CN210502149U - Multi-shaft heavy-load AGV vehicle suspension system - Google Patents
Multi-shaft heavy-load AGV vehicle suspension system Download PDFInfo
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- CN210502149U CN210502149U CN201921115568.2U CN201921115568U CN210502149U CN 210502149 U CN210502149 U CN 210502149U CN 201921115568 U CN201921115568 U CN 201921115568U CN 210502149 U CN210502149 U CN 210502149U
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Abstract
The utility model discloses a multiaxis heavy load AGV vehicle suspension system, through set up I axle suspension device, II axle suspension devices and III axle suspension devices at the lower extreme of suspension frame, adopt I axle suspension device and III axle suspension device of unipolar suspension structure, through the structural design that sets up in opposite direction, I axle suspension device and III axle suspension device set up in suspension frame bottom both ends in opposite directions, the low axle head of inclination of I axle suspension device and III axle suspension device is close to one side of II axle suspension device; II axle suspension devices are the balanced suspension axle, with guarantee that each axle suspension difference in height tends to 0, set up II axle suspension devices between I axle suspension device and III axle suspension devices, with the stationarity around guaranteeing the operation in-process suspension frame, thereby make the direction of travel all can be regarded as at this vehicle both ends, reduce the number of times that the vehicle turns around, II axle suspension devices adopt the integral balanced axle suspension of additional strengthening, anti-torsion ability is strong, driving stability is better, guarantee that great bearing is reliable higher simultaneously.
Description
Technical Field
The utility model relates to an unmanned vehicle AGV especially relates to a multiaxis heavy load AGV vehicle suspension system.
Background
At present, use unmanned vehicle to be used for the transportation of container more and more extensively in harbour operation place, but be used for harbour unmanned vehicle all to be the diaxon car in the market, only can place a packing cupboard, the operating efficiency is low, can not satisfy the heavy load transportation, and most vehicle chassis suspensions are rigid structure, can frequently appear the wheel phenomenon of skidding when meeting the uneven road surface, lead to the vehicle can not normally travel, if meet the uneven road surface, characteristics such as the chassis ride comfort is relatively poor, and then can not protect the goods safety. Therefore, it is highly desirable to design a new suspension system for a multi-axle heavy-load agv (automated Guided vehicle) vehicle.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a multiaxis heavy load AGV vehicle suspension system to overcome prior art's is not enough.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a suspension system of a multi-shaft heavy-load AGV comprises a suspension frame, an axle suspension device I, an axle suspension device II and an axle suspension device III, wherein the axle suspension device I, the axle suspension device II and the axle suspension device III are all fixed at the lower end of the suspension frame, and the axle suspension device II is positioned between the axle suspension device I and the axle suspension device III;
the first axle suspension device and the third axle suspension device are identical in structure and adopt single-axle suspensions, the arrangement directions of the first axle suspension device and the third axle suspension device at the bottom of the suspension frame are opposite, and the low-inclination axle ends of the first axle suspension device and the third axle suspension device are close to one side of the second axle suspension device; the II-axis suspension device is a balance suspension shaft.
Furthermore, the I-axis suspension device comprises a steel plate spring group, a shock absorber and a plate spring support, wherein one end of the shock absorber is fixed at the bottom of the suspension frame, two sides of the shock absorber are respectively provided with the plate spring support fixed at the bottom of the suspension frame, and two ends of the steel plate spring group are fixed on the plate spring supports; the lower end of the steel plate spring group is fixed with a driven shaft through a shaft seat, and the other end of the shock absorber is fixedly connected with the shaft seat.
Furthermore, an axle air chamber is arranged on the I-axle suspension device, and one end of the axle air chamber is fixed on an axle seat of the driven axle.
Furthermore, a wedge-shaped base plate is arranged between a steel plate spring group of the I-shaft suspension device or the III-shaft suspension device and a shaft seat of the driven shaft.
Further, the included angle α of the wedge-shaped backing plate is 1-3.5 degrees.
Furthermore, one side of the thick end of the wedge-shaped base plate is arranged towards one side of the high shaft end of the inclination angle of the I-shaft suspension device.
