CN117131609A - Dual vibration reduction design method and equipment for AGV body - Google Patents
Dual vibration reduction design method and equipment for AGV body Download PDFInfo
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Abstract
A dual vibration damping design method and apparatus for AGV body, the first vibration damping design arranges the wire rope damper between vibration damping base plate and first-level vibration damping plate; the second vibration reduction design is that a macromolecule vibration reduction pad is arranged between the second vibration reduction plate and the first vibration reduction plate; in the process of selecting the steel wire rope damper: according to the bearing load, the minimum deformation and the maximum impact stiffness value, primarily selecting a steel wire rope damper; checking whether the deformation of the steel wire rope damper exceeds the maximum deformation of the selected steel wire rope damper according to the maximum impact stiffness value; in the process of selecting the high polymer vibration damping pad: the unit area bearing capacity, the interference frequency, the deformation and the natural frequency of the high polymer vibration damping pad are utilized to initially select the specification of the high polymer vibration damping pad; and comparing the deformation and vibration reduction efficiency of the specification of the high-molecular vibration reduction pad with vibration reduction design parameters, and determining whether the specification of the high-molecular vibration reduction pad meets the design requirements. The invention can greatly reduce vibration in the AGV transportation process and prevent the transported objects from being damaged.
Description
Technical Field
The invention belongs to the technical field of equipment vibration reduction, and particularly relates to a double vibration reduction design method and equipment for an AGV body.
Background
AGVs, also known as automatic guided vehicles, are industrial vehicles that automatically or manually load cargo, automatically travel or pull a cargo pallet to a designated location along a set route, and then automatically or manually load the cargo.
At present, when using AGV transport glass panels, owing to do not have vibration damper between glass panels and the AGV automobile body, AGV is in the handling, receives the road surface easily and levels the influence, leads to the glass panels vibration in the AGV transportation, causes the glass panels damage of transportation. At present, the whole glass panel conveying device only has small vibration reduction of the AGV self wheels, and the small vibration reduction of the wheels is far from enough for the glass panel conveying. There is a need to develop a vibration damping technique for an AGV body.
Disclosure of Invention
Therefore, the invention provides a double vibration reduction design method and equipment for an AGV body, which solve the problems that the vibration amplitude is large and the transported object is easy to damage in the transportation process due to the poor vibration reduction effect in the transportation process of the AGV.
In order to achieve the above object, the present invention provides the following technical solutions: a dual vibration damping design method for an AGV body includes a first vibration damping design and a second vibration damping design;
the first vibration reduction design is characterized in that a steel wire rope vibration absorber is arranged between the vibration reduction foundation slab and the primary vibration reduction slab; the second vibration reduction design is characterized in that a macromolecule vibration reduction pad is arranged between a secondary vibration reduction plate and the primary vibration reduction plate;
in the process of selecting the steel wire rope damper, the following steps are adopted:
according to the bearing load, the minimum deformation and the maximum impact stiffness value, primarily selecting the steel wire rope damper; checking whether the deformation of the steel wire rope damper exceeds the maximum deformation of the selected steel wire rope damper according to the maximum impact stiffness value;
in the process of selecting the macromolecular vibration damping pad:
obtaining the unit area bearing capacity of the high polymer vibration damping pad according to the weight of the bearing product and the contact area of the high polymer vibration damping pad and the bearing product;
the specification of the high polymer vibration damping pad is initially selected by utilizing the bearing capacity per unit area, the interference frequency, the deformation and the natural frequency of the high polymer vibration damping pad;
and comparing the deformation and vibration reduction efficiency of the specification of the high polymer vibration reduction pad with vibration reduction design parameters to confirm whether the specification of the high polymer vibration reduction pad meets the design requirements.
As a preferable scheme of the double vibration reduction design method for the AGV body, the minimum deformation of the steel wire rope vibration damper is as follows:
；
wherein D is min The minimum deformation amount of the wire rope damper is represented by V, the impact speed of the AGV during transportation is represented by g, the gravitational acceleration is represented by g, and the maximum allowable acceleration set by the AGV is represented by AT.
