CN111425546A

CN111425546A - Shock-absorbing device

Info

Publication number: CN111425546A
Application number: CN201910022118.7A
Authority: CN
Inventors: 刘哲; 王悦翔; 曹抒阳; 尹慧昕
Original assignee: Zhuineng Robot Shanghai Co ltd
Current assignee: Zhuineng Robot Shanghai Co ltd
Priority date: 2019-01-10
Filing date: 2019-01-10
Publication date: 2020-07-17

Abstract

The invention provides a damping device. This damping device includes: a housing having a cylindrical side wall and a top wall connected to a top end of the cylindrical side wall, the cylindrical side wall and the top wall defining a longitudinal interior cavity of the housing; a push rod extending axially through the housing, a top end of the push rod extending beyond a top wall of the housing; the first magnet is arranged at the top end of the push rod; a second magnet disposed below a top wall of the housing. In addition, a sliding block can be arranged on the push rod, and the sliding block on the push rod can slide on the whole length of the inner cavity of the shell and has a large stroke. Therefore, even if the AGV robot runs on a bumpy road with large vibration, a good damping effect can be achieved, and the requirement for stability in the process of carrying goods by the AGV robot is met.

Description

Shock-absorbing device

Technical Field

The invention relates to the technical field of transfer robots, in particular to a damping device for a transfer robot.

Background

In the technical field of automatic guided transporting robots (AGVs), in order to improve the driving smoothness and stability of the automatic guided transporting robot in the process of transporting goods and reduce the vibration between a chassis and a vehicle body, a shock absorber is installed on the chassis of the current automatic guided transporting robot, and the shock absorption effect of the shock absorber also determines the stability of the goods in the transporting process.

But present bumper shock absorber is to shaking the condition big, that shake many on the road surface of the lump, especially when transfer robot speed is fast slightly, is difficult to provide satisfactory stability, has showing the handling efficiency who influences the goods.

Therefore, there is a need in the art for a shock absorber that achieves good shock absorption on rough road surfaces.

Disclosure of Invention

The object of the present invention is to provide a shock-absorbing device in order to solve the above-mentioned problems of the prior art.

In order to achieve the above object, a concrete solution of the present invention is to provide a shock absorbing device, comprising:

A housing having a cylindrical side wall and a top wall connected to a top end of the cylindrical side wall, the cylindrical side wall and the top wall defining a longitudinal interior cavity of the housing;

A push rod extending axially through the housing, a top end of the push rod extending beyond a top wall of the housing;

The first magnet is arranged at the top end of the push rod;

A second magnet disposed below a top wall of the housing.

In one embodiment, a sliding block is arranged on the push rod, the sliding block and the push rod are fixed and configured to be capable of sliding along the inner cavity of the shell, and an elastic device is arranged between the top wall of the shell and the sliding block.

In one embodiment, the elastic device is a spring sleeved on the push rod.

In an embodiment, the housing further has a bottom wall, and a second elastic device is disposed between the bottom wall and the slider.

In an embodiment, the second elastic device is a spring sleeved on the push rod.

In an embodiment, the first magnet and/or the second magnet is an electromagnet, and the electromagnet includes a coil and an iron core.

In an embodiment, a cross-sectional profile of the slider at least partially matches a cross-sectional profile of the housing lumen.

In one embodiment, the shock absorbing device further comprises a controller configured such that the first magnet and the second magnet generate an attractive force when the push rod moves upward and generate a repulsive force when the push rod moves downward.

In an embodiment, the first magnet and/or the second magnet is an electromagnet, and the controller is further configured such that when the push rod moves upward, the magnetic property of the electromagnet increases as the distance between the first magnet and the second magnet increases.

In an embodiment, the first magnet and/or the second magnet is an electromagnet, and the controller is further configured such that when the push rod moves downward, the magnetic property of the electromagnet increases as the distance between the first magnet and the second magnet decreases.

Compared with the prior art, the invention has the following advantages and beneficial effects:

The damping device comprises a push rod arranged in a shell, and the damping force applied to the push rod is buffered by utilizing the attraction force or the repulsion force generated between the top end of the push rod and a pair of magnets below the top wall of the shell. In addition, a sliding block can be arranged on the push rod, and the sliding block on the push rod can slide on the whole length of the inner cavity of the shell and has a large stroke. Therefore, when the shock absorption device is applied to the AGV robot, good shock absorption effect can be achieved even if the AGV robot runs on a bumpy road with large shock, and the requirement for stability in the process of carrying goods by the AGV robot is met.

Drawings

The above-described and other features of the present disclosure will become more fully apparent from the following description and appended claims, taken in conjunction with the accompanying drawings. It is appreciated that these drawings depict only several embodiments of the disclosure and are therefore not to be considered limiting of its scope. The present disclosure will be described more clearly and in detail by using the accompanying drawings.

Fig. 1 is a schematic structural view of a shock-absorbing device according to an embodiment of the present invention.

Fig. 2 is a schematic structural view of a shock-absorbing device according to another embodiment of the present invention.

