CN112026957B

CN112026957B - Floating adjusting device

Info

Publication number: CN112026957B
Application number: CN202011213442.6A
Authority: CN
Inventors: 张洋洋; 魏鹏; 邢晓杰; 刘丹
Original assignee: Tianjin Aerospace Electromechanical Equipment Research Institute
Current assignee: Tianjin Aerospace Electromechanical Equipment Research Institute
Priority date: 2020-11-04
Filing date: 2020-11-04
Publication date: 2021-01-29
Anticipated expiration: 2040-11-04
Also published as: CN112026957A

Abstract

The invention provides a floating adjusting device, which comprises a floating part, a supporting part and an adjusting part, wherein the floating part is arranged above a rotating shaft; the supporting part is arranged below the rotating shaft and used for realizing the floating of the floating part in the horizontal plane of the supporting part; a rotation shaft for limiting the degree of freedom of the floating part in the vertical direction; and the adjusting part is fixedly connected with the first floating plate of the floating part at one end and fixedly connected with the bottom plate of the supporting part at the other end, and is used for adjusting the angle and deviation of the floating part and resetting the floating part. The floating adjusting device is simple in structure, the rotating shaft of the floating adjusting device has high precision motion characteristics, floating in the z direction can be achieved, the floating amount is large, high load can be borne, the floating adjusting device can be adjusted and reset, and the service life of the floating adjusting device is greatly prolonged.

Description

Floating adjusting device

Technical Field

The invention belongs to the technical field of intelligent mobile robot multi-vehicle linkage, and particularly relates to a floating adjusting device.

Background

Along with the global intelligent manufacturing wave mat roll, the automation degree of the material transportation process is an important index for measuring the intelligentization and modernization level of the manufacturing industry, and the multi-vehicle linkage of the intelligent mobile robot has extremely high application value in the fields of material transportation of intelligent factories and the like. In the task of transporting long-size and ultra-large-weight goods, the AGV (intelligent mobile robot) has better bearing capacity, wear resistance and driving efficiency due to the linkage of multiple vehicles. However, the problem of cooperative control exists among multiple AGV driving units, and due to rigid constraint of a robot body, the rear vehicle driving unit cannot perform path tracking control completely according to the current path deviation state of the rear vehicle driving unit, so that the problem of slippage between a product and an AGV vehicle is caused.

Disclosure of Invention

In view of the above, the present invention is directed to a floating adjustment device, so as to solve the problems of large tracking deviation and high hardware cost of the existing multi-vehicle linkage path.

In order to achieve the purpose, the technical scheme of the invention is realized as follows:

the floating adjusting device comprises a floating part, a supporting part and an adjusting part, wherein the floating part comprises a first floating plate and a rotating shaft, a guide rail is arranged above the first floating plate, the guide rail is connected with a sliding block in a sliding manner, the upper part of the sliding block is connected to the butt flange through a rotating mechanism, and the butt flange winds the rotating mechanism to realize rotating motion; the supporting part comprises a bottom plate, a bearing hole seat is arranged on one side above the bottom plate, a mounting hole is arranged on one side of the first floating plate, a through hole is arranged in the bearing hole seat, a second bearing is arranged above the through hole, a first floating gap is arranged between the second bearing and the inner wall of the through hole, one end of a rotating shaft is positioned in the mounting hole, the other end of the rotating shaft penetrates through the second bearing and is inserted into the through hole, floating gaps are formed among the rotating shaft, the inner wall of the through hole and the inner wall of the mounting hole, so that the first floating plate floats in the floating gaps along the vertical direction, a roller mechanism is arranged below one side of the first floating plate far away from the bearing hole seat, the adjusting part comprises a first spring and a second spring, the middle part of the first spring is fixedly connected to the bottom of the first floating plate through a first connecting plate, the two ends of the first spring are symmetrically fixedly connected to, two ends of the second spring are symmetrically arranged at two ends of the first floating plate, and the first spring and the second spring are perpendicular to each other.

Furthermore, the slewing mechanism comprises a bearing seat and a first bearing, the bearing seat is mounted above the sliding block, the butt joint flange is mounted above the bearing seat through the first bearing, and the butt joint flange realizes slewing motion around the bearing seat.

