CN110131358B - Vibration reduction system of omnidirectional driving device adaptive to road conditions - Google Patents
Vibration reduction system of omnidirectional driving device adaptive to road conditions Download PDFInfo
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- CN110131358B CN110131358B CN201910481220.3A CN201910481220A CN110131358B CN 110131358 B CN110131358 B CN 110131358B CN 201910481220 A CN201910481220 A CN 201910481220A CN 110131358 B CN110131358 B CN 110131358B
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- mounting plate
- support lug
- damper
- driving device
- spring
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/03—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using magnetic or electromagnetic means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
- F16F15/046—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means using combinations of springs of different kinds
Abstract
The invention discloses a vibration damping system of an omnidirectional driving device adaptive to road conditions, which comprises an upper spring mounting plate, a vibration damping device, an omnidirectional driving device mounting plate, a self-adjusting magneto-rheological damper, a lower spring mounting plate and an omnidirectional driving device. The vibration damper comprises an upper spring support lug, an upper pin shaft, a joint bearing, a guide cylinder, a spring, a guide rod, a lower pin shaft and a lower spring support lug; the self-adjusting magneto-rheological damper comprises a piston rod, a sealing cover, a piston magnetism isolating cover, a spring upper plate, a damper spring, a permanent magnet, a piston magnetism isolating cover, a magnetism isolating disc and a cylinder body; the left and right positions of the upper spring support lug and the upper spring mounting plate and the front and back positions of the lower spring support lug and the lower spring mounting plate can be adjusted quickly, simply and accurately according to specific working condition requirements; the exposed area of the permanent magnet can be automatically adjusted according to the vibration condition of the piston rod, so that the magnetic field is automatically changed, and the damping force is changed. The structure is relatively simple, but the function of the active magneto-rheological damper can be realized.
Description
Technical Field
The invention relates to the field of Automated Guided Vehicle (AGV) omnidirectional driving, in particular to a vibration damping system of an omnidirectional driving device adaptive to road conditions.
Background
At present, China enters the era of intelligent logistics, an AGV is important intelligent logistics carrying equipment, and the types and the application range of the AGV are increasingly wide. At present, a steering wheel and a differential driving set are main omnidirectional driving devices of an omnidirectional AGV, the steering wheel can have the functions of driving and steering, and the differential driving set achieves the function of steering by utilizing the differential principle. However, most of the existing omnidirectional driving mechanisms do not have the vibration reduction and obstacle crossing capabilities, and a part of the existing vibration reduction systems can only reduce vibration in the vertical direction, so that the vibration reduction effect is not ideal, and finally the omnidirectional driving mechanisms still have large vibration during application, low walking precision and short service life of the robot.
In the prior art, a vibration damping system has some defects, for example, chinese patent document of application publication No. CN106739903A discloses an AGV rudder wheel driving and damping mechanism and an AGV rudder wheel driving device, where the vibration damping mechanism includes a floating support, a positioning shaft, a vibration damping spring and a mounting plate, and can reduce vibration and improve the bearing capacity of the device. But this scheme can only reduce the vibration of vertical direction, and the commonality is relatively poor. Secondly, this solution requires the positioning shaft to take up a large transverse torque, resulting in a flexible, breaking of the positioning shaft.
Disclosure of Invention
The invention aims to provide a damping system of an omnidirectional driving device, which has the advantages of simple structure, strong universality, high economical efficiency and adjustable damping effect along with road conditions and is adaptive to road conditions.
The purpose of the invention is realized by the following technical scheme:
the vibration damping system comprises an upper spring mounting plate, a vibration damping device, an omnidirectional driving device mounting plate, a self-adjusting magneto-rheological damper, a lower spring mounting plate and an omnidirectional driving device.
The vibration damper comprises an upper spring support lug, an upper pin shaft, a joint bearing, a guide cylinder, a spring, a guide rod, a lower pin shaft and a lower spring support lug.
The self-adjusting magnetorheological damper comprises a piston rod, a sealing cover, a piston magnetism isolating cover, a spring upper plate, a damper spring, a permanent magnet, a piston magnetism isolating cover, a magnetism isolating disc and a cylinder.
