CN111216505A

CN111216505A - AGV dolly rear suspension damping device

Info

Publication number: CN111216505A
Application number: CN201911070976.5A
Authority: CN
Inventors: 刘有余; 肖翠; 叶朔朔; 刘甜甜; 唐龙; 吕宣宣
Original assignee: Anhui Polytechnic University
Current assignee: Anhui Polytechnic University
Priority date: 2019-11-05
Filing date: 2019-11-05
Publication date: 2020-06-02

Abstract

The invention discloses an AGV trolley rear suspension damping device which comprises two E-shaped mounting frames symmetrically arranged on a rear wheel brake disc, wherein the bottom end of each E-shaped mounting frame is provided with a lower V-shaped arm, and the top end of each E-shaped mounting frame is provided with an upper V-shaped arm; the upper V-shaped arm and the lower V-shaped arm are both used for being connected with an auxiliary frame of the AGV trolley; the damping device further comprises a suspension part positioned on the central axis of the rear suspension and two symmetrically arranged hydraulic adjustable dampers, the suspension part is in an inverted triangle shape, the top ends of the two hydraulic adjustable dampers are respectively hinged with two angles at the top of the suspension part, the bottom ends of the two hydraulic adjustable dampers are respectively hinged to the middle part of the E-shaped mounting frame, and an inclination angle of 30 degrees is formed between the hydraulic adjustable dampers and the central axis of the rear suspension; the suspension piece body is used for being connected with the AGV trolley body; the device can bear great amplitude and vibrate, and the shock attenuation can restrain the automobile body simultaneously and swing, improves the shock-absorbing capacity of AGV dolly.

Description

AGV dolly rear suspension damping device

Technical Field

The invention relates to the technical field of automatic guided transporting vehicles, in particular to a rear suspension damping device of an AGV.

Background

An Automated Guided Vehicle (generally referred to as an AGV cart) is a transport Vehicle equipped with an electromagnetic or optical automatic guide device, which can travel along a predetermined guide path and has safety protection and various transplanting functions.

At present, AGV dolly has widely been used in logistics storage transportation, industrial production enterprise and assembly line, but the existing AGV product in the market, and most intelligence satisfies operating mode such as warehouse, big flat bed, does not possess action wheel suspension system. As can be seen from the fact that a plane is determined by the three points, the driving wheel suspension phenomenon can be avoided only by adding a suspension structure to the AGV chassis with more than three wheels.

When the AGV trolley runs, the elastic element in the suspension system is impacted to generate vibration, and in order to improve the running smoothness of the automobile, a shock absorber is arranged in the suspension in parallel with the elastic element and is used for inhibiting the bounce. The rebound of the spring cannot be controlled by the shock absorber, the trolley can generate serious bounce when meeting the road with poor road conditions, so that goods fall off and the like, and the loss of tire grip and tracking performance can be caused by the vertical vibration of the spring when the trolley turns to avoid obstacles. Traditional AGV dolly adopts air spring bumper shock absorber and swing arm direct perpendicular to link to each other more, and the mode of preventing the tilting bar of arranging again, and the part is more, and the assembly difficulty has increased AGV structure space, and is comparatively linear when the spring up-and-down motion, will change the automobile body height and just need to change the high different spring of height, arranges different shock attenuation section of thick bamboo again, and all must in vehicle quiescent condition to just can manual adjustment with the help of the instrument.

A Chinese patent of a suspension mechanism (publication No. CN 207772813U) for being connected with a hub component of a driving wheel, wherein the suspension mechanism is rotatably arranged on a supporting mechanism, so that the suspension mechanism can drive the hub component to do curvilinear motion around the supporting mechanism, and an AGV trolley with universal wheels for wheels has the advantages of limiting the steering space of the wheels and reducing the flexibility of the trolley. Chinese patent application publication No. CN209111880U, which discloses an AGV suspension system, wherein the suspension is slidable in a first direction relative to the mount, wherein the suspension system further comprises a lifting mechanism, but the height requirement of the vehicle body is very high, otherwise the shock absorption effect is lost, and no component is used to prevent the vehicle body from tilting and easily slipping and turning over.