Fig. 3 is a schematic structural view of a shock-absorbing device according to still another embodiment of the present invention.

List of reference numerals:

10 damping device

6 casing

61 side wall

62 ceiling wall

63 bottom wall

64 inner cavity

5 push rod

51 bottom end

52 top end

1 first magnet

2 second magnet

3 sliding block

4 elastic device

8 wheel

Detailed Description

The embodiments of the present invention will be described in detail below with reference to the accompanying drawings in order to more clearly understand the objects, features and advantages of the present invention. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present invention, but are merely intended to illustrate the spirit of the technical solution of the present invention.

Throughout the specification and claims, the word "comprise" and variations thereof, such as "comprises" and "comprising," are to be understood as an open, inclusive meaning, i.e., as being interpreted to mean "including, but not limited to," unless the context requires otherwise.

Reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

As used in this specification and the appended claims, the singular forms "a", "an", and "the" include plural referents unless the context clearly dictates otherwise. It should be noted that the term "or" is generally employed in its sense including "and/or" unless the context clearly dictates otherwise.

It is to be noted that in the claims and the description of the present application, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.

In the following description, for the purposes of illustrating various disclosed embodiments, certain specific details are set forth in order to provide a thorough understanding of the various disclosed embodiments. One skilled in the relevant art will recognize, however, that the embodiments may be practiced without one or more of the specific details.

The damping device provided by the invention can be applied to an AGV and aims to overcome the technical defects of insufficient resilience and poor damping effect of the existing damping device of the AGV and influence the stability of a cargo carrying process. The resilience force of the damping device is increased through the magnetic damping, so that the damping effect is improved, the stability of overcoming the rough road surface of the goods in the transportation process is greatly improved, and the efficiency of goods transportation is improved.

Referring initially to FIG. 1, FIG. 1 illustrates a schematic diagram of a shock absorbing device 10 according to an embodiment of the present invention. The damper 10 includes a housing 6, a push rod 5, a first magnet 1, and a second magnet 2.

As shown in the drawing, the housing 6 has a substantially vertical cylindrical structure and is fixedly connected to the vehicle body of the transfer robot. Specifically, the housing 6 has a cylindrical side wall 61 and a top wall 62 connected to the cylindrical side wall 61. The housing 6 may be cylindrical with a cylindrical sidewall 61. It should be understood that the housing 6 may be other cylindrical shapes, such as a polygonal prism shape, as desired. The top wall 62 is located at the top end of the cylindrical side wall 61. The cylindrical side wall 61 and the top wall 62 together form a longitudinal cavity 64 of the housing 6.

The push rod 5 is rod-shaped and extends longitudinally through the housing 6. The bottom end 51 of the push rod 5 is associated with the wheel 8, while the top end 52 of the push rod 5 extends beyond the top wall 62 of the housing 6. In one embodiment, a slider 3 is provided on the push rod 5, the slider 3 being configured to slide longitudinally along the interior cavity 64 of the housing 6. In the shown embodiment the slide 3 is fixed around the push rod 5, but it should be understood that the fixation between the slide 3 and the push rod 5 may also be in other ways. For example, the push rod 5 may be disposed near an inner circumferential side (i.e., the side wall 61) of the inner cavity 64 on one radial side, and may be fixedly coupled to the slider 3 on the other opposite radial side. Preferably, the entire cross-sectional profile or a portion of the cross-sectional profile of the slider 3 matches the cross-sectional profile of the cavity 64 so that the slider 3 can slide longitudinally within the cavity 64. In order to pass the push rod 5 through the inner cavity 64 of the housing 6, the top wall 62 is provided with a perforation. Preferably, the shape of the through hole corresponds to the cross-sectional shape of the push rod 5.

The first magnet 1 is disposed at the top end 52 of the pushrod 5 and the second magnet 2 is disposed below the top wall 62 of the housing 6. Thus, the top wall 62 serves as a partition plate that separates the first magnet 1 from the second magnet 2 from contact. Wherein the magnetism and polarity of the first magnet 1 and the second magnet 2 can be set according to the requirement, and the attractive force or repulsive force between the first magnet 1 and the second magnet 2 can be used for buffering the vibration. Preferably, the first magnet 1 and/or the second magnet 2 are electromagnets, and the electromagnets include coils and cores. When only one of the first magnet 1 and the second magnet 2 is provided as an electromagnet, in order to ensure stable circuit arrangement of the electromagnet, a fixed magnet is generally provided as the electromagnet, and a movable magnet is provided as the permanent magnet. However, the arrangement of the electromagnets may also be selected according to the spatial conditions, for example, in the embodiment shown in fig. 2, only the first magnet 1 is provided as an electromagnet, since there is sufficient space around the first magnet 1 for circuit arrangement. The polarity of the electromagnet can be adjusted by switching the current direction as required.

In addition, in a further embodiment shown in fig. 3, at the bottom of the housing 6, a bottom wall 63 is provided, the bottom wall 63 being capable of preventing the slider 3 from coming out from below the cavity 64. The bottom wall 63 does not necessarily cover the entire bottom surface of the housing 6, and may be formed as a stopper for preventing the slider 3 from being further slid and removed from the cavity 64.

