CN208666175U - Attachment device, tourelle and automated guided vehicle - Google Patents
Attachment device, tourelle and automated guided vehicle Download PDFInfo
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- CN208666175U CN208666175U CN201821172606.3U CN201821172606U CN208666175U CN 208666175 U CN208666175 U CN 208666175U CN 201821172606 U CN201821172606 U CN 201821172606U CN 208666175 U CN208666175 U CN 208666175U
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- universal wheel
- slide
- damping
- attachment device
- spring
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Abstract
The utility model provides a kind of attachment device.The attachment device is used to for universal wheel being connected to the pedestal of automated guided vehicle.The attachment device includes universal wheel connecting plate, floating bracket and damping slide construction, wherein the universal wheel is fixedly connected on the bottom of the universal wheel connecting plate, and the pedestal of the automated guided vehicle is fixedly connected on the floating bracket.For the damping slide construction between the universal wheel connecting plate and the floating bracket, the damping slide construction includes slide construction and damping structure.Wherein, the slide construction includes slide-and-guide component and slide unit；The slide unit can be in the slide-and-guide component along the sliding of the direction of setting.The damping structure can generate damping force when the slide unit deviates the initial position in the slide-and-guide component.The disclosure additionally provides a kind of tourelle and a kind of automated guided vehicle.
Description
Technical field
This disclosure relates to warehouse logistics field, more particularly, to a kind of attachment device, a kind of tourelle, Yi Jiyi
Kind automated guided vehicle.
Background technique
Universal wheel ground supports point and universal wheel hinge line form the eccentricity of universal wheel.It is used for when by universal wheel installation
When the pedestal of automated guided vehicle AGV (Automated Guided Vehicle), AGV vehicle spins to change the fortune of vehicle
During line direction, can there are universal wheel and AGV vehicle in the of short duration instantaneous middle nonsynchronous problem of movement.Universal wheel ground
Supporting point can be stopped at using AGV vehicle spin center to universal wheel hinge as on the tangent line of the circle of radius.At this moment inclined along universal wheel
Direction of the heart away from place can generate the component for hindering vehicle traveling side.The presence of this component can generate AGV vehicle following
Two kinds of harm: one is when the load of AGV vehicle is larger, universal wheel ground supports point is motionless, such universal wheel adjustment direction
While can be circled by radius of eccentricity, will lead to AGV vehicle and deviate original track, or even derailing；Second is that working as
When the load of AGV vehicle is smaller, the mobile of AGV vehicle can drag by force universal wheel and rub on the ground, lead to universal wheel and ground
Face generates and is seriously worn.
Utility model content
In view of this, present disclose provides a kind of attachment device, a kind of tourelle and a kind of automated guided vehicles.
An aspect of this disclosure provides a kind of attachment device, for universal wheel to be connected to automated guided vehicle
Pedestal.The attachment device includes universal wheel connecting plate, floating bracket and damping slide construction, wherein the universal wheel is solid
Surely it is connected to the bottom of the universal wheel connecting plate, the pedestal of the automated guided vehicle is fixedly connected on the floating branch
Frame.The damping slide construction is between the universal wheel connecting plate and the floating bracket, the damping slide construction packet
Include slide construction and damping structure.Wherein, the slide construction includes slide-and-guide component and slide unit；The slide unit
It can be in the slide-and-guide component along the sliding of the direction of setting；Wherein, the slide-and-guide component and the slide unit
In one of be fixed on the universal wheel connecting plate, it is another to be fixed on the floating bracket.The damping structure energy
It is enough to generate damping force when the slide unit deviates the initial position in the slide-and-guide component.
In accordance with an embodiment of the present disclosure, the slide construction is line slide rail.Wherein, the slide-and-guide component is straight line
Track and the slide unit are sliding block.
In accordance with an embodiment of the present disclosure, the damping structure includes mobile minor structure and damping minor structure, the mobile son
One of structure and the damping minor structure are fixed on the universal wheel connecting plate, another to be fixed on the floating bracket
On；The mobile minor structure is moved with the sliding of the slide unit, and deviates the initial bit in the slide unit
The damping minor structure is compressed when setting.
In accordance with an embodiment of the present disclosure, the rectilinear orbit is fixed on the floating bracket and the sliding block is fixed
On the universal wheel connecting plate.And the damping minor structure is fixed on the floating bracket and the mobile son knot
Structure is fixed on the universal wheel connecting plate.
In accordance with an embodiment of the present disclosure, the damping minor structure includes spring assembly.Wherein, stating spring assembly includes one
Spring guide and two springs；The both ends of the spring guide are fixed on the floating bracket；Described two springs cover respectively
On the spring guide, positioned at the spring guide two sides and be not in contact with each other；It is located on the spring guide described two
The mobile minor structure is installed for activity in part between spring.