Further, a second bottom plate is installed on the top of the butt flange.

Furthermore, the rotating shaft is of a cylindrical structure with an annular bulge in the middle, the annular bulge is located between the first floating plate and the second bearing, and the thickness of the annular bulge is smaller than the vertical distance between the first floating plate and the second bearing.

Further, the roller mechanism comprises an arc-shaped guide rail and an arc-shaped sliding block which are connected in a sliding mode, the arc-shaped guide rail is installed above the bottom plate, and the arc-shaped sliding block is installed at the bottom of the first floating plate.

Further, the roller mechanism comprises a roller and a roller shaft, the roller shaft is connected to the first floating plate through a connecting rod, and the roller is sleeved outside the roller shaft.

Furthermore, the adjusting part further comprises a first support, a second support, a third support and a fourth support, the third support and the fourth support are symmetrically arranged on one side of the first floating plate, a second spring is arranged between the third support and the fourth support, a second connecting plate is fixedly connected in the middle of the second spring, and the second connecting plate is fixedly connected to the sliding block; the first support and the second support are symmetrically arranged on two sides of the bottom plate, a first spring is arranged between the first support and the second support, a first connecting plate is fixedly connected in the middle of the first spring, the first connecting plate is fixedly connected to the bottom of the first floating plate, and the first spring and the second spring are perpendicular to each other and are both extension springs.

Furthermore, a locking part is arranged between the first floating plate and the bottom plate.

Further, locking portion includes a plurality of pegs, hanging hole and connecting piece, and the inside rotatory screw thread that is equipped with of hanging hole, first float board is equipped with a plurality of hanging holes along circumference, the bottom plate is followed the circumference of first float board is equipped with a plurality of pegs, hang the peg with the quantity of hanging hole, the equal one-to-one in position, the connecting piece includes upper portion and the lower part of a body structure, upper portion is for colluding the type structure, the cylinder structure of lower part for being equipped with the external screw thread, upper portion with the hanging hole catches on and is connected, the lower part with hang the peg threaded connection.

Compared with the prior art, the floating adjusting device has the following advantages:

(1) according to the floating adjusting device, the structures of the floating part, the adjusting part and the supporting part are arranged, so that the tracking deviation calibration of the multi-vehicle linkage path can be realized, and the synchronism and the coordination of four-point motion are greatly improved.

(2) The floating adjusting device is simple in structure, the rotating shaft of the floating adjusting device has high precision motion characteristics, floating in the z direction can be achieved, the floating amount is large, high load can be borne, the floating adjusting device can be adjusted and reset, and the service life of the floating adjusting device is greatly prolonged.

(3) The floating adjusting device can derive more innovative design schemes by changing parameters of the power source, the rotating shaft, the spring and the like, is convenient to meet the use requirements of different functions on different occasions, and has strong universality.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 is a schematic structural diagram of a floating adjustment device according to an embodiment of the present invention;

FIG. 2 is a top view of a floating adjustment device according to an embodiment of the present invention;

FIG. 3 is a sectional view taken along line A-A of FIG. 2;

fig. 4 is a schematic structural diagram of an adjusting part according to an embodiment of the present invention.

Description of reference numerals:

1-a floating part; 11-a docking flange; 12-a first float plate; 13-a slide block; 14-a first bearing; 15-bearing seats; 16-a guide rail; 17-a rotating shaft; 2-a support part; 21-bearing bore seats; 22-a roller; 23-roller shaft; 24-a base plate; 25-a second bearing; 3-an adjusting part; 31-a first seat; 32-a second support; 33-a first spring; 34-a third support; 35-a fourth support; 36-a second connecting plate; 37-a second spring; 38-a first connection plate; 4-locking part.

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

The floating adjustment device, as shown in fig. 1 to 4, comprises a floating part 1, a supporting part 2 and an adjusting part 3,

a floating part 1 installed above the rotating shaft 17;

a support part 2 installed below the rotation shaft 17 for realizing the floating of the floating part 1 in the horizontal plane of the support part;

a rotation shaft 17 for limiting the degree of freedom of the floating unit 1 in the vertical direction;

and an adjusting part 3 having one end fixed to the first floating plate 12 of the floating part 1 and the other end fixed to the bottom plate 24 of the supporting part 2, for adjusting the angle and deviation of the floating part 1 and restoring the floating part 1.