As a preferable scheme of the double vibration reduction design method for the AGV body, the maximum impact stiffness value of the steel wire rope vibration damper is as follows:
；
wherein K is S The maximum impact stiffness value of the steel wire rope damper is represented, W is the supporting load of the single steel wire rope damper, g represents the gravity acceleration, V represents the impact speed during AGV conveying, and D min Indicating the minimum deformation of the wire rope vibration damper.
As a preferable scheme of the double vibration reduction design method for the AGV body, the maximum deformation of the steel wire rope vibration damper is as follows:
；
in the method, in the process of the invention,the maximum deformation of the wire rope damper is shown, V is the impact speed during AGV transport, and K is shown S The maximum impact stiffness value of the wire rope damper is represented, g represents the gravitational acceleration, and W is the single wire rope damper supporting load.
As a preferable scheme of the double vibration reduction design method for the AGV body, the maximum deformation of the polymer vibration reduction pad is as follows:
；
in the method, in the process of the invention,the maximum deformation of the polymer vibration damping pad is shown, V is the impact speed during AGV transport, H S Represents the maximum impact stiffness value of the high polymer vibration damping pad, g represents the gravity acceleration, S is the unit area bearing capacity of the high polymer vibration damping pad,is natural frequency->Is the interference frequency.
As a preferable scheme of the double vibration reduction design method for the AGV body, the method further comprises a transverse and longitudinal vibration limiting design, wherein the transverse and longitudinal vibration limiting design limits the transverse and longitudinal vibration of the vibration reduction base plate and the primary vibration reduction plate through linear bearings.
The invention also provides double vibration damping equipment for the AGV body, which adopts the double vibration damping design method for the AGV body, and comprises a supporting component, a vibration damping base plate, a steel wire rope vibration damper, a primary vibration damping plate, a high polymer vibration damping pad and a secondary vibration damping plate;
the lower extreme of supporting component is fixed in the top of AGV automobile body, the upper end of supporting component is connected damping foundation slab, damping foundation slab with connect between the one-level damping board wire rope shock absorber, one-level damping board with connect between the second grade damping board the polymer damping pad.
As a preferable scheme of the double vibration damping equipment for the AGV body, the supporting component comprises a mounting base and a mounting bracket, and the mounting bracket is symmetrically fixed at the upper end of the mounting base; the upper end of the mounting bracket is connected with the vibration reduction foundation slab.
As a preferable scheme of the dual vibration damping equipment for the AGV body, two steel wire rope vibration dampers are arranged between the vibration damping base plate and the primary vibration damping plate, and the two steel wire rope vibration dampers are distributed at two ends of the vibration damping base plate and the primary vibration damping plate.
As a double vibration damping device preferential scheme for an AGV body, four high polymer vibration damping pads are arranged between the vibration damping foundation slab and the primary vibration damping slab, and the four high polymer vibration damping pads are arranged in a straight line between the primary vibration damping slab and the secondary vibration damping slab.
As a double vibration damping device preferable scheme for an AGV body, linear bearings are further connected between the vibration damping base plate and the primary vibration damping plate, the number of the linear bearings is two, and the two linear bearings are distributed between the two steel wire rope vibration dampers.
The invention has the following advantages: comprising a first vibration damping design and a second vibration damping design; the first vibration reduction design arranges a steel wire rope vibration damper between the vibration reduction foundation slab and the primary vibration reduction slab; the second vibration reduction design is that a macromolecule vibration reduction pad is arranged between the second vibration reduction plate and the first vibration reduction plate; in the process of selecting the steel wire rope damper: according to the bearing load, the minimum deformation and the maximum impact stiffness value, primarily selecting a steel wire rope damper; checking whether the deformation of the steel wire rope damper exceeds the maximum deformation of the selected steel wire rope damper according to the maximum impact stiffness value; in the process of selecting the high polymer vibration damping pad: according to the weight of the bearing product and the contact area of the high polymer vibration damping pad and the bearing product, the bearing capacity of the high polymer vibration damping pad in unit area is obtained; the unit area bearing capacity, the interference frequency, the deformation and the natural frequency of the high polymer vibration damping pad are utilized to initially select the specification of the high polymer vibration damping pad; and comparing the deformation and vibration reduction efficiency of the specification of the high-polymer vibration reduction pad with vibration reduction design parameters to confirm whether the specification of the high-polymer vibration reduction pad meets the design requirements. The invention adopts the steel wire rope vibration absorber on one hand, has the advantages of large damping ratio, low magnification, strong shock resistance, low self-vibration frequency, good vibration isolation and buffering effect and can effectively absorb the vibration with larger vibration amplitude; on the other hand, the macromolecule vibration-damping pad can effectively absorb the residual vibration after the vibration of the steel wire rope vibration damper is damped, so that the vibration of equipment is further reduced, and the design requirement is met; vibration in the AGV transportation process can be reduced by a wide margin in the whole, and damage to a transportation object caused by uneven pavement in the AGV transportation process is prevented.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It will be apparent to those skilled in the art from this disclosure that the drawings described below are merely exemplary and that other embodiments may be derived from the drawings provided without undue effort.