Furthermore, in the preferred embodiment, elastic means 4 are provided between the top wall 62 of the housing 6 and the slider 3. For example, in the embodiment shown in fig. 1-3, the resilient means 4 is a spring fitted over the push rod 5. The two ends of the spring abut against the top wall 62 of the housing 6 and the slider 3, respectively. In a further embodiment shown in fig. 3, resilient means are also provided between the bottom wall 63 of the housing and the slider 3. In the embodiment shown in fig. 3, the elastic means is a spring fitted over the push rod 5. It will be appreciated that the springs described above may be replaced by resilient means formed, for example, by a resilient wire mesh or an elastomeric sleeve.

Preferably, a controller (not shown) may be provided, which is configured to generate an attractive force to buffer a shock force that makes the push rod 5 upward by switching a current direction such that magnetic poles of the first magnet 1 and the second magnet 2 opposite to each other are opposite magnetic poles when the push rod 5 moves upward with respect to a stationary position; when the push rod 5 moves downward relative to the stationary position, the opposite magnetic poles of the first magnet 1 and the second magnet 2 are the same magnetic pole by switching the current direction, so that the repulsive force is generated to buffer the vibration force which makes the push rod 5 move downward.

Furthermore, both the first magnet 1 and the second magnet 2 may be provided as electromagnets. At this time, the controller may be configured such that, when the push rod 5 moves upward, the magnetism of the first and

second electromagnets

1 and 2 increases as the distance between the first and

second electromagnets

1 and 2 increases, thereby increasing the attractive force between the first and

second electromagnets

1 and 2. The controller may be further configured such that when the push rod 5 moves downward, the magnetic properties of the first and

second electromagnets

1 and 2 increase as the distance between the first and

second electromagnets

1 and 2 decreases, thereby increasing the repulsive force between the first and

second electromagnets

1 and 2. Wherein the magnetic properties of the first electromagnet 1 and the second electromagnet 2 can be achieved by adjusting the current, for example by providing a variable resistor in the circuit. It will be appreciated that the current in the circuit, and thus the magnetism of the electromagnet, may be adjusted in other ways known in the art. Further, the increase or decrease in the magnetism of the first electromagnet 1 and the second electromagnet 2 may be in a linear relationship or a non-linear relationship with the distance between the first magnet 1 and the second magnet 2, as required. In actual operation, when the wheel 8 runs to a bumpy road surface, the wheel 8 is forced to slide the slider 3 upwards, and after the elastic device between the top wall 62 and the slider 3 is subjected to extrusion force, part of vibration force is relieved through the elastic force of the elastic device, and attractive force is generated between the first magnet 1 and the second magnet 2, so that the vibration force applied to the second slider 3 is further relieved. When the wheel 8 is forced to slide the sliding block 3 downwards, the elastic force of the elastic device reduces part of the vibration force, and generates repulsive force between the first magnet 1 and the second magnet 2, thereby further reducing the vibration force applied to the second sliding block 3. Therefore, the invention increases the resilience force of the damping device by providing the magnetic damping on the whole sliding stroke of the sliding block 3 in the length of the inner cavity of the shell 6, thereby improving the damping effect, greatly increasing the stability of the goods against the rugged road surface in the carrying process when being applied to the carrying robot, and improving the efficiency of goods carrying.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. A shock absorbing device, comprising:

The first magnet is arranged at the top end of the push rod; and

A second magnet disposed below a top wall of the housing.

2. The shock absorbing device as set forth in claim 1, wherein a slider is provided on said push rod, said slider being fixed to said push rod and configured to be slidable along an inner cavity of said housing, and an elastic means is provided between a top wall of said housing and said slider.

3. The cushioning device of claim 2, wherein said resilient means is a spring mounted over said push rod.

4. The shock absorbing device as set forth in claim 2, wherein said housing further has a bottom wall, and a second resilient means is provided between said bottom wall and said slider.

5. The shock absorbing device as claimed in claim 4, wherein said second resilient means is a spring fitted over said push rod.

6. The damper device according to claim 1, wherein the first magnet and/or the second magnet is an electromagnet, and the electromagnet comprises a coil and an iron core.

7. The cushioning device of claim 2, wherein a cross-sectional profile of the slider at least partially matches a cross-sectional profile of the housing cavity.

8. The damper device according to claim 1, further comprising a controller configured such that the first magnet and the second magnet generate an attractive force when the pushrod moves upward and a repulsive force when the pushrod moves downward.

9. The shock absorbing device of claim 8, wherein the first magnet and/or the second magnet is an electromagnet, and the controller is further configured such that when the pushrod moves upward, the magnetic properties of the electromagnet increase as the distance between the first magnet and the second magnet increases.

10. The shock absorbing device of claim 8, wherein the first magnet and/or the second magnet is an electromagnet, and the controller is further configured such that when the pushrod moves downward, the magnetic properties of the electromagnet increase as the distance between the first magnet and the second magnet decreases.