In accordance with an embodiment of the present disclosure, the compression travel of the spring is greater than the eccentricity of the universal wheel.
In accordance with an embodiment of the present disclosure, the mobile minor structure includes shifting block.Wherein, the one end of the shifting block is fixed on
On the universal wheel connecting plate, opposite the other end includes perforative channel, and the channel is used for across the spring guide.
In accordance with an embodiment of the present disclosure, the channel includes U-type groove.
In accordance with an embodiment of the present disclosure, the part on the spring guide between described two springs is fixed with spring
Limited block.Wherein, the outer surface of the spring retainer block protrudes from the surface of the spring guide.
In accordance with an embodiment of the present disclosure, the outer surface of the spring retainer block is greater than along the size of the spring guide axial direction
Size of the channel along the spring guide axial direction.
Another aspect of the present disclosure additionally provides a kind of tourelle.The tourelle includes: universal wheel, and as above
The attachment device.Wherein the universal wheel is fixedly connected on the bottom of the universal wheel connecting plate in the attachment device.Root
According to embodiment of the disclosure, the universal wheel includes two-wheel universal wheel.
Another aspect of the present disclosure additionally provides a kind of automated guided vehicle.The automated guided vehicle includes at least
One tourelle as described above, wherein the tourelle is installed on the pedestal of the automated guided vehicle.
In accordance with an embodiment of the present disclosure, can when automated guided vehicle AGV spins, make the universal wheel with
The relative position of the pedestal tie point of AGV changes, and generates damping force while change in location, so as at least portion
The component for hindering AGV to spin that point ground generates when balancing out AGV from rotation direction along universal wheel eccentricity direction, and therefore can be with
AGV is without departing from track during making AGV spin to a certain extent to turn to, and reduces the abrasion on universal wheel and ground.
Detailed description of the invention
By referring to the drawings to the description of the embodiment of the present disclosure, the above-mentioned and other purposes of the disclosure, feature and
Advantage will be apparent from, in the accompanying drawings:
Figure 1A diagrammatically illustrates the assembly structure figure of the tourelle according to the embodiment of the present disclosure；
The partial parameters that Figure 1B diagrammatically illustrates a specific example of the tourelle according to the embodiment of the present disclosure show
Example；
Fig. 2 diagrammatically illustrates the explosive view of the tourelle according to the embodiment of the present disclosure；
Fig. 3 A diagrammatically illustrates the structure chart of the line slide rail in the attachment device according to the embodiment of the present disclosure；
Fig. 3 B diagrammatically illustrates the explosive view of the line slide rail in Fig. 3 A；
Fig. 4 A diagrammatically illustrates the explosive view of the damping structure in the attachment device according to the embodiment of the present disclosure；
Fig. 4 B diagrammatically illustrates the installation diagram that spring assembly in minor structure is damped in Fig. 4 A；
Fig. 5 diagrammatically illustrates the installation diagram of the automated guided vehicle according to the embodiment of the present disclosure；
Fig. 6 A and 6B diagrammatically illustrate automated guided vehicle spin to change the process of traffic direction, and lead automatically
Draw force analysis of the transport vehicle from supination universal wheel；And
Fig. 7 is diagrammatically illustrated according to the automated guided vehicle of the embodiment of the present disclosure from supination from the t0 moment to the t1 moment
Instantaneous moving condition figure.
Specific embodiment
Hereinafter, will be described with reference to the accompanying drawings embodiment of the disclosure.However, it should be understood that these descriptions are only exemplary
, and it is not intended to limit the scope of the present disclosure.In the following detailed description, to elaborate many specific thin convenient for explaining
Section is to provide the comprehensive understanding to the embodiment of the present disclosure.It may be evident, however, that one or more embodiments are not having these specific thin
It can also be carried out in the case where section.In addition, in the following description, descriptions of well-known structures and technologies are omitted, to avoid
Unnecessarily obscure the concept of the disclosure.
Term as used herein is not intended to limit the disclosure just for the sake of description specific embodiment.It uses herein
The terms "include", "comprise" etc. show the presence of the feature, step, operation and/or component, but it is not excluded that in the presence of
Or add other one or more features, step, operation or component.
There are all terms (including technical and scientific term) as used herein those skilled in the art to be generally understood
Meaning, unless otherwise defined.It should be noted that term used herein should be interpreted that with consistent with the context of this specification
Meaning, without that should be explained with idealization or excessively mechanical mode.