Disclosure of Invention

The invention aims to provide an AGV trolley rear suspension damping device which can bear large-amplitude vibration, can damp vibration and simultaneously can inhibit the swinging of an automobile body, and improves the damping capacity of the AGV trolley.

The technical scheme adopted by the invention for solving the technical problems is as follows:

a rear suspension damping device of an AGV comprises two E-shaped mounting frames symmetrically arranged on a rear wheel brake disc, wherein the bottom end of each E-shaped mounting frame is provided with a lower V-shaped arm, and the top end of each E-shaped mounting frame is provided with an upper V-shaped arm; the upper V-shaped arm and the lower V-shaped arm are both used for being connected with an auxiliary frame of the AGV trolley; the damping device further comprises a suspension part positioned on the central axis of the rear suspension and two symmetrically arranged hydraulic adjustable dampers, the suspension part is in an inverted triangle shape, the top ends of the two hydraulic adjustable dampers are respectively hinged with two angles at the top of the suspension part, the bottom ends of the two hydraulic adjustable dampers are respectively hinged to the middle part of the E-shaped mounting frame, and an inclination angle of 30 degrees is formed between the hydraulic adjustable dampers and the central axis of the rear suspension; the suspension body is used for connecting with the AGV trolley body.

Furthermore, the middle part of the E-shaped mounting frame is also provided with a buckle used for limiting the hydraulic adjustable shock absorber.

The invention has the advantages that the suspension part in the shape of the inverted triangle is adopted to bear the functions of connecting the damping device and the frame and serving as an anti-tilting component structure, so that the assembly difficulty of the AGV trolley and the occupied space of a vehicle body mechanism are reduced; meanwhile, the two-wheel independent suspension structure is not interfered with each other, so that the longitudinal shock absorption effect of the vehicle body can be improved, the change of the positioning of the wheels on the opposite side when the trolley is loaded on a bumpy road surface is avoided, the position of an engine can be reduced, the gravity center of the AGV trolley is also reduced, and the running stability of the AGV trolley during carrying is improved.

Drawings

The invention is further illustrated with reference to the following figures and examples:

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a top perspective view of the present invention;

FIG. 3 is an enlarged partial schematic view of FIG. 2;

FIG. 4 is an enlarged schematic view of the E-shaped mount of the present invention;

fig. 5 is an enlarged schematic view of a hanger of the present invention.

Detailed Description

Referring to fig. 1 to 4, the invention provides an AGV trolley rear suspension damping device, which comprises two E-shaped mounting frames 103 symmetrically arranged on a rear wheel brake disc 102, wherein a lower V-shaped arm 104 is arranged at the bottom end of each E-shaped mounting frame, and an upper V-shaped arm 107 is arranged at the top end of each E-shaped mounting frame; the upper V-shaped arm 107 and the lower V-shaped arm 104 are both used for being connected with an auxiliary frame of the AGV trolley; the upper V-shaped arm 107 and the lower V-shaped arm 104 control the change of the geometric parameters of the wheels, so that the wheels and the ground can have ideal geometric angle relation no matter the vehicle is in a bending state or a bending state, and the performance of the tire is maximized.

As shown in fig. 5, the shock absorbing device further includes a suspension member 105 located on the central axis of the rear suspension, and two hydraulic adjustable shock absorbers 108 symmetrically arranged, the suspension member 105 is in an inverted triangle shape, a body of the suspension member 105 is provided with a containing groove 301 and a mounting hole 303, and the containing groove 301 and the mounting hole 303 can be correspondingly matched with the AGV car body, so that the suspension member 105 is connected with the AGV car body; the suspension 105 is used for connecting suspension structures with two independent sides, can serve as an anti-roll bar, plays a role in inhibiting the motion posture of a car body, omits the anti-roll bar and assemblies thereof and other structures in the traditional suspension structure, and saves the structural space and the manufacturing cost of the AGV trolley.