According to the technical scheme provided by the invention, the damping system of the road condition self-adaptive omnidirectional driving device has the advantages that the upper spring support lug is connected with the upper spring mounting plate, and the lower spring support lug is connected with the lower spring mounting plate. This damping system can adjust the left and right directions of going up the spring journal stirrup for last spring mounting panel and the fore-and-aft direction of spring journal stirrup for lower spring mounting panel down to can adjust damping direction and effect according to the concrete operating mode of AGV, improve damping system's commonality. A piston rod of the self-adjusting magnetorheological damper is in threaded connection with an upper spring mounting plate, the upper end of a cylinder body is in bolted connection with an omnidirectional driving device mounting plate, the lower end of the cylinder body is in bolted connection with a lower spring mounting plate, the piston rod is flexibly connected with a permanent magnet through a damper spring, and the self-adjusting magnetorheological damper automatically adjusts the exposure area of the permanent magnet according to the vibration condition of the piston rod so as to change a magnetic field and change damping force. The self-adjusting magnetorheological damper has a relatively simple structure, and can realize the function of an active magnetorheological damper.
Drawings
Fig. 1 is a schematic structural diagram of a damping system of an omni-directional driving device adaptive to road conditions according to an embodiment of the present invention.
Fig. 2 is an exploded view of a vibration damping device according to an embodiment of the present invention.
Fig. 3 is an exploded view of the self-adjusting magnetorheological damper according to the embodiment of the invention.
In the figure:
1. the damping device comprises an upper spring mounting plate, 2 parts of a damping device, 3 parts of an omnidirectional driving device mounting plate, 4 parts of a self-adjusting magnetorheological damper, 5 parts of a lower spring mounting plate, 6 parts of an omnidirectional driving device, 2-1 parts of an upper spring support lug, 2-2 parts of an upper pin shaft, 2-3 parts of a joint bearing, 2-4 parts of a guide cylinder, 2-5 parts of a spring, 2-6 parts of a guide rod, 2-7 parts of a lower pin shaft, 2-8 parts of a lower spring support lug, 4-1 parts of a piston rod, 4-2 parts of a sealing cover, 4-3 parts of a piston magnetism isolating cover, 4-4 parts of an upper spring plate, 4-5 parts of a damper spring, 4-6 parts of a permanent magnet, 4-7 parts of a piston magnetism isolating cover, 4-8 parts of a magnetism isolating disc and 4-.
Detailed Description
The embodiments of the present invention will be described in further detail below. Details which are not described in detail in the embodiments of the invention belong to the prior art which is known to the person skilled in the art.
The invention relates to a vibration damping system structure of an omnidirectional driving device, which has the following preferred specific implementation modes:
the magnetic current damper comprises an upper spring mounting plate 1, a vibration damper 2, an omnidirectional driving device mounting plate 3, a self-adjusting magnetorheological damper 4, a lower spring mounting plate 5 and an omnidirectional driving device 6.
The vibration damper 2 comprises an upper spring support lug 2-1, an upper pin shaft 2-2, a joint bearing 2-3, a guide cylinder 2-4, a spring 2-5, a guide rod 2-6, a lower pin shaft 2-7 and a lower spring support lug 2-8.
The self-adjusting magnetorheological damper 4 comprises a piston rod 4-1, a sealing cover 4-2, a piston magnetism isolating cover 4-3, a spring upper plate 4-4, a damper spring 4-5, a permanent magnet 4-6, a piston magnetism isolating cover 4-7, a magnetism isolating disc 4-8 and a cylinder 4-9.
In the vibration damper 2, an upper spring support lug 2-1 is connected with an upper spring mounting plate 1, a lower spring support lug 2-8 is connected with a lower spring mounting plate 5, and the upper spring support lug 2-1 is connected with a guide cylinder 2-4 through a joint bearing 2-3;
according to the specific working condition requirement, the damping system is most suitable for the specific working condition by adjusting the left and right positions of the upper spring support lug 2-1 and the upper spring mounting plate 1 and the front and back positions of the lower spring support lug 2-8 and the lower spring mounting plate 5.
In the self-adjusting magnetorheological damper 4, a piston rod 4-1 is in threaded connection with an upper spring mounting plate 1, the upper end of a cylinder 4-9 is in bolted connection with an omnidirectional driving device mounting plate 3, the lower end of the cylinder 4-9 is in bolted connection with a lower spring mounting plate 5, the piston rod 4-1 is in flexible connection with a permanent magnet 4-6 through a damper spring 4-5, a piston magnetism isolating cover 4-3 is connected with a piston magnetism isolating cover 4-7, and the permanent magnet 4-6 is in bolted connection with a magnetism isolating disc 4-8;
the self-regulating magnetorheological damper 4 automatically regulates the exposure area of the permanent magnets 4-6 according to the vibration condition of the piston rod 4-1, so as to automatically change the magnetic field and change the damping force.
A sealing ring is arranged between the piston rod 4-1 and the sealing cover 4-2, so that the piston rod 4-1 has certain flexibility in the horizontal direction and is used for preventing the internal stress of the mechanism.
