mentioned rotary shaft and cam part occurs
Operating, therefore the case where the drive wheel assemblies for being also applied for any side rise above the other side.
Fig. 7 shows oval convex wheel component 60C, the 60D for being suitable for the suspension frame structure according to another embodiment.It is saved
The other structures that sketch map shows are identical as the constituent element of above-described embodiment.
(a) of Fig. 7 is the figure for showing the stub portion of cam part 60C and contacting with the supporting block 311 of drive wheel assemblies, figure
7 (b) is that the shaft portion for exemplifying cam part 60D with another implementation is contacted with the supporting block 311 of drive wheel assemblies
Figure.
It can make to rotate when the lifting of the drive wheel assemblies of any side by using oval convex wheel component 60C, 60D
Axis is sensitiveer or more torpidly makes a response.
Specifically, as shown in (b) of Fig. 7, when oval convex wheel component 60C is configured to its shaft portion support driving wheel group
When part, Support Position is changed in the big part of curvature, is made so as to the difference in height to two drive wheel assemblies more sensitive
Reaction.
On the other hand, as shown in (a) of Fig. 7, when oval convex wheel component 60D is arranged to its stub portion support driving wheel
When component, compared with circular cam part, sensitivity can be reduced.
On the other hand, Fig. 8 shows another example for being applicable in suspension frame structure.In fig. 8, the arrow of upper end indicates to move ahead
Direction.
The drive wheel assemblies 301 for being applicable in suspension frame structure are arranged side-by-side along the longitudinal direction, so as to by front-wheel and after
Take turns adapted hanger bracket structure ((a) of reference Fig. 8 and (b)).
Alternatively, suspension frame structure can be suitable for the left and right sidesing driving wheel component 301 in front, also it is suitable for a left side to the property of can choose
Off-front wheel or left and right rear-wheel ((c) of reference Fig. 8 and (d)).
Fig. 9 and Figure 10 is related to the nonelastic suspension frame structure of the automatic guided vehicle of further embodiment according to the present invention.
The suspension frame structure of shown embodiment includes frame portion 20 and drive wheel assemblies 30L, 30R, and above-mentioned suspension knot
Structure further include: vertical guide members 40, Constraints driven wheel assembly 30L, 30R are mobile only along vertical direction；And rotary shaft
50, it is installed on frame portion 20.Further include: shaft gear (pinion) 80 has at 50 both ends of rotary shaft；And rack gear
(rack) component 34 are incorporated in drive wheel assemblies 30L, 30R and connect and shaft gear 80.These constituent elements not with it is following
In the conflicting range of illustrated content, the technical characteristic including above-described embodiment.
Rotatable the rotary shaft 50 for being mounted on 20 top of frame portion is freely rotatable.The both ends of the rotary shaft 50 are combined with
Shaft gear 80, shaft gear 80 and rotary shaft 50 are integrally formed and rotate.
Rack member 34 is the works stood vertically on the top of drive wheel assemblies 30L, 30R, a mask of works
There is the rack gear in conjunction with shaft gear gear.
The bonding position for being connected to the rack member of each shaft gear 80 of rotary shaft or so is in left and right shaft gear 80
Opposite direction.In other words, in axis of the bonding position of each rack member 34 and each shaft gear 80 relative to rotary shaft 50
The heart is symmetrical.
Specifically, in the drive wheel assemblies 30L in left side, rack member 34 connects at the front of left side shaft gear 80；?
The drive wheel assemblies 30R on right side, rack member 34 connect at the rear of right side shaft gear 80.
In this way, being opposite direction in the connection direction of the rack member 34 of left and right shaft gear 80, therefore, when any one drive
When drive wheel assemblies 30L rising rotates shaft gear and rotary shaft, then remaining drive wheel assemblies will pass through the rotation of shaft gear 80
And decline together with rack member 34.
That is, identically as the above embodiments, a pair of driving wheels group connected by rotary shaft 50 and two shaft gears 80
Part 30L, 30R are with when any one drive wheel assemblies rises, the mode of another drive wheel assemblies decline realizes coordination.
Moving up and down for the coordination of these left and right sidesing driving wheel components 30L, 30R is identical as the suspension frame structure of above-described embodiment,
Therefore, even if two drive wheel assemblies enter uneven ground, operating as shown in Figures 5 and 6 also may be implemented.
Also, when the connection by shaft gear 80 and rack member 34, drive wheel assemblies 30L, 30R bear to include frame portion
When load, elastic element is excluded.That is, being inelastic suspension frame structure.