It, in general should be according to this using statement as " at least one in A, B and C etc. " is similar to
Field technical staff is generally understood the meaning of the statement to make an explanation (for example, " system at least one in A, B and C "
Should include but is not limited to individually with A, individually with B, individually with C, with A and B, with A and C, have B and C, and/or
System etc. with A, B, C).Using statement as " at least one in A, B or C etc. " is similar to, generally come
Saying be generally understood the meaning of the statement according to those skilled in the art to make an explanation (for example, " having in A, B or C at least
One system " should include but is not limited to individually with A, individually with B, individually with C, with A and B, have A and C, have
B and C, and/or the system with A, B, C etc.).It should also be understood by those skilled in the art that substantially arbitrarily indicating two or more
The adversative conjunction and/or phrase of optional project shall be construed as either in specification, claims or attached drawing
A possibility that giving including one of these projects, either one or two projects of these projects.For example, phrase " A or B " should
A possibility that being understood to include " A " or " B " or " A and B ".
In the context of the disclosure, when a component is referred to as be located at/be connected to () another component "upper" when, the portion
Part can located immediately at/be connected on () another component or between them there may be other component.In addition, if
A component is located at another component "upper" in a kind of direction, then when turn towards when, which can be located at another component
"lower".When by a component be referred to as be located at another two component " between " when, the component can located immediately at the another two component it
Between or the another two component between other than the component, there may also be other components.
The embodiment of the present disclosure provides a kind of attachment device, the tourelle including the attachment device and including the rolling
The automated guided vehicle AGV of dynamic device.The attachment device is used to for universal wheel being connected to the pedestal of automated guided vehicle.It should
Attachment device includes universal wheel connecting plate, floating bracket and damping slide construction.Wherein, the universal wheel be fixedly connected on this ten thousand
To the bottom of wheel connecting plate, the pedestal of the automated guided vehicle is fixedly connected on the floating bracket and damping sliding knot
Structure is located between the universal wheel connecting plate and the floating bracket.The damping slide construction includes slide construction and damping structure.Its
In, which includes slide-and-guide component and slide unit.The slide unit can be set on edge in the slide-and-guide component
Fixed direction sliding.Wherein, the universal wheel connecting plate is fixed on one of in the slide-and-guide component and the slide unit
On, it is another to be fixed on the floating bracket.The damping structure can deviate in the slide-and-guide component in the slide unit
Damping force is generated when initial position.
In accordance with an embodiment of the present disclosure, universal wheel is connected to the bottom of automated guided vehicle AGV by the attachment device
Seat, the universal wheel and the relative position of the AGV pedestal junction can be made to change when AGV spins, with counteracting by
Asynchronous and generation the adverse effect in the movement of the universal wheel and the AGV, and then to a certain extent AGV can be spinned
AGV is without departing from track during to turn to, and reduces the abrasion on universal wheel and ground.
Figure 1A diagrammatically illustrates the assembly structure figure of the tourelle according to the embodiment of the present disclosure.Figure 1B is schematically shown
According to the partial parameters example of specific example of the tourelle of the embodiment of the present disclosure.
It as shown in FIG. 1A and 1B, include attachment device 10 and universal wheel according to the tourelle of the embodiment of the present disclosure 100
20.Universal wheel 20 is fixedly connected on the bottom of attachment device 10, and more specifically universal wheel 20 is fixedly connected in attachment device 10
Universal wheel connecting plate bottom.
In accordance with an embodiment of the present disclosure, universal wheel 20 can be two-wheel universal wheel.Specifically, the load of universal wheel 20 is got over
Wheel footpath can be bigger when big, and corresponding eccentricity also will increase.It is double in the case where same load compared with single-wheel universal wheel
Smaller wheel footpath can be had than single-wheel universal wheel by taking turns universal wheel, so that eccentricity can also be smaller.
In a specific example of Figure 1B, the wheel footpath (wheel diameter i.e. in figure) of the universal wheel 20 is 75mm, eccentric
Away from for 14mm.From main view as can be seen that in accordance with an embodiment of the present disclosure, link position of the universal wheel 20 in attachment device 10
It can horizontal offset maximum distance 21mm to the left or to the right.
It is appreciated that wheel footpath, eccentricity and the universal wheel 20 of exemplary universal wheel 20 are in attachment device 10 in Figure 1B
The maximum distance of horizontal left/right offset is only to illustrate.In actual design, the wheel footpath and eccentricity of universal wheel 20 need root
Load born according to universal wheel 20 etc. carries out force analysis and determines.And link position of the universal wheel 20 in attachment device 10
The maximum distance that can be deviated can be greater than the eccentricity of universal wheel 20, can generally meet during AGV spins every time in this way
The range of 20 compressive deformation of universal wheel needs.
Fig. 2 diagrammatically illustrates the explosive view of the tourelle 100 according to the embodiment of the present disclosure.It should be noted that Fig. 2
Shown in internal structure in tourelle 100 specific form and specific connection type, be only the one of tourelle 100
A specific embodiment does not constitute the restriction to the disclosure.
