CN210082858U - Damping suspension device for AGV - Google Patents
Damping suspension device for AGV Download PDFInfo
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- CN210082858U CN210082858U CN201920960383.5U CN201920960383U CN210082858U CN 210082858 U CN210082858 U CN 210082858U CN 201920960383 U CN201920960383 U CN 201920960383U CN 210082858 U CN210082858 U CN 210082858U
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Abstract
The utility model discloses a damping suspension device for AGV, which comprises a floating plate, a connecting seat, a damper, a bracket, a driving wheel and a driving device; one end of the floating plate is hinged with the connecting seat through a rotary flange; the bottom end of the shock absorber is fixedly connected with one end of the floating plate far away from the connecting seat through a lower connecting rod, and the top end of the shock absorber is fixedly connected with the bracket; the driving wheel is arranged in the middle of the floating plate, and the driving device drives the driving wheel to move; the axis of the rotary flange plate, the axis of the driving wheel and the axis of the lower connecting rod are in a triangular shape on the same vertical surface; the ratio of the distance from the axis of the rotary flange plate to the axis of the driving wheel to the distance from the axis of the rotary flange plate to the axis of the lower connecting rod is a: c. The utility model discloses not the rigidity is fixed between drive wheel and the automobile body, but couples together through bumper shock absorber flexonics through the floating plate, meets road surface unevenness when the drive wheel driving in-process, through the elastic deformation of bumper shock absorber, plays buffering and compensation, keeps the automobile body and steadily traveles, realizes the shock attenuation effect.
Description
Technical Field
The utility model relates to a AGV dolly technical field specifically is a shock attenuation suspension device for AGV.
Background
Most of existing AGV driving wheels are rigidly and fixedly connected and are provided with elastic floating devices, and if the ground is uneven, jolting occurs in the running process of the trolley. The AGV trolley is easy to have insufficient adhesive force in the bumping process, so that the trolley is derailed or deviates from a positioning point and the like. Some adoption installs elasticity relocation mechanism additional between dolly truckle and frame, just so increase the structural complexity and the high uprising of AGV dolly, and a lot of application occasions have the restriction to AGV automobile body length width height, lead to unable reasonable application.
SUMMERY OF THE UTILITY MODEL
For solving the defect of above-mentioned prior art, the utility model provides a damping suspension device for AGV, the utility model discloses not the rigidity is fixed between drive wheel and the automobile body, but couples together through the bumper shock absorber flexonics through the floating plate, runs when the drive wheel in-process and meets the road surface unevenness at ordinary times, through the elastic deformation of bumper shock absorber, plays buffering and compensation, keeps the automobile body steadily to go, realizes the shock attenuation effect.
In order to achieve the technical purpose, the utility model adopts the following technical scheme: a damping suspension device for an AGV comprises a floating plate, a connecting seat, a damper, a bracket, a driving wheel and a driving device;
one end of the floating plate is hinged with the connecting seat through a rotary flange;
the bottom end of the shock absorber is fixedly connected with one end, far away from the connecting seat, of the floating plate through a lower connecting rod, and the top end of the shock absorber is fixedly connected with the support;
the driving wheel is arranged in the middle of the floating plate, and the driving device drives the driving wheel to move;
the axis of the rotary flange plate, the axis of the driving wheel and the axis of the lower connecting rod are in a triangular shape on the same vertical plane; the ratio of the distance from the axis of the rotary flange plate to the axis of the driving wheel to the distance from the axis of the rotary flange plate to the axis of the lower connecting rod is a: c.
Further, a: c is 1: 2.
Furthermore, a spring and an adjusting nut are arranged on the shock absorber.
Furthermore, the connecting seat comprises a bottom plate and two vertical plates, and the vertical plates are symmetrically fixed on the bottom plate.
Furthermore, a pin shaft is connected inside the rotary flange plate and fixed on the connecting seat; a wear-resistant sleeve is arranged between the pin shaft and the rotary flange plate; and one end of the pin shaft is also provided with a stop washer and a round nut.
Further, the driving device comprises a motor and a speed reducer, and the speed reducer is in driving connection with the driving wheel.