The floating part 1 comprises a butt flange 11, a first bearing 14, a bearing seat 15, a guide rail 16 and a sliding block 13, the guide rail 16 is installed above the first floating plate 12, the guide rail 16 is in sliding connection with the sliding block 13, the bearing seat 15 is installed above the sliding block 13, the butt flange 11 is installed above the bearing seat 15 through the first bearing 14, and the butt flange 11 can realize rotary motion around the bearing seat 15. The bearing seat 15 can buffer the butt joint pressure between the first bearing 14 and the butt joint flange 11, reduce the abrasion of the first bearing 14 and improve the service life and the quality of a product.

The supporting part 2 comprises a bearing hole seat 21, a roller mechanism, a bottom plate 24 and a second bearing 25, the bearing hole seat 21 is arranged on one side above the bottom plate 24, and preferably, the bottom plate 24 and the bearing hole seat 21 are of an integral structure; a mounting hole is formed in one side of the first floating plate 12, a through hole is formed in the bearing hole seat 21, a second bearing 25 is mounted above the through hole, a first floating gap is formed between the second bearing 25 and the inner wall of the through hole, one end of the rotating shaft 17 is located in the mounting hole, and the other end of the rotating shaft passes through the second bearing 25 and is inserted into the through hole, so that the first floating plate 12 can swing around the rotating shaft 17 at a certain angle; and a second floating gap is arranged between the through hole and the rotating shaft 17, a third floating gap is formed between the rotating shaft 17 and the inner wall of the mounting hole, the rotating shaft 17 is of a cylindrical structure with an annular bulge in the middle, the annular bulge is positioned between the first floating plate 12 and the second bearing 25, so that the rotating shaft 17 cannot fall off due to the gap, the thickness of the annular bulge is smaller than the vertical distance between the first floating plate 12 and the second bearing 25, and the first floating plate 12 floats in the three gaps along the vertical direction, namely floats towards or away from the bottom plate 24, so that the floating in the Z-axis direction is realized.

And a roller mechanism is arranged below one side of the first floating plate 12, which is far away from the bearing hole seat 21, and is used for supporting the swinging of the first floating plate 12.

Preferably, the roller mechanism comprises an arc-shaped guide rail and an arc-shaped sliding block which are connected in a sliding manner, the arc-shaped guide rail is arranged above the bottom plate 24, and the arc-shaped sliding block is arranged at the bottom of the first floating plate 12. When the first floating plate 12 swings under an external force, the roller mechanism can support the outer end of the first floating plate 12 to move in the y direction according to the track arc, so that a certain adjusting effect is achieved, accurate adjustment is achieved, and friction force can be greatly reduced.

Preferably, the roller mechanism comprises a roller 22 and a roller shaft 23, the roller shaft 23 is connected to the first floating plate 12 through a connecting rod, and the roller 22 is sleeved outside the roller shaft 23. Simple structure, the commonality is strong, and the low price has greatly reduced manufacturing cost. Preferably, the number of the roller mechanisms is 2.

The floating adjusting device further comprises a second bottom plate, and the top of the butt flange 11 is connected with the second bottom plate. Docking flange 11 is connected with the second bottom plate, and the second bottom plate is the bearing plate for with the fixed mounting of AGV car, and can drive docking flange 11 and slider 13 and slide along 16 directions slides of guide rail, realize the motion of vehicle along X axle direction, when the target on the second bottom plate withdraws, initial position will be got back to through the dead weight to docking flange 11 and second bottom plate, thereby realize X, Y axle direction's restoration, when the second bottom plate was arranged in to next target and is carried out X, Y axle direction and float, floating installation can keep original floating volume. At the same time, the second bottom plate can drive the butting flange 11 to rotate, the sliding block 13 slides along the direction of the guide rail 16, and the first floating plate 12 generates axial movement around the revolving shaft 17 so as to allow the first floating plate 12 to float towards or away from the bottom plate 24 in the floating gap, so that the floating in the Z-axis direction is realized.