FIG. 1 is a schematic illustration of a dual vibration damping design method for an AGV body provided in an embodiment of the present invention;
FIG. 2 is a schematic diagram of a perspective product design of a dual vibration damping design method for an AGV body provided in an embodiment of the present invention;
FIG. 3 is a schematic diagram of a dual vibration damping device for an AGV body provided in an embodiment of the present invention;
FIG. 4 is a schematic view of a dual vibration damping device for an AGV body according to an embodiment of the present invention.
In the figure, 1, a vibration reduction foundation slab; 2. a primary vibration damping plate; 3. a secondary vibration damping plate; 4. a wire rope damper; 5. a polymer vibration damping pad; 6. a linear bearing; 7. a support assembly; 8. a mounting base; 9. and (5) mounting a bracket.
Detailed Description
Other advantages and advantages of the present invention will become apparent to those skilled in the art from the following detailed description, which, by way of illustration, is to be read in connection with certain specific embodiments, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Referring to fig. 1 and 2, an embodiment of the present invention provides a dual vibration damping design method for an AGV body including a first vibration damping design and a second vibration damping design;
the first vibration reduction design is characterized in that a steel wire rope vibration absorber 4 is arranged between a vibration reduction foundation slab 1 and a primary vibration reduction slab 2; the second vibration damping design is that a macromolecule vibration damping pad 5 is arranged between the second-level vibration damping plate 3 and the first-level vibration damping plate 2;
wherein, in the process of selecting the wire rope damper 4:
according to the bearing load, the minimum deformation and the maximum impact stiffness value, primarily selecting the steel wire rope damper 4; checking whether the deformation of the steel wire rope vibration damper 4 exceeds the maximum deformation of the selected steel wire rope vibration damper 4 according to the maximum impact stiffness value;
wherein, in the process of selecting the macromolecule vibration reduction pad 5:
according to the weight of the bearing product and the contact area of the high polymer vibration reduction pad 5 and the bearing product, the bearing capacity of the high polymer vibration reduction pad 5 in unit area is obtained;
the unit area bearing capacity, the interference frequency, the deformation and the natural frequency of the high polymer vibration damping pad 5 are utilized to initially select the specification of the high polymer vibration damping pad 5;
and comparing the deformation and vibration reduction efficiency of the specifications of the high-polymer vibration reduction pad 5 with vibration reduction design parameters to confirm whether the specifications of the high-polymer vibration reduction pad 5 meet the design requirements.
In this embodiment, in the process of selecting the wire rope vibration damper 4, the minimum deformation amount of the wire rope vibration damper 4 is:
；
wherein D is min The minimum deformation amount of the wire rope damper 4 is represented by V, the impact speed during conveyance of the AGV, g, the gravitational acceleration, and AT, the maximum allowable acceleration set by the AGV.
Wherein, the maximum impact rigidity value of the wire rope damper 4 is:
；
wherein K is S The maximum impact stiffness value of the wire rope damper 4 is represented by W, the load supported by the single wire rope damper 4 is represented by g, the gravitational acceleration is represented by g, the impact speed during AGV transport is represented by D min Indicating the minimum deformation of the wire rope vibration damper 4.