Further, the II-shaft suspension device comprises an II-shaft spring pressing plate, an II-shaft steel plate spring group and an II shaft, and the II-shaft steel plate spring group is fixed at the bottom of the suspension frame through the II-shaft spring pressing plate; the lower parts of two ends of the II-shaft steel plate spring group are provided with a II shaft, the outer side of the II shaft is provided with a driving shaft seat, a plate spring sliding plate seat is installed on the driving shaft seat, and two ends of the II-shaft steel plate spring group are arranged in the plate spring sliding plate seat in a sliding manner; the lower part in the middle of the spring pressing plate of the second shaft is fixed with a balance shaft, the lower end of the balance shaft is provided with a balance shaft seat, a thrust rod is arranged between the driving shaft seats of the two second shafts and the balance shaft seat, and the two ends of the thrust rod are respectively hinged with the driving shaft seats of the second shaft and the balance shaft seat.
Furthermore, two sides of the spring pressing plate of the second shaft are respectively provided with a limiting support fixed at the bottom of the suspension frame 1, the upper parts of two ends of the spring group of the second shaft are respectively fixed with a limiting block, and the limiting blocks are positioned under the limiting supports
Further, the shaft II is a driving shaft.
Compared with the prior art, the utility model discloses following profitable technological effect has:
the utility model relates to a multiaxis heavy load AGV vehicle suspension system, through set up I axle suspension device, II axle suspension devices and III axle suspension devices at the suspension frame lower extreme, adopt I axle suspension device and III axle suspension device of unipolar suspension structure, through the structural design that sets up in opposite direction, I axle suspension device and III axle suspension device set up in suspension frame bottom both ends in opposite directions, the low axle head of inclination of I axle suspension device and III axle suspension device is close to one side of II axle suspension devices; II axle suspension devices are balance suspension axles, set up II axle suspension devices between I axle suspension device and III axle suspension devices to ensure the stationarity around the operation in-process suspension frame, thereby make the direction of travel all can regard as at this vehicle both ends, reduce the vehicle number of times of turning around, II axle suspension devices adopt the integral balance axle suspension of additional strengthening, and antitorque commentaries on classics ability is strong, and the stability of traveling is better, guarantees that great bearing reliability is higher simultaneously.
Further, the fixed balanced axle of II axle spring plate lower extremes all is equipped with a distance rod between the axle bed of two II axles and the balanced axle bed, and the distance rod both ends are articulated with the drive shaft seat and the balanced axle bed of II axles respectively, utilize the drive axle bed and the balanced axle bed that two distance rods are connected, make two shafts become a whole, and simultaneously in the motion process, two shafts can be balanced axle rotation relatively simultaneously to it is steady to make the whole atress of II axle suspension devices.
Furthermore, a steel plate spring is used as an elastic element so as to meet the requirement of uneven road surfaces of ports and ensure the running stability of the AGV under the suspension frame.
Furthermore, the shaft II is used as a driving shaft, and the reinforcing structure integral balance shaft suspension applied to the middle double-drive axle has strong torsion resistance and better driving stability.
Furthermore, the shaft II is used as a driving shaft, so that the stress stability of the whole vehicle driving can be ensured.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic view of an installation structure of an axle suspension device.
Fig. 3 is a schematic view of an installation structure of a ii-axis suspension device.
Fig. 4 is a schematic view of the mounting structure of the iii-axis suspension apparatus.
Fig. 5 is a schematic view of a wedge-shaped pad mounting structure.
Fig. 6 is a schematic view of a wedge-shaped backing plate structure.
In the figure: 1. suspending a frame; 2. i, an axle suspension device; 3. II, a shaft suspension device; 4. III, a shaft suspension device; 5. a leaf spring set; 6. a shock absorber; 7. a shaft air chamber; 8. a plate spring support; 9. a driven shaft; 10. II, a spring pressing plate is arranged on the shaft; 11. II, a shaft steel plate spring group; 12. a limiting bracket; 13. II, shaft II; 14. a balance shaft; 15. a thrust rod; 16. a plate spring slide plate seat; 17. a wedge-shaped backing plate.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings:
as shown in fig. 1 to 6, a suspension system of a multi-axle heavy-load AGV vehicle comprises a suspension frame 1, an axle suspension device i 2, an axle suspension device ii 3 and an axle suspension device iii 4; the first axle suspension device 2, the second axle suspension device 3 and the third axle suspension device 4 are all fixed at the lower end of the suspension frame 1, and the second axle suspension device 3 is positioned between the first axle suspension device 2 and the third axle suspension device 4;
the first axle suspension device 2 and the third axle suspension device 4 are identical in structure and opposite in arrangement direction, single-axle suspensions are adopted, the first axle suspension device 2 and the third axle suspension device 4 are oppositely arranged at two ends of the bottom of the suspension frame 1, and the low-inclination-angle axle ends of the first axle suspension device 2 and the third axle suspension device 4 are close to one side of the second axle suspension device 3; the II-axis suspension device 3 is a balance suspension shaft.