Compared with the prior art, the invention has the advantages that:
the damping system can adjust the left and right positions of the upper spring support lug 2-1 and the upper spring mounting plate 1 and the front and back positions of the lower spring support lug 2-8 and the lower spring mounting plate 5 according to the specific working conditions of the AGV, so that the damping direction and performance of the damping system are adjusted, and the universality of the damping system is improved. And the upper spring support lug 2-1 is connected with the guide cylinder 2-4 through the joint bearing 2-3, so that the flexibility of the vibration damping system is improved. The self-adjusting magnetorheological damper 4 automatically adjusts the exposure area of the permanent magnet 4-6 according to the vibration condition of the piston rod 4-1, so that the magnetic field is automatically changed, and the damping force is changed. The self-adjusting magnetorheological damper 4 is relatively simple in structure, but can achieve the function of an active magnetorheological damper.
The specific embodiment is as follows:
as shown in fig. 1, an independent damping system structure of an omni-directional driving apparatus includes: the damping device comprises an upper spring mounting plate 1, a damping device 2, an omnidirectional driving device mounting plate 3, a self-adjusting magnetorheological damper 4, a lower spring mounting plate 5 and an omnidirectional driving device 6.
As shown in fig. 2, the structure of the vibration damping device 2 includes: the device comprises an upper spring support lug 2-1, an upper pin shaft 2-2, a joint bearing 2-3, a guide cylinder 2-4, a spring 2-5, a guide rod 2-6, a lower pin shaft 2-7 and a lower spring support lug 2-8. An upper spring support lug 2-1 of the vibration damper 2 is connected with an upper spring mounting plate 1, and a lower spring support lug 2-8 is connected with a lower spring mounting plate 5.
As shown in fig. 3, the self-adjusting magnetorheological damper 4 has a structure comprising: 4-1 parts of piston rod, 4-2 parts of sealing cover, 4-3 parts of piston magnetism isolating cover, 4-4 parts of spring upper plate, 4-5 parts of damper spring, 4-6 parts of permanent magnet, 4-7 parts of piston magnetism isolating cover, 4-8 parts of magnetism isolating disc and 4-9 parts of cylinder. A piston rod 4-1 of the self-regulating magnetorheological damper 4 is in threaded connection with an upper spring mounting plate 1, the upper end of a cylinder 4-9 is in bolted connection with an omnidirectional driving device mounting plate 3, the lower end of the cylinder 4-9 is in bolted connection with a lower spring mounting plate 5, the piston rod 4-1 is in flexible connection with a permanent magnet 4-6 through a damper spring 4-5, a piston magnetism isolating cover 4-3 is connected with a piston magnetism isolating cover 4-7, and the permanent magnet 4-6 is in bolted connection with a magnetism isolating disc 4-8.
The working principle is as follows:
the independent vibration reduction system of the omnidirectional driving device comprises four vibration reduction devices 2 distributed at four corners of the vibration reduction system, and two self-adjusting magnetorheological dampers 4 distributed in the middle parts of two sides of the vibration reduction system. During operation, firstly, theoretical or simulation calculation is carried out according to specific working conditions of the AGV to obtain the most suitable angle, the left and right positions of the upper spring support lug 2-1 and the upper spring mounting plate 1 and the front and back positions of the lower spring support lug 2-8 and the lower spring mounting plate 5 are adjusted according to the calculation result, the vibration damping system is ensured to be most suitable for the specific certain working conditions, and the universality of the vibration damping system is ensured. And the upper spring support lug 2-1 is connected with the guide cylinder 2-4 through the joint bearing 2-3, so that the flexibility of the vibration damping system is ensured. The self-adjusting magnetorheological damper 4 automatically adjusts the exposure area of the permanent magnet 4-6 according to the vibration condition of the piston rod 4-1, so that the magnetic field is automatically changed, and the damping force is changed. A sealing ring is arranged between the piston rod 4-1 and the sealing cover 4-2, so that the piston rod 4-1 has certain flexibility in the horizontal direction, and the internal stress of the mechanism is prevented. The self-adjusting magnetorheological damper 4 is relatively simple in structure, but can achieve the function of an active magnetorheological damper.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (1)