In the formula, the maximum deformation of the wire rope damper 4 is:
；
in the method, in the process of the invention,the maximum deformation of the wire rope damper 4 is shown, V is the impact speed during AGV transport, and K is shown S The maximum impact stiffness value of the wire rope damper 4 is represented, g represents the gravitational acceleration, and W is the individual wire rope damper 4 supporting load.
Specifically, assume that the AGV instrument sets a maximum allowable acceleration at=1g;
in the AGV moving process, the impact speed during AGV moving is that the peak acceleration a=1g; duration t=0.2 s, yielding。
Wherein the minimum response deformation of the wire rope vibration damper 4。
Maximum impact stiffness of wire rope damper 4W is the load supported by a single wire rope damper 4, assuming a product weight of 100kg, for a total of four wire rope dampers 4, a single wire rope damper 4 load can be obtained as: />。
The method comprises the following steps:。
further, the load W is supported by the single wire rope damper 4, and the minimum deformation D of the wire rope damper 4 is calculated min And the maximum impact stiffness Ks of the wire rope damper 4, firstly selecting the wire rope damper 4, and then checking whether the deformation exceeds the maximum deformation D of the selected wire rope damper 4 according to the maximum impact stiffness Ks of the selected wire rope damper 4 max The method comprises the following steps:。
in the embodiment, the high polymer vibration damping pad 5 is made of a high polymer and polyurethane composite material, has medium damping and excellent vibration damping performance, has a honeycomb air hole structure, has a natural frequency of 6Hz in the vertical direction and 3Hz in the horizontal direction, has small static deformation and short stability time, and is superior to an air rubber vibration damping pad. According to the embodiment, the macromolecule vibration reduction pad 5 is overlapped on the basis of the steel wire rope vibration absorber 4, so that the residual vibration after the steel wire rope vibration absorber 4 is damped can be effectively absorbed, and the macromolecule vibration reduction pad 5 can be overlapped for use, so that the vibration of equipment is further reduced, and the design requirement is met.
Specifically, in the process of selecting the polymer vibration-damping pad 5, the maximum deformation of the polymer vibration-damping pad 5 is as follows:
；
in the method, in the process of the invention,the maximum deformation of the polymer damper pad 5 is shown, V is the impact speed during AGV transport, and H S Represents the maximum impact stiffness value of the polymer vibration-damping pad 5, g represents the gravitational acceleration, S is the bearing capacity per unit area of the polymer vibration-damping pad 5, < >>Is natural frequency->Is the interference frequency.
In the present embodiment, a lateral-longitudinal vibration restriction design is also included, which restricts the lateral-longitudinal vibration of the vibration damping base plate 1 and the primary vibration damping plate 2 by the linear bearings 6.
Specifically, vibration that results in is passed through the AGV automobile body and is transmitted vibration foundation slab 1 to the road surface unevenness, vibration that vibration foundation slab 1 passes through linear bearing 6 restriction outside the Z direction after, vibration that vibration foundation slab 1 just remains the vibration of Z direction, vibration that vibration foundation slab 1 passes through wire rope vibration absorber 4 after the vibration of vibration, wire rope vibration absorber 4 will absorb most vibration, vibration board 2 will only remain a small amount of vibration at one stage, then vibration board 2 passes through polymer vibration damping pad 5 vibration absorption after, polymer vibration damping pad 5 will also absorb the remaining a small amount of vibration board 2 at one stage, vibration board 3 will be less at two-stage double vibration back through wire rope vibration absorber 4 and polymer vibration damping pad 5, AGV automobile body transmission will reduce by a wide margin to the vibration of transportation target glass panel, thereby satisfy the design requirement.
After vibration reduction of the first vibration reduction design and the second vibration reduction design, the total maximum deformation:
；
in the method, in the process of the invention,after double vibration reduction, the whole Z-direction maximum deformation of the steel wire rope vibration damper 4 and the macromolecule vibration damper pad 5 is D max Is the most of the wire rope vibration damper 4Large deformation amount (I)>For the maximum deformation of the polymer vibration damping pad 5,athe synergy coefficient of the steel wire rope vibration damper 4 and the macromolecule vibration damper pad 5 in the double vibration damping process.