The I-axis suspension device 2 comprises a steel plate spring group 5, a shock absorber 6 and a plate spring support 8, wherein one end of the shock absorber 6 is fixed at the bottom of a suspension frame 1, two sides of the shock absorber 6 are respectively provided with the plate spring support 8 fixed at the bottom of the suspension frame 1, and two ends of the steel plate spring group 5 are fixed on the plate spring support 8; the lower end of the steel plate spring group 5 is fixed with a driven shaft 9 through a shaft seat, and the other end of the shock absorber 6 is fixedly connected with the shaft seat;
the I shaft suspension device 2 is provided with a shaft air chamber 7, and one end of the shaft air chamber 7 is fixed on a shaft seat of a driven shaft 9;
a wedge-shaped base plate 17 is arranged between the steel plate spring group 5 of the I-axis suspension device 2 or the III-axis suspension device 4 and an axis seat of the driven shaft 9, an included angle of the wedge-shaped base plate 17 is α, and specifically, an included angle α of the wedge-shaped base plate 17 is 1-3.5 degrees.
One side of the thick end (namely, the end with the larger opening of the wedge-shaped backing plate) of the wedge-shaped backing plate 17 is arranged towards one side of the inclined angle high shaft end of the I shaft suspension device 2; to ensure the consistency of the arrangement of the caster angles of the whole vehicle;
the II-shaft suspension device 3 comprises an II-shaft spring pressing plate 10, an II-shaft steel plate spring group 11, a limiting support 12 and an II shaft 13, the II-shaft steel plate spring group 11 is fixed at the bottom of the suspension frame 1 through the II-shaft spring pressing plate 10, the limiting support 12 fixed at the bottom of the suspension frame 1 is respectively arranged at two sides of the II-shaft spring pressing plate 10, a limiting block is respectively fixed at the upper parts of two ends of the II-shaft steel plate spring group 11, and the limiting block is positioned under the limiting support 12; a second shaft 13 is arranged at the lower part of two ends of the second shaft steel plate spring group 11, a driving shaft seat is arranged outside the second shaft 13, a plate spring sliding plate seat 16 is arranged on the driving shaft seat, and two ends of the second shaft steel plate spring group 11 are arranged in the plate spring sliding plate seat 16 in a sliding manner; a balance shaft 14 is fixed at the lower middle part of the II shaft spring pressure plate 10, a balance shaft seat is arranged at the lower end of the balance shaft 14, a thrust rod 15 is arranged between the driving shaft seats of the two II shafts 13 and the balance shaft seat, and two ends of the thrust rod 15 are respectively hinged with the driving shaft seat and the balance shaft seat of the II shaft 13.
The II shaft 13 is a driving shaft; this application is through balanced suspension axle, with II axles 13 through drive axle bed direct mount in 11 both ends lower parts of leaf spring group, makes II axle suspension devices 3 form a self-balancing structure, utilizes spacing support 12 and sets up in the stopper on 11 both ends upper portions of II axle leaf spring groups to prevent two II axles 13 from crossing the slope, makes two II axles 13 keep in a reasonable tilt range.
According to the application, a steel plate spring suspension is used for replacing a rigid suspension aiming at the use working condition of a multi-shaft AGV, so that the bearing and reliability are met, the running smoothness and the driving performance of a vehicle are improved, and the bearing requirement of a port vehicle is met; the wedge-shaped base plate is adopted to enable the steering and aligning performance of the vehicle to be better, and further the high-reliability balance suspension is applied to ensure that the driving wheel is always in contact with the ground under any road condition so as to provide enough friction force to drive the AGV to normally run. Set up II axle suspension devices in the intermediate position, the integral balanced axle suspension of additional strengthening, anti-torsion ability is strong, and the stability of traveling is better.
The above embodiments are merely illustrative of the technical solutions and are not limiting thereof; although described in detail with reference to preferred embodiments, those of ordinary skill in the art will understand that: modifications to the specific embodiments or equivalents of parts of the technical features may still be made; without departing from the spirit of the claimed subject matter, it is intended to cover all such modifications as fall within the scope of the claimed subject matter.