Shaft gear 80 and the gear of rack member 34 combine be in order to make according to the rising of any one drive wheel assemblies or
The rotation of the shaft gear of decline and do not occur to beat according to the down or up of another drive wheel assemblies of the rotation of shaft gear
It is sliding.Thus, it is possible to the advantages of obtaining the movement for extremely accurate realizing suspension.
For vehicle during by uneven ground, suspension frame structure according to an embodiment of the present invention can make drive wheel assemblies
Wheel completely attach to ground.Also, it is changed by the height of drive wheel assemblies, even if in the mistake for contacting uneven ground
Cheng Zhong can also make vehicle holding horizontal.This drive wheel assemblies are not flexibly to move up and down, but pass through cam
Component and have non-elastic structure, therefore, vehicle carry out Article handling during, hardly change vehicle height.
(become during Article handling according to the height of vehicle for tracking and modifying thus, it is possible to reduce complicated controlling element
The positional relationship of change) intervention, so as to greatly improve the control efficiency of automated system.
Claims (6)
1. a kind of nonelastic suspension frame structure of automatic guided vehicle connects the frame portion and driving wheel group of automatic guided vehicle lower part
Part characterized by comprising
Vertical guide members, in a manner of moving a pair of drive wheel assemblies along vertical direction relative to the frame portion
A pair of drive wheel assemblies of support；
Rotary shaft is rotationally fixed to the frame portion；And
First cam part and the second cam part are prejudicially incorporated into the rotary shaft and revolve together with the rotary shaft
Turn, and the upper end of each drive wheel assemblies of the periphery face contact of first cam part and second cam part
Face,
First cam part is from the direction of the center bias of the rotary shaft and second cam part from the rotation
The direction of the center bias of axis is opposite direction.
2. the nonelastic suspension frame structure of automatic guided vehicle according to claim 1, which is characterized in that
First cam part and second cam part are the wheel disk shape with circular section,
The outer circumferential surface section contacted with the upper end of the drive wheel assemblies passes through bearing support.
3. the nonelastic suspension frame structure of automatic guided vehicle according to claim 1, which is characterized in that
First cam part and second cam part are the wheel disk shape with oval-shaped profile.
4. the nonelastic suspension frame structure of automatic guided vehicle according to claim 1, which is characterized in that
Supporting block is prominent on the top of the drive wheel assemblies,
The frame portion is formed with the through-hole passed through for the supporting block,
The rotary shaft, first cam part and second cam part are formed in the top of the frame portion, and support
To the upper surface of the upper surface of the frame portion top supporting block outstanding.
5. the nonelastic suspension frame structure of automatic guided vehicle according to claim 1, which is characterized in that
The vertical guide members are multiple linear guides, and the shell of the linear guide is fixed on the frame portion, and can be
The bar portion that the shell freely extends is fixed on the drive wheel assemblies.
6. a kind of nonelastic suspension frame structure of automatic guided vehicle connects the frame portion and driving wheel group of automatic guided vehicle lower part
Part characterized by comprising
Vertical guide members, in a manner of moving a pair of drive wheel assemblies along vertical direction relative to the frame portion
A pair of drive wheel assemblies of support；
Rotary shaft is rotationally fixed to the frame portion；
Shaft gear is incorporated into the both ends of the rotary shaft, and integrally rotates with the rotary shaft；And
Rack member is incorporated into each drive wheel assemblies, and integrally go up and down with the drive wheel assemblies and with it is described
Shaft gear gear combines,
The bonding position of the rack member of each drive wheel assemblies and each shaft gear is with the rotary shaft
Symmetrical on the basis of axis center, thus running is realized in the lifting of two drive wheel assemblies in the opposite manner.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811534315.9A CN109398011A (en) | 2018-12-14 | 2018-12-14 | The nonelastic suspension frame structure of automatic guided vehicle |
| PCT/CN2019/118996 WO2020119388A1 (en) | 2018-12-14 | 2019-11-15 | Inelastic suspension frame structure for automatically guiding vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811534315.9A CN109398011A (en) | 2018-12-14 | 2018-12-14 | The nonelastic suspension frame structure of automatic guided vehicle |
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| CN109398011A true CN109398011A (en) | 2019-03-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811534315.9A Pending CN109398011A (en) | 2018-12-14 | 2018-12-14 | The nonelastic suspension frame structure of automatic guided vehicle |
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| WO (1) | WO2020119388A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020119388A1 (en) * | 2018-12-14 | 2020-06-18 | 引先自动化科技（苏州）有限公司 | Inelastic suspension frame structure for automatically guiding vehicle |
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| WO2020119388A1 (en) * | 2018-12-14 | 2020-06-18 | 引先自动化科技（苏州）有限公司 | Inelastic suspension frame structure for automatically guiding vehicle |
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| WO2020119388A1 (en) | 2020-06-18 |
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