In conjunction with Fig. 2, it can be seen that the detailed construction and attachment device of attachment device 10 included by tourelle 100
10 with the connection type of universal wheel 20.
In accordance with an embodiment of the present disclosure, which is used to universal wheel 20 being connected to automated guided vehicle AGV
The pedestal of (not shown).The attachment device 10 includes universal wheel connecting plate 11, floating bracket 12 and damping slide construction
13.Wherein, which is fixedly connected on the bottom of the universal wheel connecting plate 11, the pedestal of automated guided vehicle AGV
It is fixedly connected on the floating bracket 12.The damping slide construction 13 be located at the universal wheel connecting plate 11 and the floating bracket 12 it
Between.
The damping slide construction 13 includes slide construction 131 and damping structure 132.Wherein, which includes sliding
Action-oriented component and slide unit.The slide unit can be in the slide-and-guide component along the sliding of the direction of setting.Wherein, should
It is fixed on the universal wheel connecting plate 11 one of in slide-and-guide component and the slide unit, it is another to be fixed on the floating
On bracket.The damping structure 132 can generate resistance when the slide unit deviates the initial position in the slide-and-guide component
Buddhist nun's power.
Specifically, universal wheel 20 modes such as can be bolted or weld and be fixedly connected on universal wheel connection
The bottom of plate 11.Similar, the modes such as AGV vehicle base can also be bolted or weld are fixedly connected on floating
Bracket 12.The slide construction 131 includes slide-and-guide component and slide unit.Wherein, slide-and-guide component and slide unit
Specific structure can be arbitrary form.For example, in some embodiments, which can be similar guide rod and sliding sleeve
Etc fit structure.Specifically, which can be a round guide rod, which, which can be, covers at this
On guide rod, can be along the sliding sleeve in axial sliding of the guide rod.In another example in further embodiments, which can be
Line slide rail.Correspondingly, which can be the rectilinear orbit in line slide rail, which can be can be with
Along the sliding block of rectilinear orbit sliding, such as the signal in Fig. 2, Fig. 3 A and Fig. 3 B.
Universal wheel connecting plate is fixed on one of in slide-and-guide component and slide unit in the slide construction 131
It is another to be fixed on floating bracket 12 on 11.In this way, can to work as slide unit in slide-and-guide component along given side
To sliding when, drive the relative movement between the universal wheel connecting plate 11 and floating bracket 12, so make universal wheel 20 relative to
Relative displacement occurs for automated guided vehicle AGV pedestal.
The damping structure 132 can be by the slide unit in the position relative to initial position that the slide-and-guide component generates
Transfer is changed to damping force.The damping force is for driving the slide unit to restore to the initial position.Wherein, which can be with
It is automated guided vehicle during straight line uniform motion, universal wheel 20 is in position locating for slide unit when under equilibrium state
It sets.The damping structure 132 can have arbitrary form.Such as the damping structure 132 can be spring damping structure or hydraulic
Damping structure etc..
The damping structure 132 can have multiple mounting modes, can specifically select according to the actual situation.For example, when resistance
When Buddhist nun's structure 132 includes spring, in one embodiment, when the slide construction 131 is the cooperation of similar guide rod and sliding sleeve etc
It, can be by spring pocket guide rod, so that resistance can be generated with as the sliding slided on guide rod with compressed spring when structure
Buddhist nun's power.In another example in another embodiment, damping structure 132 and slide construction 131 can be designed as not acting on directly
Two relatively independent mechanical structures.Specifically, for example, may include spring assembly and moving parts in damping structure 132,
In the spring assembly and moving parts one be connected to universal wheel connecting plate 11, one is connected to floating bracket 12, mobile in this way
Component can moving relative to sliding with slide unit and the slide-and-guide component in slide construction 131, to compress
Spring is to generate damping force, such as the signal in Fig. 2, Fig. 4 A and Fig. 4 B.In attachment device 10 shown in Fig. 2, specifically include
Two sets of damping structures 132, are separately mounted to the two sides of slide construction 131, facilitate the stress balance of system entirety.
Fig. 3 A diagrammatically illustrates the structure chart of the line slide rail in the attachment device according to the embodiment of the present disclosure, Yi Jitu
3B diagrammatically illustrates the explosive view of the line slide rail in Fig. 3 A.
In conjunction with Fig. 2, Fig. 3 A and Fig. 3 B, in accordance with an embodiment of the present disclosure, which can be line slide rail 131,
Correspondingly, the slide-and-guide component in line slide rail 131 is rectilinear orbit 1311 and slide unit is sliding block 1312.One
In a little embodiments, the rectilinear orbit 1311 and sliding block 1312 can pass through the installation that is clasped.In further embodiments, this is straight
It can be slided by the way that the realizations such as ball or lubricating oil are opposite between trajectory 1311 and sliding block 1312.