Claims (9)
1. A multi-axle heavy-load AGV vehicle suspension system is characterized by comprising a suspension frame (1), an axle I suspension device (2), an axle II suspension device (3) and an axle III suspension device (4), wherein the axle I suspension device (2), the axle II suspension device (3) and the axle III suspension device (4) are all fixed at the lower end of the suspension frame (1), and the axle II suspension device (3) is positioned between the axle I suspension device (2) and the axle III suspension device (4);
the I-axis suspension device (2) and the III-axis suspension device (4) are identical in structure and adopt single-axis suspensions, the arrangement directions of the I-axis suspension device (2) and the III-axis suspension device (4) at the bottom of the suspension frame (1) are opposite, and the low-inclination-angle shaft ends of the I-axis suspension device (2) and the III-axis suspension device (4) are close to one side of the II-axis suspension device (3); the II-axis suspension device (3) is a balance suspension shaft.
2. The suspension system of the multi-axle heavy-load AGV vehicle according to claim 1, wherein the I-axle suspension device (2) comprises a leaf spring set (5), a shock absorber (6) and a leaf spring support (8), one end of the shock absorber (6) is fixed at the bottom of the suspension frame (1), two sides of the shock absorber (6) are respectively provided with the leaf spring support (8) fixed at the bottom of the suspension frame (1), and two ends of the leaf spring set (5) are fixed on the leaf spring support (8); the lower end of the steel plate spring group (5) is fixed with a driven shaft (9) through a shaft seat, and the other end of the shock absorber (6) is fixedly connected with the shaft seat.
3. The suspension system of claim 2, wherein the axle air chamber (7) is disposed on the axle suspension (2), and one end of the axle air chamber (7) is fixed to the axle seat of the driven axle (9).
4. A multi-axle heavy load AGV vehicle suspension system according to claim 3 wherein a wedge shaped shim plate (17) is provided between the leaf spring set (5) of the I axle suspension (2) or III axle suspension (4) and the axle seat of the driven axle (9).
5. Multiple axis heavy AGV vehicle suspension system according to claim 4 wherein wedge shim plate (17) is angled at α degrees of 1-3.5 degrees.
6. Multiple axle heavy AGV vehicle suspension system according to claim 4 wherein the wedge shaped shim plate (17) thick end side is located towards the angled high axle end side of the I axle suspension (2).
7. The suspension system of the multi-axle heavy-load AGV vehicle of claim 1, wherein the II-axle suspension device (3) comprises an II-axle spring pressing plate (10), an II-axle steel plate spring group (11) and an II axle (13), and the II-axle steel plate spring group (11) is fixed at the bottom of the suspension frame (1) through the II-axle spring pressing plate (10); the lower parts of two ends of the II-axis steel plate spring group (11) are provided with an II axis (13), the outer side of the II axis (13) is provided with a driving axis seat, the driving axis seat is provided with a plate spring sliding plate seat (16), and two ends of the II-axis steel plate spring group (11) are arranged in the plate spring sliding plate seat (16) in a sliding manner; a balance shaft (14) is fixed at the lower part of the middle of the spring pressing plate (10) with the two shafts II, a balance shaft seat is arranged at the lower end of the balance shaft (14), a thrust rod (15) is arranged between the driving shaft seats of the two shafts II (13) and the balance shaft seat, and two ends of the thrust rod (15) are hinged with the driving shaft seats of the shafts II (13) and the balance shaft seat respectively.
8. The suspension system of claim 7, wherein two sides of the spring pressing plate (10) of the second shaft are respectively provided with a limiting bracket (12) fixed at the bottom of the suspension frame (1), the upper parts of two ends of the spring group (11) of the second shaft are respectively fixed with a limiting block, and the limiting blocks are positioned under the limiting brackets (12).
9. Multiple axle heavy load AGV vehicle suspension system according to claim 7, characterised in that the ii axle (13) is the drive axle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921115568.2U CN210502149U (en) | 2019-07-16 | 2019-07-16 | Multi-shaft heavy-load AGV vehicle suspension system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921115568.2U CN210502149U (en) | 2019-07-16 | 2019-07-16 | Multi-shaft heavy-load AGV vehicle suspension system |
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| Publication Number | Publication Date |
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| CN210502149U true CN210502149U (en) | 2020-05-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921115568.2U Active CN210502149U (en) | 2019-07-16 | 2019-07-16 | Multi-shaft heavy-load AGV vehicle suspension system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112406445A (en) * | 2020-11-27 | 2021-02-26 | 安联(郑州)工程机械有限公司 | Oil-gas suspension device for trailer and semitrailer |
-
2019
- 2019-07-16 CN CN201921115568.2U patent/CN210502149U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112406445A (en) * | 2020-11-27 | 2021-02-26 | 安联(郑州)工程机械有限公司 | Oil-gas suspension device for trailer and semitrailer |
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