Example 2
Auxiliary fig. 2, 3 and 4, based on the dual vibration damping design method for an AGV car body of embodiment 1, embodiment 2 of the present invention provides a dual vibration damping apparatus for an AGV car body, comprising a support assembly 7, a vibration damping base plate 1, a wire rope vibration damper 4, a primary vibration damping plate 2, a polymer vibration damping pad 5 and a secondary vibration damping plate 3;
wherein, the lower extreme of supporting component 7 is fixed in the top of AGV automobile body, and damping foundation slab 1 is connected to the upper end of supporting component 7, connects wire rope shock absorber 4 between damping foundation slab 1 and the one-level damping board 2, connects polymer damping pad 5 between one-level damping board 2 and the second grade damping board 3.
The steel wire rope damper 4 comprises a steel wire rope and a clamping plate, and the steel wire rope is annularly inserted in the clamping plates on the damping base plate 1 and the primary damping plate 2.
In the embodiment, the supporting component 7 comprises a mounting base 8 and a mounting bracket 9, and the mounting bracket 9 is symmetrically fixed at the upper end of the mounting base 8; the upper end of the mounting bracket 9 is connected with the vibration reduction foundation slab 1. Two steel wire rope vibration dampers 4 are arranged between the vibration reduction foundation slab 1 and the primary vibration reduction slab 2, and the two steel wire rope vibration dampers 4 are distributed at two ends of the vibration reduction foundation slab 1 and the primary vibration reduction slab 2; four high polymer vibration damping pads 5 are arranged between the vibration damping foundation slab 1 and the primary vibration damping slab 2, and the four high polymer vibration damping pads 5 are distributed in a quadrilateral manner between the primary vibration damping slab 2 and the secondary vibration damping slab 3. And linear bearings 6 are further connected between the damping base plate 1 and the primary damping plate 2, the number of the linear bearings 6 is two, and the two linear bearings 6 are distributed between the two wire rope dampers 4.
In this embodiment, the dual vibration damping device for the AGV body is composed of left and right parts, and is fixed to the AGV body through the mounting base 8 and the mounting bracket 9. In the use, firstly place the glass panels on the second grade damping board 3 of dual damping equipment, then start AGV automobile body, AGV automobile body is according to predetermineeing the route, carries the glass panels to appointed station. In the handling process, the dual vibration damping device can absorb vibration generated when the AGV body walks due to uneven pavement. According to practical applications such as different vibration reduction requirements and road conditions, the steel wire rope vibration absorbers 4 and the high polymer vibration reduction pads 5 with different numbers and types can be matched to achieve different vibration reduction effects.
In this embodiment, vibration that the road surface unevenness caused is transmitted to vibration damping foundation slab 1 through AGV automobile body and supporting component 7, vibration of vibration damping foundation slab 1 is through behind the vibration of linear bearing 6 restriction Z direction, vibration that the one-level vibration damping plate 2 only remains Z direction, vibration damping foundation slab 1's vibration is after the vibration damping of wire rope vibration damper 4 again, wire rope vibration damper 4 will absorb most vibration damping, one-level vibration damping plate 2 will only remain a small amount of vibration, then one-level vibration damping plate 2 is after the vibration damping of polymer vibration damping pad 5, polymer vibration damping pad 5 will also absorb the remaining a small amount of vibration of one-level vibration damping plate 2, the remaining vibration of second grade vibration damping plate 3 will be less, after the double vibration damping of wire rope vibration damper 4 and polymer vibration damping pad 5 two-stage, the vibration that the AGV automobile body transmitted to the transportation object glass panel will reduce by a wide margin, thereby satisfy the design requirement.
In this embodiment, after increasing wire rope shock absorber 4 and polymer damping pad 5 between AGV automobile body and transport object glass panel, can reduce the vibration in the AGV automobile body transportation by a wide margin, prevent to lead to glass panel damage because of the road surface unevenness in the AGV automobile body transportation. The steel wire rope vibration damper 4 has the advantages of large damping ratio, low amplification factor, strong impact resistance, low self-vibration frequency and good vibration isolation and buffering effect, and can effectively absorb vibration with larger vibration amplitude; the polymer vibration-damping pad 5 can effectively absorb the residual vibration after the vibration of the steel wire rope vibration damper 4 is damped, further reduce the vibration of equipment and meet the design requirement.