Fig. 4 A diagrammatically illustrates the explosive view of the damping structure in the attachment device according to the embodiment of the present disclosure, Yi Jitu
4B diagrammatically illustrates the installation diagram that spring assembly in minor structure is damped in Fig. 4 A.
In conjunction with Fig. 2, Fig. 4 A and Fig. 4 B, in accordance with an embodiment of the present disclosure, which can specifically include mobile son
Structure 1321 and damping minor structure 1322, the movement minor structure 1321 and damping one of minor structure 1322 be fixed on this ten thousand
It is another to be fixed on the floating bracket 12 on wheel connecting plate 11；The movement minor structure 1321 with the sliding of sliding block 1312 and
It is mobile, and the damping minor structure 1322 is compressed when the sliding block 1312 deviates the initial position to generate damping force.
In accordance with an embodiment of the present disclosure, in attachment device 10 shown in Fig. 2, the rectilinear orbit in line slide rail 131
1311 are fixed on floating bracket 12 and sliding block 1312 is fixed on universal wheel connecting plate 11, while in damping structure 132
Damping minor structure 1322 is fixed on floating bracket 12, and mobile minor structure 1321 is fixed on the universal wheel connecting plate 11.
With continued reference to Fig. 2, Fig. 4 A and Fig. 4 B.In accordance with an embodiment of the present disclosure, which can be spring
Component 1322.Spring assembly 1322 includes a spring guide 402 and two springs 401.The both ends of spring guide 402 are fixed on
On the floating bracket 12, which is respectively fitted on the spring guide 402, positioned at spring guide 402 two sides and mutually
It does not contact, the movement minor structure 1321 is installed for activity in the part on spring guide 402 between two springs 401.
In accordance with an embodiment of the present disclosure, the compression travel of spring 401 is greater than the eccentricity of universal wheel 20, can satisfy homing guidance in this way
The range of 20 compressive deformation of universal wheel during transport vehicle AGV spins every time needs.
In accordance with an embodiment of the present disclosure, which can be shifting block 1321.The one end of shifting block 1321 is solid
It is scheduled on the universal wheel connecting plate 11, opposite the other end includes perforative channel, which is used for across spring guide
402.In accordance with an embodiment of the present disclosure, which can be U-type groove, as shown in Fig. 2 and Fig. 4 A.
In accordance with an embodiment of the present disclosure, when sliding block 1312 is located at initial position, shifting block 1321 can be located at spring guide
402 middle position.At this point, in some embodiments, shifting block 1321 can not be contacted with two springs 401.Alternatively, another
In a little embodiments, shifting block 1321 can also contact simultaneously with two springs 401, and the retracted position of two springs 401 is identical.
In accordance with an embodiment of the present disclosure, spring guide 402 passes through the U-type groove of shifting block 1321, and the two of spring guide 402
End is fixed on floating bracket 12 (for example, being bolted).Shifting block 1321 is fixed on universal wheel connecting plate 11, shifting block
1321 two sides are the springs 401 covered on spring guide 402.When the rectilinear orbit 1311 and sliding block 1312 in line slide rail 131
When opposite sliding occurs, drive floating bracket 12 and universal wheel connecting plate 11 that relative displacement occurs, so that shifting block 1321 is also corresponding
It is subjected to displacement, and then compresses the spring 401 for being located at 1321 side of shifting block.
In accordance with an embodiment of the present disclosure, the part between two springs 401 is located on spring guide 402 and is fixed with spring limit
Position block 403.The outer surface of spring retainer block 403 protrudes from the surface of spring guide 402.The spring retainer block 403 is for limiting
When position of the shifting block 1321 in spring guide 402.In practical applications, even if the specifications and models or property of two springs 401
Can etc. parameters it is completely the same, when shifting block 1321 and two springs 401 contact simultaneously, it is also difficult to definite to guarantee to work as at sliding block 1312
Shifting block 1321 can be located at the middle position of spring guide 402 when initial position.
In accordance with an embodiment of the present disclosure, the outer surface of spring retainer block 403 is greater than along the axial size of the spring guide 402
The channel (for example, U-type groove) size axial along the spring guide 402.To, when sliding block 1312 is located at initial position, bullet
The spring retainer block 403 can be just comprising on shifting block 1321 along the axial band of position of the spring guide 402 on spring guide rod 402
U-type groove.