The lower part of the guide rail 16 is mounted on the upper part of the first floating plate 12 by bolts. The disassembly is convenient, and the disassembly and maintenance time of the equipment is greatly shortened, so that the working efficiency is improved.

The adjusting part 3 is an elastic member for centering the first floating plate 12 and the bottom plate 24, when the docking flange 11 is acted by an external force, the arc-shaped slider and the rotating shaft are separated from each other, the first floating plate and the roller mechanism are also separated from each other, and the elastic member is stretched. When no external force is applied, the elastic component is restored to the initial state, and all the mechanisms are reset. The elastic component plays a role in pressure buffering and adjusting, so that the device can automatically adjust when the pressure changes; preferably, the adjusting part 3 includes a first support 31, a second support 32, a first spring 33, a third support 34, a fourth support 35, a second connecting plate 36, a second spring 37 and a first connecting plate 38, the third support 34 and the fourth support 35 are symmetrically installed on one side of the first floating plate 12, the second spring 37 is installed between the third support 34 and the fourth support 35, the second connecting plate 36 is fixedly connected to the middle of the second spring 37, and the second connecting plate 36 is fixedly connected to the slider 13; the first support 31 and the second support 32 are symmetrically arranged on two sides of the bottom plate 24, a first spring 33 is arranged between the first support 31 and the second support 32, a first connecting plate 38 is fixedly connected in the middle of the first spring 33, the first connecting plate 38 is fixedly connected to the bottom of the first floating plate 12, and the first spring 33 and the second spring 37 are perpendicular to each other and are both extension springs. The parameters of the tension spring, such as the elastic coefficient, the length and the like, are selected according to the factors of the bearing force of the floating adjusting device, the size of the floating adjusting mechanism and the like.

A locking portion 4 is provided between the first floating plate 12 and the bottom plate 24 for locking the floating adjustment device. The locking part 4 comprises a plurality of hanging pins, hanging holes and connecting pieces, and the inside of the hanging holes is provided with rotary threads, the first floating plate 12 is provided with a plurality of hanging holes along the circumferential direction, the bottom plate 24 is provided with a plurality of hanging pins along the circumferential direction of the first floating plate 12, the hanging pins and the hanging holes are in one-to-one correspondence in number and position, the connecting piece comprises an upper part and a lower part which are of an integral structure, the upper part is of a hook-shaped structure, the lower part is of a cylindrical structure with external threads, the upper part is hooked and connected with the hanging hole, the lower part is in threaded connection with the hanging pin, and by adjusting the rotating depth of the lower part in the hanging pin, i.e., the contact area between the lower portion and the hanging pin, the fixing, releasing and tightness adjustment of the first floating plate 12 and the base plate 24 can be achieved, therefore, the floating device is ensured to keep a stable state, and the accuracy of positioning and aligning the target position is improved.

The working principle of the floating adjusting device is as follows:

assuming that a plurality of floating adjusting devices are arranged on two sides of the top of the vehicle along the vehicle width direction respectively, the X-axis direction is set as the driving direction, the direction perpendicular to the X-axis in the horizontal plane is the Y-axis, the vertical direction is the Z-axis, the floating adjusting devices are connected with a first supporting point and a second supporting point of the vehicle, (each floating adjusting device corresponds to one first supporting point and one second supporting point; the floating adjusting devices arranged on the same side of the vehicle are arranged oppositely along the X-axis direction) can realize the movement of the vehicle along the X-axis direction and can realize the floating on the horizontal plane by using a rotating shaft 17; the second bottom plate of the floating adjusting device moves forwards or backwards along the X-axis direction through all the butt-joint flanges 11 and the sliding blocks 13 to drive all the first supporting points to move forwards or backwards along the X-axis direction, the first floating plate 12 can generate rotary motion around the rotary shaft 17, and accordingly the vehicle is driven to rotate relative to the Z-axis direction, the whole product is simple in structure and convenient and fast to operate, and the problems of large tracking deviation and high hardware cost of a multi-vehicle linkage path can be well solved; the device adopts X, Y, Z each side's unsteady, plays from the centering positioning effect, has increased the rate of utilization of part, has reduced path tracking deviation, reduces the cost of labor and produces assembly work efficiency simultaneously and also obtains obviously promoting.