Furthermore, the upper end of the bracket is fixedly connected with a connecting groove plate, and the lower end of the bracket is provided with a connecting plate.
To sum up, the utility model discloses following technological effect has been gained:
1. the utility model connects the connecting seat and the frame together, the floating plate rotates around the connecting seat, the floating plate acts on the shock absorber and freely floats up and down, thereby realizing the shock absorption function;
2. the utility model adopts the basic principle of the lever, the ratio of the two distances c and a is converted into the compression amount of the shock absorber, the driving wheel floats up and down correspondingly under the state of uneven road surface, the compression amount of the shock absorber is c/a times, and the best shock absorption effect of the shock absorber is achieved;
3. the utility model discloses the bumper shock absorber has adjustable damping device, namely the adjusting nut, finely tunes the bumper shock absorber limit compression when using, makes AGV walking in-process can reduce the impact to bearing goods and assisting the frock walking, makes AGV travel more steadily, reliably;
4. the utility model discloses inlay nonmetal wear-resisting bush at the ring flange inner wall, both can effectively reduce frictional resistance, utilize the peculiar attribute of nonmetal wear-resisting material simultaneously, reduce the physical wear to the guiding axle, realize the design advantage of non-maintaining humanized reliability.
Drawings
Fig. 1 is an exploded view of a structure provided by an embodiment of the present invention;
fig. 2 is a schematic view of the overall structure provided by the embodiment of the present invention;
fig. 3 is a side view provided by an embodiment of the present invention;
in the figure, 1, a connecting base, 101, a bottom plate, 102, a vertical plate, 2, a shaft hole, 3, a pin shaft, 4, a connecting assembly, 401, a wear-resistant sleeve, 402, a rotary flange plate, 403, a stop washer, 404, a round nut, 5, a floating plate, 6, a driving wheel, 7, a driving device, 701, a motor, 702, a speed reducer, 8, a connecting part, 9, a shock absorber, 901, a lower connecting rod, 902, an upper connecting rod, 903, a spring, 904, an adjusting nut, 10, a connecting groove plate, 11, a support, 12 and a connecting plate.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications to the present embodiment without inventive contribution as required after reading the present specification, but all of them are protected by patent laws within the scope of the claims of the present invention.
Example (b):
as shown in fig. 1 and 2, the present embodiment provides a shock-absorbing suspension apparatus for AGV, which includes a floating plate 5, a coupling seat 1, a shock absorber 9, a bracket 11, a driving wheel 6, and a driving device 7; wherein, connecting seat 1, floating plate 5, bumper shock absorber 9, support 11 link to each other in proper order, and connecting seat 1 links to each other with the frame, and support 11 links to each other with the frame.
One end of the floating plate 5 is hinged with the connector holder 1 through a rotary flange 402, and the floating plate 5 rotates around the connector holder 1 through the rotary flange 402. In this embodiment, the floating plate 5 is integrally formed in an obtuse triangle shape, and two corresponding acute ends of the floating plate are respectively connected to the connecting base 1 and the damper 9.
The bottom end of the shock absorber 9 is fixedly connected with one end, far away from the connecting seat 1, of the floating plate 5 through a lower connecting rod 901, the top end of the shock absorber 9 is fixedly connected with the support 11, an upper connecting rod 902 is arranged at the top end of the shock absorber 9, and the upper connecting rod 902 is fixedly connected with the support 11; the damper 9 is provided with a spring 903 and an adjusting nut 904, and the adjusting nut 904 is used for adjusting the extension length of the spring 903. The specific structure of the damper 9 belongs to the prior art and is not described in detail herein.
As shown in fig. 1, the floating plate 5 and the connecting seat 1 are connected by a connecting assembly 4, the connecting assembly 4 includes a rotating flange 402, a pin 3 is connected inside the rotating flange 402, the pin 3 is fixed on the connecting seat 1, a hole for the rotating flange 402 to pass through is formed at the end of the floating plate 5, and the floating plate 5 is rotatably connected with the pin 3 by the rotating flange 402; a wear-resistant sleeve 401 is arranged between the pin shaft 3 and the rotary flange plate 402, and the wear-resistant sleeve 401 uses a nonmetal wear-resistant bushing, a copper sleeve, an oil-free bushing and the like; the other end of the pin shaft 3 is also provided with a stop washer 403 and a round nut 404.