1. A vibration damping system of an omnidirectional driving device adaptive to road conditions is characterized by comprising an upper spring mounting plate (1), four vibration damping devices (2), an omnidirectional driving device mounting plate (3), two self-adjusting magnetorheological dampers (4), a lower spring mounting plate (5) and an omnidirectional driving device (6), wherein the four vibration damping devices (2) are distributed at four corners of the vibration damping system, and the two self-adjusting magnetorheological dampers (4) are distributed in the middles of two sides of the vibration damping system;
the damping device (2) comprises an upper spring support lug (2-1), an upper pin shaft (2-2), a joint bearing (2-3), a guide cylinder (2-4), a spring (2-5), a guide rod (2-6), a lower pin shaft (2-7) and a lower spring support lug (2-8);
the self-adjusting magnetorheological damper (4) comprises a piston rod (4-1), a sealing cover (4-2), a piston magnetism isolating cover (4-3), a spring upper plate (4-4), a damper spring (4-5), a permanent magnet (4-6), a piston magnetism isolating cover (4-7), a magnetism isolating disc (4-8) and a cylinder (4-9);
in the vibration damper (2), an upper spring support lug (2-1) is connected with an upper spring mounting plate (1), a lower spring support lug (2-8) is connected with a lower spring mounting plate (5), and the upper spring support lug (2-1) is connected with a guide cylinder (2-4) through a joint bearing (2-3);
according to the specific working condition requirement, the damping system is most suitable for the specific working condition by adjusting the left and right positions of the upper spring support lug (2-1) and the upper spring mounting plate (1) and the front and back positions of the lower spring support lug (2-8) and the lower spring mounting plate (5);
in the self-adjusting magnetorheological damper (4), a piston rod (4-1) is in threaded connection with an upper spring mounting plate (1), the upper end of a cylinder (4-9) is in bolted connection with an omnidirectional driving device mounting plate (3), the lower end of the cylinder (4-9) is in bolted connection with a lower spring mounting plate (5), the piston rod (4-1) is in flexible connection with a permanent magnet (4-6) through a damper spring (4-5), a piston magnetism isolating cover (4-3) is connected with a piston magnetism isolating cover (4-7), and the permanent magnet (4-6) is in bolted connection with a magnetism isolating disc (4-8);
the self-regulating magnetorheological damper (4) automatically regulates the exposure area of the permanent magnet according to the vibration condition of the piston rod (4-1), so as to automatically change the magnetic field and change the damping force;
a sealing ring is arranged between the piston rod (4-1) and the sealing cover (4-2), so that the piston rod (4-1) has certain flexibility in the horizontal direction and is used for preventing the mechanism from having internal stress.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910481220.3A CN110131358B (en) | 2019-06-04 | 2019-06-04 | Vibration reduction system of omnidirectional driving device adaptive to road conditions |
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| CN201910481220.3A CN110131358B (en) | 2019-06-04 | 2019-06-04 | Vibration reduction system of omnidirectional driving device adaptive to road conditions |
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| CN110131358A CN110131358A (en) | 2019-08-16 |
| CN110131358B true CN110131358B (en) | 2020-10-27 |
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| CN111559304B (en) * | 2020-05-20 | 2021-10-08 | 山东理工职业学院 | Logistics turnover device and processing method |
| CN112107098B (en) * | 2020-09-28 | 2023-05-05 | 代小花 | Environment-friendly luggage case self-adaptive terrain dragging equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10240568A1 (en) * | 2002-08-29 | 2004-03-11 | Fludicon Gmbh | Shock absorption system for two-wheelers |
| CN102943838B (en) * | 2012-11-23 | 2015-02-18 | 株洲时代新材料科技股份有限公司 | Base vibration isolation device with spring and magnetic fluid |
| CN104976271B (en) * | 2015-07-15 | 2017-04-05 | 安徽工程大学 | It is suitable to the damping adjustment device of MR damper |
| CN105240445A (en) * | 2015-11-17 | 2016-01-13 | 哈尔滨工业大学 | Semi-active six-freedom-degree vibration damping platform |
| CN205806305U (en) * | 2016-07-12 | 2016-12-14 | 安徽工程大学 | Multidimensional can be harmonized zero stiffness vibration-isolating platform |
| CN207208248U (en) * | 2017-09-04 | 2018-04-10 | 河北汇金机电股份有限公司 | A kind of omnidirectional of robot drive device |
| CN108045187B (en) * | 2017-12-15 | 2020-02-04 | 西京学院 | Independent suspension mechanism of omnidirectional mobile platform |
| CN108167371A (en) * | 2018-02-02 | 2018-06-15 | 山东科技大学 | A kind of new permanent-magnet formula MR damper |
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Address after: 102600 Beijing Daxing District Huangcun Qingyuan Road No. 19 Patentee after: BEIJING INSTITUTE OF PETROCHEMICAL TECHNOLOGY Patentee after: Suzhou aoxingmingyu Technology Co.,Ltd. Address before: 102600 Beijing Daxing District Huangcun Qingyuan Road No. 19 Patentee before: BEIJING INSTITUTE OF PETROCHEMICAL TECHNOLOGY Patentee before: Beijing Xing'an Mingyu Technology Co.,Ltd. |
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