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. Floating adjusting device, its characterized in that: the floating part comprises a first floating plate and a rotating shaft, a guide rail is arranged above the first floating plate and is connected with a sliding block in a sliding manner, the upper part of the sliding block is connected to a butt flange through a rotating mechanism, and the butt flange realizes rotating motion around the rotating mechanism; the supporting part comprises a bottom plate, a bearing hole seat is arranged on one side above the bottom plate, an installation hole is arranged on one side of the first floating plate, a through hole is arranged in the bearing hole seat, a second bearing is arranged above the through hole, a first floating gap is arranged between the second bearing and the inner wall of the through hole, one end of a rotating shaft is positioned in the installation hole, the other end of the rotating shaft penetrates through the second bearing and is inserted into the through hole, a second floating gap is arranged between the through hole and the rotating shaft, a third floating gap is formed between the rotating shaft and the inner wall of the installation hole, so that the first floating plate floats in the first floating gap, the second floating gap and the third floating gap along the vertical direction, a roller mechanism is arranged below one side of the first floating plate far away from the bearing hole seat, the adjusting part comprises a first spring and a second spring, the middle part of the first spring is fixedly connected to the, the two ends of the first spring are symmetrically and fixedly connected to the two ends of the bottom plate, the middle of the second spring is fixedly connected to the sliding block through the second connecting plate, the two ends of the second spring are symmetrically and fixedly arranged at the two ends of the first floating plate, and the first spring and the second spring are perpendicular to each other.

2. The float adjustment assembly of claim 1, wherein: the slewing mechanism comprises a bearing seat and a first bearing, wherein the bearing seat is mounted above the sliding block, a butt flange is mounted above the bearing seat through the first bearing, and the butt flange realizes slewing motion around the bearing seat.

3. The float adjustment assembly of claim 2, wherein: and a second bottom plate is arranged at the top of the butt joint flange.

4. The float adjustment assembly of claim 1, wherein: the rotary shaft is of a cylindrical structure, the middle of the rotary shaft is provided with an annular bulge, the annular bulge is located between the first floating plate and the second bearing, and the thickness of the annular bulge is smaller than the vertical distance between the first floating plate and the second bearing.

5. The float adjustment assembly of claim 1, wherein: the roller mechanism comprises an arc-shaped guide rail and an arc-shaped sliding block which are connected in a sliding mode, the arc-shaped guide rail is installed above the bottom plate, and the arc-shaped sliding block is installed at the bottom of the first floating plate.

6. The float adjustment assembly of claim 1, wherein: the roller mechanism comprises a roller and a roller shaft, the roller shaft is connected to the first floating plate through a connecting rod, and the roller is sleeved outside the roller shaft.

7. The float adjustment assembly of claim 1, wherein: the adjusting part further comprises a first support, a second support, a third support and a fourth support, the third support and the fourth support are symmetrically arranged on one side of the first floating plate, a second spring is arranged between the third support and the fourth support, a second connecting plate is fixedly connected in the middle of the second spring, and the second connecting plate is fixedly connected to the sliding block; the first support and the second support are symmetrically arranged on two sides of the bottom plate, a first spring is arranged between the first support and the second support, a first connecting plate is fixedly connected in the middle of the first spring, the first connecting plate is fixedly connected to the bottom of the first floating plate, and the first spring and the second spring are perpendicular to each other and are both extension springs.

8. The float adjustment assembly of claim 1, wherein: and a locking part is arranged between the first floating plate and the bottom plate.

9. The float adjustment assembly of claim 8, wherein: locking portion includes a plurality of pegs, hanging hole and connecting piece, and the inside rotatory screw thread that is equipped with of hanging hole, first float board is equipped with a plurality of hanging holes along circumference, the bottom plate is followed the circumference of first float board is equipped with a plurality of pegs, hang the peg with the equal one-to-one in quantity, the position of hanging hole, the connecting piece includes the upper portion and the lower part of body structure, upper portion is for colluding the type structure, the cylinder structure of lower part for being equipped with the external screw thread, upper portion with the hanging hole catches on and is connected, the lower part with peg threaded connection.