As shown in fig. 1, a driving wheel 6 is provided in the middle of the floating plate 5, and a driving device 7 drives the driving wheel 6 to travel. The driving device 7 includes a motor 701 and a speed reducer 702, and the speed reducer 702 is drivingly connected to the driving wheel 6.
As shown in fig. 1, the connecting base 1 includes a bottom plate 101 and two vertical plates 102, the vertical plates 102 are symmetrically fixed on the bottom plate 101, the vertical plates 102 are provided with shaft holes 2, the pin shaft 3 is arranged in the shaft holes 2, and the end of the floating plate 5 is located between the two vertical plates 102.
As shown in FIG. 1, the upper end of the bracket 11 is fixedly connected with a connecting groove plate 10, the lower end is provided with a connecting plate 12, the connecting groove plate 10 is fixedly connected with the shock absorber 9, and the connecting plate 12 is fixedly connected with the frame.
As shown in fig. 3, the axis of the rotary flange 402, the axis of the driving wheel 6, and the axis of the lower connecting rod 901 are triangular on the same vertical plane, and three sides of the triangle are a, b, and c; the ratio of the distance from the axis of the rotary flange 402 to the axis of the drive wheel 6 to the distance from the axis of the rotary flange 402 to the axis of the lower link 901 is a: c. Specifically, the distance from the axis of the rotary flange 402 to the axis of the driving wheel 6 is a, the distance from the axis of the rotary flange 402 to the axis of the lower link 901 is c, when the driving wheel 6 floats up and down in an uneven road surface state, the floating plate 5 transmits the floating to the spring 903, the compression amount of the spring 903 is c/a times by utilizing the lever principle, and the spring force generated by the compression amount of the spring 903 is utilized for constantly keeping enough positive pressure between the driving wheel and the ground, and finally converting the positive pressure into the driving force for vehicle running.
Specifically, in this embodiment, a: c is 1:2, i.e., the distance from the axis of the rotary flange 402 to the axis of the lower link 901 is 2 times the distance from the axis of the rotary flange 402 to the axis of the driving wheel 6, and correspondingly, the amount of compression of the spring 903 when floating is 2 times.
Referring to the standard parameters of the national road surface, the plane of the road surface is within the range of +/-10 mm, the driving wheel 6 can meet the floating amount of +/-10 mm, and the basic working state is at the 0 point position. Meet the road surface when drive wheel 6 and have the protruding condition, the AGV dolly has abrupt state of jolting, the height of jolting is the most 10mm, because 9 damping of bumper shock absorbers area, and be provided with adjusting nut 904, can adjust spring 903's extension length, can adopt the mode of fine setting according to the actual conditions on-the-spot road surface in the in-service use, make AGV dolly shock attenuation suspension device reach the optimum, and because the bumper shock absorber has adjustable damping device, AGV walking in-process reduces to bearing goods and auxiliary fixtures walking and assaults, make AGV travel more steadily, it is reliable.
The utility model discloses drive wheel 6 adopts bumper shock absorber flexonics with connected to the frame, and the AGV dolly is under road surface unevenness's state, and effective compensation road surface is uneven, realizes fine shock attenuation effect. Because the AGV dolly is for adapting to full key element operational environment, AGV inner structure is narrow and small, and it is compact to shock attenuation suspension device structural requirement, the utility model discloses a components of a whole that can function independently framework mode, simple structure, the manufacturing degree of difficulty is low, and assembly work volume is little, under advocating efficient operating requirement, can mass production.
The utility model discloses utilize lever principle, utilize the lever to prize the principle that the heavy object can be laborsaving in production and life. The connecting base 1 is connected with the vehicle frame, the floating plate 5 rotates around the connecting base 1, and the floating plate 5 acts on the shock absorber 9 and floats up and down freely. The bracket 11 is connected with the frame, and the damping stress is transmitted to the frame. The driving force required by the driving wheel 6 is determined by the lever proportion, and the magnitude of the shock absorber force of the AGV trolley is related to the magnitude of the bearing capacity of the AGV trolley and the driving force required by the AGV trolley.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all the modifications and equivalents of the technical spirit of the present invention to any simple modifications of the above embodiments are within the scope of the technical solution of the present invention.