In accordance with an embodiment of the present disclosure, spring retainer block 403 is set on spring guide 402.In some embodiments, bullet
The outer surface of spring limited block 403 is greater than the internal diameter of spring 401 along the radial size of spring guide 402, so that spring 401 is stuck in bullet
The edge of spring limited block 403, so that spring 401 be prevented to contact with the direct of shifting block 1321.In further embodiments, Ke Yi
Washer is set between spring retainer block 403 and spring 401, when the outer surface of spring retainer block 403 is along 402 radial direction of spring guide
When size is greater than the internal diameter of washer, so that it may spring 401 be avoided to contact with the direct of shifting block 1321.In this way, it is possible to realize
Accurate positionin to shifting block 1321.
It is appreciated that spring limited block 403 is that the circle convex platform on spring guide 402 is only in Fig. 2, Fig. 4 A and Fig. 4 B
A kind of example, in some embodiments, spring retainer block 403 are also possible to convex in the circumferential partial region of spring guide 402
Play structure.
Fig. 5 diagrammatically illustrates the installation diagram of the automated guided vehicle 500 according to the embodiment of the present disclosure.
Specifically, Fig. 5 shows the main view and corresponding top view of automated guided vehicle 500, wherein eliminating
The structure of car body.
As shown in figure 5, in accordance with an embodiment of the present disclosure, automated guided vehicle 500 includes at least one tourelle
100, wherein tourelle 100 is installed on the pedestal 30 of automated guided vehicle.Specifically, in Fig. 5, homing guidance transport
It include 4 tourelles 100 in vehicle 500.
The automated guided vehicle 500 further includes two driving wheels 40.The automated guided vehicle 500 is two wheel guide robot drive
Dynamic draws transport vehicle automatically.
In conjunction with Figure 1A~Fig. 4 B, from the end that can be seen that spring assembly 1322 in attachment device 20 in the main view of Fig. 5
Position, and then can be seen that 1322 installation position of spring assembly.That is, in automated guided vehicle 500, the axis of spring guide 402
Line is parallel with the axis of driving wheel 40.It follows that in line slide rail 131, sliding block 1312 can along with driving wheel 40
The parallel direction sliding of axis.In accordance with an embodiment of the present disclosure, when automated guided vehicle 500 is occurred by the driving of two-wheel differential
When spin, tourelle 100 can be along flat with the axis of driving wheel 40 in the link position of the pedestal 30 of automated guided vehicle
Capable direction translates.
Fig. 6 A and 6B diagrammatically illustrate automated guided vehicle spin to change the process of traffic direction, and lead automatically
Draw force analysis of the transport vehicle from supination universal wheel.
In Fig. 6 A and 6B, in order to carry out force analysis, tourelle 100 is simplified, simplified tourelle
100 include these three force analysis elements of universal wheel ground supports point, universal wheel hinge and universal wheel eccentricity.
As shown in Figure 6A, when automated guided vehicle 500 is kept straight on, universal wheel ground supports point is in universal wheel hinge
Rear.
Then as shown in Figure 6B, after automated guided vehicle 500 is rotated by 90 °, universal wheel supporting point is corresponding ten thousand
To on the rotation circular arc tangential line of wheel hinge.At this time if automated guided vehicle 500 is kept straight in the direction of arrows, it is in homing guidance
The different universal wheel of the four direction of the position I, II, III of transport vehicle 500 and IV needs centered on universal wheel hinge, rotation
It is adjusted to state when keeping straight in Fig. 6 A.
Assuming that driving wheel 40 and ground friction generate power, four universal wheel hinges in the position I, II, III and IV are done
Function resultant force is respectively F, wherein F2, F3, F5, F8It is the power for driving universal wheel adjustment direction.And F1, F4, F6, F7This four component meetings
Adverse effect is caused to the traveling of automated guided vehicle 500.In the prior art, when universal wheel supporting point and ground stiction
When big, 30 rotation of pedestal of automated guided vehicle will cause, and then de-orbit in traveling.When universal wheel supporting point and ground
Face stiction hour, wheel (for example, glue coating wheel) and ground in universal wheel can generate dragging phenomenon, for a long time using encapsulated
Wheel, ground serious wear.And according in the automated guided vehicle of the embodiment of the present disclosure 500, tourelle 100 is in homing guidance
The link position of the pedestal 30 of transport vehicle can be translated along the direction parallel with the axis of driving wheel 40, and in change in location
While generate damping force, so as at least partly balance out F1, F4, F6, F7This four component, and therefore can be one
Determine to make in degree the rotation of automated guided vehicle 500 to turn to during without departing from track, and reduce universal wheel and ground
Abrasion.Specifically, automated guided vehicle 500 can refer to the signal of Fig. 7 from the instantaneous moving condition of supination.