In this embodiment, the specific selection and principle of the wire rope damper 4 and the polymer damping pad 5 for the dual damping device of the AGV vehicle body are the same as those of embodiment 1, and will not be described here again.
In summary, embodiments of the present invention include a first vibration damping design and a second vibration damping design; the first vibration reduction design arranges a wire rope vibration damper 4 between the vibration reduction foundation slab 1 and the primary vibration reduction slab 2; the second vibration damping design is that a macromolecule vibration damping pad 5 is arranged between the second-level vibration damping plate 3 and the first-level vibration damping plate 2; in the process of selecting the wire rope damper 4: according to the bearing load, the minimum deformation and the maximum impact stiffness value, primarily selecting the steel wire rope damper 4; checking whether the deformation of the steel wire rope vibration damper 4 exceeds the maximum deformation of the selected steel wire rope vibration damper 4 according to the maximum impact stiffness value; in the process of selecting the high polymer vibration damping pad 5: according to the weight of the bearing product and the contact area of the high polymer vibration reduction pad 5 and the bearing product, the bearing capacity of the high polymer vibration reduction pad 5 in unit area is obtained; the unit area bearing capacity, the interference frequency, the deformation and the natural frequency of the high polymer vibration damping pad 5 are utilized to initially select the specification of the high polymer vibration damping pad 5; and comparing the deformation and vibration reduction efficiency of the specifications of the high-polymer vibration reduction pad 5 with vibration reduction design parameters to confirm whether the specifications of the high-polymer vibration reduction pad 5 meet the design requirements. The invention adopts the steel wire rope vibration absorber 4 on one hand, has the advantages of large damping ratio, low magnification, strong shock resistance, low self-vibration frequency and good vibration isolation and buffer effects, and can effectively absorb the vibration with larger vibration amplitude; on the other hand, the macromolecule vibration reduction pad 5 can effectively absorb the residual vibration after the vibration reduction of the steel wire rope vibration reducer 4, so that the vibration of equipment is further reduced, and the design requirement is met; vibration in the AGV transportation process can be reduced by a wide margin in the whole, and damage to a transportation object caused by uneven pavement in the AGV transportation process is prevented.
While the invention has been described in detail in the foregoing general description and specific examples, it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the invention and are intended to be within the scope of the invention as claimed.
Claims (10)
1. A dual vibration damping design method for an AGV body is characterized by comprising a first vibration damping design and a second vibration damping design;
the first vibration reduction design is characterized in that a steel wire rope vibration absorber (4) is arranged between the vibration reduction foundation slab (1) and the primary vibration reduction slab (2); the second vibration reduction design is characterized in that a macromolecule vibration reduction pad (5) is arranged between the second-level vibration reduction plate (3) and the first-level vibration reduction plate (2);
in the process of selecting the steel wire rope vibration damper (4):
according to the bearing load, the minimum deformation and the maximum impact stiffness value, the steel wire rope damper (4) is initially selected; checking whether the deformation of the steel wire rope damper (4) exceeds the maximum deformation of the selected steel wire rope damper (4) according to the maximum impact stiffness value;
in the process of selecting the macromolecule vibration reduction pad (5):
according to the weight of the bearing product and the contact area of the high polymer vibration damping pad (5) and the bearing product, the bearing capacity of the high polymer vibration damping pad (5) in unit area is obtained;
the specification of the high polymer vibration damping pad (5) is primarily selected by utilizing the bearing capacity, the interference frequency, the deformation and the natural frequency of the high polymer vibration damping pad (5) in unit area;
and comparing the deformation and vibration reduction efficiency of the specification of the high polymer vibration reduction pad (5) with vibration reduction design parameters, and confirming whether the specification of the high polymer vibration reduction pad (5) meets the design requirement.