Claims (7)
1. The utility model provides a shock attenuation suspension device for AGV which characterized in that: comprises a floating plate (5), a connecting seat (1), a shock absorber (9), a bracket (11), a driving wheel (6) and a driving device (7);
one end of the floating plate (5) is hinged with the connecting seat (1) through a rotary flange plate (402);
the bottom end of the shock absorber (9) is fixedly connected with one end, far away from the connecting seat (1), of the floating plate (5) through a lower connecting rod (901), and the top end of the shock absorber (9) is fixedly connected with the support (11);
the driving wheel (6) is arranged in the middle of the floating plate (5), and the driving device (7) drives the driving wheel (6) to move;
the axis of the rotary flange plate (402), the axis of the driving wheel (6) and the axis of the lower connecting rod (901) are in a triangular shape on the same vertical plane; the ratio of the distance from the axis of the rotary flange plate (402) to the axis of the driving wheel (6) to the distance from the axis of the rotary flange plate (402) to the axis of the lower connecting rod (901) is a: c.
2. A shock absorbing suspension for AGV according to claim 1, wherein: the ratio of a to c is 1: 2.
3. A shock absorbing suspension for AGV according to claim 1, wherein: and a spring (903) and an adjusting nut (904) are arranged on the shock absorber (9).
4. A shock absorbing suspension for AGV according to claim 1, wherein: the connecting seat (1) comprises a bottom plate (101) and two vertical plates (102), wherein the vertical plates (102) are symmetrically fixed on the bottom plate (101).
5. A shock absorbing suspension for AGV according to claim 1, wherein: a pin shaft (3) is connected to the inside of the rotary flange plate (402), and the pin shaft (3) is fixed on the connecting seat (1); a wear-resistant sleeve (401) is arranged between the pin shaft (3) and the rotary flange plate (402); and one end of the pin shaft (3) is also provided with a stop washer (403) and a round nut (404).
6. A shock absorbing suspension for AGV according to claim 1, wherein: the driving device (7) comprises a motor (701) and a speed reducer (702), and the speed reducer (702) is in driving connection with the driving wheel (6).
7. A shock absorbing suspension for AGV according to claim 1, wherein: the upper end of the bracket (11) is fixedly connected with a connecting groove plate (10), and the lower end is provided with a connecting plate (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920960383.5U CN210082858U (en) | 2019-06-24 | 2019-06-24 | Damping suspension device for AGV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920960383.5U CN210082858U (en) | 2019-06-24 | 2019-06-24 | Damping suspension device for AGV |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210082858U true CN210082858U (en) | 2020-02-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920960383.5U Active CN210082858U (en) | 2019-06-24 | 2019-06-24 | Damping suspension device for AGV |
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| CN (1) | CN210082858U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111891979A (en) * | 2020-07-15 | 2020-11-06 | 宁波舜宇贝尔自动化有限公司 | Driving device and AGV with same |
-
2019
- 2019-06-24 CN CN201920960383.5U patent/CN210082858U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111891979A (en) * | 2020-07-15 | 2020-11-06 | 宁波舜宇贝尔自动化有限公司 | Driving device and AGV with same |
| CN111891979B (en) * | 2020-07-15 | 2024-02-23 | 宁波舜宇贝尔机器人有限公司 | Driving device and AGV provided with same |
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Address after: Room 1008, building 3, 311 Yanxin Road, Huishan Economic Development Zone, Wuxi City, Jiangsu Province, 214000 Patentee after: Yunlai Intelligent Equipment (Wuxi) Co.,Ltd. Address before: Room 1008, building 3, 311 Yanxin Road, Huishan Economic Development Zone, Wuxi City, Jiangsu Province, 214000 Patentee before: WUXI A-CARRIER ROBOT CO.,LTD. |