Fig. 7 is diagrammatically illustrated according to the automated guided vehicle of the embodiment of the present disclosure from supination from the t0 moment to the t1 moment
Instantaneous moving condition figure.
In Fig. 7, the t0 moment is that automated guided vehicle 500 is just rotated by 90 ° the state after completing in Fig. 6 B.In t0
After quarter, automated guided vehicle 500 was kept straight in the direction of arrows to the t1 moment.In accordance with an embodiment of the present disclosure, in this process
In, by F1, F4, F6, F7This influence of four component to the pedestal 30 of automated guided vehicle, is converted into compressed spring 401
Power.I.e. by F1, F4, F6, F7The influence of this four power, the sliding block 1312 in line slide rail 131 can be sliding in rectilinear orbit 1311
It is dynamic, and then the offset of shifting block 1321 is driven, so that compressed spring 401, finally makes so that F1, F4, F6, F7Each component acts on
Spring 401, and by the reaction force of spring 401 by F1, F4, F6, F7Component partial offset.Specifically, in I, II, III and
Four universal wheels of the position IV compress different lengths according to respective positions demand respectively.
Further combined with Fig. 6 A~Fig. 7, detailed description are as follows.Automated guided vehicle 500 is straight in the direction of arrows from the t0 moment
During row to t1 moment, four universal wheels positioned at the position I, II, III and IV, also can be with each while adjustment direction
From universal wheel ground supports point be the center of circle, move in a circle using universal wheel eccentricity as radius.In this process, such as Fig. 7
Shown, the universal wheel hinge in the position I circles along clockwise direction from the t0 moment to the t1 moment, needs to leading automatically
Draw 30 internal stretch of pedestal of transport vehicle.Equally, the universal wheel hinge in the position II is from the t0 moment to the t1 moment along counterclockwise
Direction circles, and needs 30 internal stretch of pedestal to automated guided vehicle.It, can for the universal wheel of the position I and II
To realize by line slide rail 131 to 30 internal slide of pedestal of automated guided vehicle, while shifting block 1321 being driven to compress bullet
Spring 401 balances out part F1, F4.Similarly, from the t0 moment to the t1 moment, the universal wheel hinge in the position III and IV need to
Extend outside the pedestal 30 of automated guided vehicle, it can be by line slide rail 131 into the pedestal 30 of automated guided vehicle
Realization is slided outside portion, while being driven shifting block 1321 to compress another lateral spring 401 and being balanced out the component F of part6, F7。
Later, continue to keep straight on from the t1 moment with automated guided vehicle 500, in the universal of the position I, II, III and IV
After the direction of wheel is adjusted to consistent with arrow direction, F1, F4, F6, F7It disappears, the stress of universal wheel is consistent with driving direction.In bullet
Under the damping force effect of spring 401, sliding block 1312 and shifting block 1321 are restored to initial position, so that universal wheel is relative to homing guidance
The position of the pedestal 30 of transport vehicle reverts to state when keeping straight in Fig. 6 A.
In practical applications, it is limited by 30 size of the pedestal of automated guided vehicle, it is impossible to by the stroke of spring 401
It is made big, so to limit the eccentricity size of universal wheel.The compression travel of spring 401 is greater than in accordance with an embodiment of the present disclosure
When the eccentricity of universal wheel, so that it may meet the range needs of each alternating compression.
It will be understood by those skilled in the art that the feature recorded in each embodiment and/or claim of the disclosure can
To carry out multiple combinations or/or combination, even if such combination or combination are not expressly recited in the disclosure.Particularly, exist
In the case where not departing from disclosure spirit or teaching, the feature recorded in each embodiment and/or claim of the disclosure can
To carry out multiple combinations and/or combination.All these combinations and/or combination each fall within the scope of the present disclosure.
Embodiment of the disclosure is described above.But the purpose that these embodiments are merely to illustrate that, and
It is not intended to limit the scope of the present disclosure.Although respectively describing each embodiment above, but it is not intended that each reality
Use cannot be advantageously combined by applying the measure in example.The scope of the present disclosure is defined by the appended claims and the equivalents thereof.It does not take off
From the scope of the present disclosure, those skilled in the art can make a variety of alternatives and modifications, these alternatives and modifications should all fall in this
Within scope of disclosure.
Claims (13)
1. a kind of attachment device, for universal wheel to be connected to the pedestal of automated guided vehicle, which is characterized in that the connection
Device includes universal wheel connecting plate, floating bracket and damping slide construction, wherein the universal wheel is fixedly connected on described ten thousand
To the bottom of wheel connecting plate, the pedestal of the automated guided vehicle is fixedly connected on the floating bracket；The damping sliding
For structure between the universal wheel connecting plate and the floating bracket, the damping slide construction includes slide construction and damping
Structure, in which:
The slide construction includes slide-and-guide component and slide unit；The slide unit can be in the slide-and-guide component
It slides in the middle direction along setting；Wherein, it is fixed on one of in the slide-and-guide component and the slide unit described
It is another to be fixed on the floating bracket on universal wheel connecting plate；
The damping structure can generate resistance when the slide unit deviates the initial position in the slide-and-guide component
Buddhist nun's power.