2. The dual vibration damping design method for an AGV car body according to claim 1, wherein the minimum deformation amount of the wire rope vibration damper (4) is:
；
wherein D is min The minimum deformation of the steel wire rope damper (4) is represented, V represents the impact speed of the AGV during conveying, g represents the gravitational acceleration, and AT represents the maximum allowable acceleration set by the AGV;
the maximum impact stiffness value of the steel wire rope shock absorber (4) is as follows:
；
wherein K is S The maximum impact stiffness value of the wire rope damper (4) is represented, W is the supporting load of the single wire rope damper (4), g represents the gravity acceleration, V represents the impact speed during AGV transportation, and D min Represents the minimum deformation of the wire rope damper (4).
3. The dual vibration damping design method for an AGV car body according to claim 2, wherein the maximum deformation amount of the wire rope vibration damper (4) is:
；
in the method, in the process of the invention,the maximum deformation of the wire rope damper (4) is represented by V, the impact speed during AGV transport is represented by K S The maximum impact stiffness value of the wire rope damper (4) is represented, g represents the gravitational acceleration, and W is the supporting load of the single wire rope damper (4).
4. The dual vibration damping design method for an AGV car body according to claim 1, wherein the maximum deformation amount of the polymer vibration damping pad (5) is:
；
in the method, in the process of the invention,the maximum deformation of the polymer vibration damping pad (5) is represented by V, the impact speed during AGV transport is represented by H S Represents the maximum impact stiffness value of the high polymer vibration damping pad (5), g represents the gravity acceleration, S is the bearing capacity of the high polymer vibration damping pad (5) in unit area,/>is natural frequency->Is the interference frequency.
5. A dual vibration damping design method for an AGV car body according to claim 1, further comprising a cross-longitudinal vibration limiting design that limits cross-longitudinal vibration of the vibration damping base plate (1) and the primary vibration damping plate (2) by means of linear bearings (6).
6. A double vibration damping device for an AGV car body, characterized in that the double vibration damping design method for an AGV car body according to any one of claims 1 to 5 is adopted, comprising a support assembly (7), a vibration damping base plate (1), a wire rope vibration damper (4), a primary vibration damping plate (2), a polymer vibration damping pad (5) and a secondary vibration damping plate (3);
the lower extreme of supporting component (7) is fixed in the top of AGV automobile body, the upper end of supporting component (7) is connected damping foundation slab (1), damping foundation slab (1) with connect between one-level damping board (2) wire rope shock absorber (4), one-level damping board (2) with connect between second grade damping board (3) macromolecular damping pad (5).
7. The dual vibration damping apparatus for an AGV car body according to claim 6, wherein said support assembly (7) includes a mounting base (8) and a mounting bracket (9), said mounting bracket (9) being symmetrically fixed to an upper end of said mounting base (8); the upper end of the mounting bracket (9) is connected with the vibration reduction foundation slab (1).
8. A dual vibration damping device for an AGV car body according to claim 6, characterized in that two of said wire rope dampers (4) between said vibration damping base plate (1) and said primary vibration damping plate (2) are provided, and two of said wire rope dampers (4) are distributed at both ends of said vibration damping base plate (1) and said primary vibration damping plate (2).
9. A dual vibration damping device for an AGV car body according to claim 7, characterized in that said polymer vibration damping pads (5) between said vibration damping base plate (1) and said primary vibration damping plate (2) are provided with four, four said polymer vibration damping pads (5) being arranged in a quadrilateral between said primary vibration damping plate (2) and said secondary vibration damping plate (3).
10. The dual vibration damping device for an AGV vehicle according to claim 8 wherein a linear bearing (6) is further connected between the vibration damping base plate (1) and the primary vibration damping plate (2), the number of the linear bearings (6) is two, and the two linear bearings (6) are distributed between the two wire rope vibration dampers (4).
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| CN116819907A (en) * | 2023-08-28 | 2023-09-29 | 成都思越智能装备股份有限公司 | Method and system for calibrating position of photomask of exposure machine |
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| KR101978652B1 (en) * | 2018-12-26 | 2019-05-15 | 한국건설기술연구원 | Apparatus for decreasing vibration using wire rope mount and hydraulic damper |
| CN116819907A (en) * | 2023-08-28 | 2023-09-29 | 成都思越智能装备股份有限公司 | Method and system for calibrating position of photomask of exposure machine |
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