The top ends of the two hydraulic adjustable shock absorbers 108 are respectively hinged with two angles at the top of the suspension part 105, the bottom ends of the two hydraulic adjustable shock absorbers 108 are respectively hinged in the middle of the E-shaped mounting frame 103, an inclination angle of 30 degrees is formed between the hydraulic adjustable shock absorbers and the central axis of the rear suspension, and the hydraulic adjustable shock absorbers are positioned between the V-shaped arms; the middle part of the E-shaped mounting frame is also provided with a buckle 109 for limiting the hydraulic adjustable shock absorber 108, so that the barrel body of the hydraulic adjustable shock absorber 108 is limited at a corresponding position, the collision of suspension parts caused by the wheels passing through a barrier is prevented, and meanwhile, enough supporting force is ensured to exist when the hydraulic adjustable shock absorber 108 works, so that the automobile body and the object carrying table are more stable in the driving process.

In order to make the AGV dolly furthest keep cargo platform's stationarity when crossing the bank, set up E font mounting bracket 103, and installed two respectively down V-arrangement arms 104 and be connected with the sub vehicle frame, a whole axle of wheel about the connection in the traditional non-independent suspension structure has been changed, when crossing the bank, wheel 101 can follow spring 106 direction and stretch out and draw back from top to bottom simultaneously round the continuous department rotation with AGV dolly sub vehicle frame, the change of offside wheel location has been avoided, the focus of engine and dolly has been reduced, effectively realize the objective table shock attenuation, can reduce the loss that the goods dropped.

When the road condition is raised, the wheels 101 move upwards, the upper V-shaped arm 107 and the lower V-shaped arm 104 rotate upwards around the joint with the auxiliary frame of the AGV trolley, the position of the side wheels is unchanged, and the spring 106 of the hydraulic adjustable shock absorber 108 is compressed; the piston rod in the hydraulic adjustable shock absorber 108 moves downwards, the spring 106 is restrained from rebounding upwards, and the vehicle height is adjusted to achieve shock absorption; the spring 106 drives the piston rod to slowly return to the initial position to achieve the reset effect.

When the road is concave, the wheels 101 move downwards, the upper V-shaped arm 107 and the lower V-shaped arm 104 rotate downwards around the joint with the auxiliary frame of the AGV trolley, the positioning of the side wheels is unchanged, and the spring 106 stretches. The piston rod in the hydraulic adjustable shock absorber 108 moves upwards, the restraining spring 106 stretches upwards, and the vehicle height is adjusted to achieve shock absorption; the spring 106 is pulled back to drive the piston rod to move back to the initial position, so that the reset effect is achieved.

The foregoing is merely a preferred embodiment of the invention and is not intended to limit the invention in any manner; those skilled in the art can make numerous possible variations and modifications to the present teachings, or modify equivalent embodiments to equivalent variations, without departing from the scope of the present teachings, using the methods and techniques disclosed above. Therefore, any simple modification, equivalent replacement, equivalent change and modification made to the above embodiments according to the technical essence of the present invention are still within the scope of the protection of the technical solution of the present invention.

Claims

1. The rear suspension damping device of the AGV trolley is characterized by comprising two E-shaped mounting frames symmetrically arranged on a rear wheel brake disc, wherein the bottom end of each E-shaped mounting frame is provided with a lower V-shaped arm, and the top end of each E-shaped mounting frame is provided with an upper V-shaped arm; the upper V-shaped arm and the lower V-shaped arm are both used for being connected with an auxiliary frame of the AGV trolley; the damping device further comprises a suspension part positioned on the central axis of the rear suspension and two symmetrically arranged hydraulic adjustable dampers, the suspension part is in an inverted triangle shape, the top ends of the two hydraulic adjustable dampers are respectively hinged with two angles at the top of the suspension part, the bottom ends of the two hydraulic adjustable dampers are respectively hinged to the middle part of the E-shaped mounting frame, and an inclination angle of 30 degrees is formed between the hydraulic adjustable dampers and the central axis of the rear suspension; the suspension body is used for connecting with the AGV trolley body.

2. The AGV dolly rear suspension damping device according to claim 1, wherein a buckle for limiting the hydraulic adjustable shock absorber is further arranged in the middle of the E-shaped mounting rack.