2. attachment device according to claim 1, it is characterised in that:
The slide construction is line slide rail, in which: the slide-and-guide component is rectilinear orbit and the slide unit is
Sliding block.
3. attachment device according to claim 2, it is characterised in that:
The damping structure includes its of mobile minor structure and damping minor structure, the mobile minor structure and the damping minor structure
One of be fixed on the universal wheel connecting plate, it is another to be fixed on the floating bracket；The mobile minor structure is with institute
It states the sliding of slide unit and moves, and compress the damping minor structure when the slide unit deviates the initial position.
4. attachment device according to claim 3, it is characterised in that:
The rectilinear orbit is fixed on the floating bracket and the sliding block is fixed on the universal wheel connecting plate；With
And
The damping minor structure is fixed on the floating bracket and the mobile minor structure is fixed on the universal wheel connection
On plate.
5. attachment device according to claim 4, it is characterised in that:
The damping minor structure includes spring assembly, in which:
The spring assembly includes a spring guide and two springs；The both ends of the spring guide are fixed on the floating branch
On frame；Described two springs are respectively fitted on the spring guide, positioned at the spring guide two sides and be not in contact with each other；It is described
The mobile minor structure is installed for activity in part on spring guide between described two springs.
6. attachment device according to claim 5, it is characterised in that:
The compression travel of the spring is greater than the eccentricity of the universal wheel.
7. attachment device according to claim 5, it is characterised in that:
The mobile minor structure includes shifting block, in which:
The one end of the shifting block is fixed on the universal wheel connecting plate, and opposite the other end includes perforative channel, institute
Channel is stated for across the spring guide.
8. attachment device according to claim 7, it is characterised in that:
The channel includes U-type groove.
9. attachment device according to claim 7, it is characterised in that:
Part on the spring guide between described two springs is fixed with spring retainer block, wherein the spring limit
The outer surface of position block protrudes from the surface of the spring guide.
10. attachment device according to claim 9, it is characterised in that:
The outer surface of the spring retainer block is greater than the channel along the spring guide along the size of the spring guide axial direction
Axial size.
11. a kind of tourelle characterized by comprising
Universal wheel, and
Attachment device described in any one according to claim 1~10, wherein the universal wheel is fixedly connected on the connection
The bottom of universal wheel connecting plate in device.
12. tourelle according to claim 11, it is characterised in that:
The universal wheel includes two-wheel universal wheel.
13. a kind of automated guided vehicle characterized by comprising
At least one tourelle described in 1 or 12 any one according to claim 1, wherein the tourelle is installed on institute
State the pedestal of automated guided vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821172606.3U CN208666175U (en) | 2018-07-23 | 2018-07-23 | Attachment device, tourelle and automated guided vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821172606.3U CN208666175U (en) | 2018-07-23 | 2018-07-23 | Attachment device, tourelle and automated guided vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208666175U true CN208666175U (en) | 2019-03-29 |
Family
ID=65830093
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821172606.3U Active CN208666175U (en) | 2018-07-23 | 2018-07-23 | Attachment device, tourelle and automated guided vehicle |
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| Country | Link |
|---|---|
| CN (1) | CN208666175U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110722993A (en) * | 2019-10-29 | 2020-01-24 | 株洲时代新材料科技股份有限公司 | Magnetic suspension train guiding method and guide wheel device |
| CN112026957A (en) * | 2020-11-04 | 2020-12-04 | 天津航天机电设备研究所 | Floating adjusting device |
-
2018
- 2018-07-23 CN CN201821172606.3U patent/CN208666175U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110722993A (en) * | 2019-10-29 | 2020-01-24 | 株洲时代新材料科技股份有限公司 | Magnetic suspension train guiding method and guide wheel device |
| CN112026957A (en) * | 2020-11-04 | 2020-12-04 | 天津航天机电设备研究所 | Floating adjusting device |
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Effective date of registration: 20200525 Address after: Room A1905, 19th floor, No. 2 Building, 18 Kechuang 11th Street, Beijing Daxing District, Beijing Patentee after: Beijing Jingdong Qianshi Technology Co.,Ltd. Address before: 300 457 days First Floor, Phase 2, No. 10, Fourth Avenue, Binhai New Area Economic and Technological Development Zone, Tianjin Patentee before: Tianjin Jingdong Shentuo Robot Technology Co.,Ltd. |
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