CN210941241U - A new type of AGV steering wheel double-link vibration damping device - Google Patents

Abstract

The utility model provides a novel double-connecting-rod vibration damper for AGV steering wheels, which is connected with the AGV steering wheels through a mounting rack and is arranged at the upper ends of the AGV steering wheels; the double-connecting-rod vibration damping device consists of two vibration damping components which are symmetrically arranged at the upper end of an AGV steering wheel, wherein each vibration damping component comprises an upper top plate, a damping type spring vibration damper, a fixed seat connected with an installation frame and a connecting rod mechanism; one end of the damping type spring shock absorber is hinged with the upper top plate, and the other end of the damping type spring shock absorber is hinged with the connecting rod mechanism; the connecting rod mechanism is hinged with the fixed seat and one end, far away from the damping type spring shock absorber, of the upper top plate respectively; the connecting rod mechanism and the fixed seat form a parallelogram structure, so that the connecting rod mechanism connected with the upper top plate and the damping type spring shock absorber are ensured to keep a mutually parallel state in the vertical direction through the parallelogram structure, and the damping and stable running of the AGV rudder wheel in the running process are realized. The utility model discloses can realize guaranteeing the target of AGV steering wheel ability safety and stability work when passing through different slopes.

Description

A new type of AGV steering wheel double-link vibration damping device

technical field

The utility model relates to the technical field of automatic navigation mobile robots, in particular to a novel AGV steering wheel double-link vibration damping device.

Background technique

With the rapid development of industrial robot technology, Automated Guilded Vehicle (AGV) has been widely used in manufacturing, logistics, transportation and other fields due to its fast, efficient, energy-saving, flexible and other characteristics.

However, most of the AGV products currently in use have high requirements on the ground environment. When the working road conditions are convex or concave, the AGV steering wheel cannot meet the normal working requirements. In addition, the vibration reduction devices currently designed for AGV steering wheel vibration reduction often only have a good vibration reduction effect in the vertical direction. When the AGV working environment has a large slope and there is force impact from different directions during the working process, The current AGV steering wheel vibration reduction device loses its function, and the vibration reduction is not smooth or even stuck, resulting in huge economic losses.

Utility model content

The purpose of the utility model is to overcome the shortcomings and deficiencies in the prior art, and provide a novel AGV steering wheel double-link vibration damping device; the utility model can achieve the goal of ensuring that the AGV steering wheel can work safely and stably when passing through different slopes, and can effectively It is of great significance to realize the modernization and intelligence of the manufacturing industry by reducing the production and processing costs of manufacturing enterprises, and avoiding the loss of the AGV steering wheel itself and its transported goods due to road bumps.

In order to achieve the above purpose, the present utility model is realized through the following technical solutions: a novel AGV steering wheel double-link vibration damping device, which is characterized in that: it is connected with the AGV steering wheel through a mounting frame and is installed on the upper end of the AGV steering wheel; The rod damping device is composed of two damping components symmetrically arranged on the upper end of the AGV steering wheel. One end of the spring shock absorber is hinged with the upper top plate, and the other end is hinged with the link mechanism; the link mechanism is hinged with the fixed seat and the end of the upper top plate away from the damping spring shock absorber respectively; the link mechanism is connected with the fixed seat. A parallelogram structure is formed to ensure that the link mechanism connected to the upper top plate and the damping spring shock absorber are kept parallel to each other in the vertical direction through the parallelogram structure, so as to realize the vibration reduction and stable driving of the AGV steering wheel during the driving process.

In the above solution, the utility model can ensure that the AGV steering wheel does not tilt forward or backward, and the AGV steering wheel can work safely and stably under relatively steep road conditions or bumpy road conditions, which improves the driving stability of the AGV steering wheel during operation. The utility model combines the advantages of a parallelogram mechanism and a damping spring shock absorber. The damping spring shock absorber is connected with a connecting rod mechanism. When the steering wheel passes through a bumpy road surface, the damping spring shock absorber and the connecting rod mechanism work together. , to ensure the driving stability of the AGV steering wheel, significantly enhance the vibration reduction effect, and achieve the goal of multi-directional and multi-angle vibration reduction.

The connecting rod mechanism includes a connecting rod a, a connecting rod b and a connecting rod c hinged with the fixed seat; one end of the connecting rod a is hinged with the damping spring shock absorber, and the other end is hinged with the connecting rod c; the connecting rod One end of c far away from the connecting rod a is hinged with the upper top plate; the two ends of the connecting rod b are hinged with the fixed seat and the connecting rod c respectively.

The connecting rod c and the damping spring shock absorber are parallel to each other, and the connecting rod a and the connecting rod b are parallel to each other; the connecting rod a, the connecting rod b, the connecting rod c and the fixed seat form a parallelogram structure, so as to pass the parallelogram The structure ensures that the connecting rod c connected to the upper top plate and the damping spring shock absorber are kept parallel to each other in the vertical direction, so as to realize the vibration reduction of the AGV steering wheel during the driving process.

The connecting rod a and the fixed seat, the damping spring shock absorber and the connecting rod c are hinged through bearings respectively; the connecting rod b and the fixed seat and the connecting rod c are hinged through bearings respectively; The rod c and the damping spring shock absorber are respectively hinged with the upper top plate through bearings.

The AGV steering wheel includes a vehicle body, a wheel, a drive motor for driving the movement of the wheel, a steering mechanism and a brake arranged on the wheel; the drive motor is arranged on the vehicle body and connected to the wheel; the steering mechanism is connected to the vehicle body. connected to realize steering of the vehicle body; the mounting frame is connected with the vehicle body and installed on the upper end of the vehicle body.

The steering mechanism includes a steering motor, a steering pinion and a steering pinion; the steering motor is connected with the steering pinion; the steering pinion is coaxially connected to the vehicle body and meshed with the steering pinion.

The utility model also includes an encoder and an encoder gear for feeding back the motion information of the AGV steering wheel; the encoder gear is meshed with the steering gear and connected with the encoder.

The principle of the present utility model is as follows: the parallelogram mechanism of the present utility model has good stability and simple structure, and its most notable feature is that each pair of parallel opposite sides (link a and b, link c and The fixed seat) is isokinetic, that is, the speed and acceleration of each pair of sides are always the same, and each pair of sides is always kept parallel, and there will be no movement interference phenomenon. The damping spring shock absorber can withstand large loads and has a low natural frequency. It is suitable for the low-speed and low-frequency working environment of AGV, and it performs well under extreme temperature conditions, has a long service life, and is easy to install and versatile.

The utility model combines the advantages of a parallelogram linkage mechanism and a damping spring shock absorber. The damping spring shock absorber and the connecting rod mechanism are connected by bearings. When the AGV steering wheel passes through a bumpy road surface, the damping spring shock absorber is connected to the The linkage mechanism works together to ensure the driving stability of the AGV, significantly enhance the vibration reduction effect, and achieve the goal of multi-directional and multi-angle vibration reduction.

Compared with the prior art, the utility model has the following advantages and beneficial effects: the AGV steering wheel double-link vibration damping device of the utility model can achieve the goal of ensuring that the AGV steering wheel can work safely and stably when passing through different slopes, and can effectively reduce the manufacturing industry. The production and processing cost of the enterprise, avoiding the loss of the AGV steering wheel itself and its transported goods due to road bumps, is of great significance to the realization of the modernization and intelligence of the manufacturing industry.

Description of drawings

1 is a front view of the AGV steering wheel double-link vibration damping device of the present invention;

2 is a left side view of the AGV steering wheel double-link vibration damping device of the present invention;

3 is a rear view of the AGV steering wheel double-link vibration damping device of the present invention;

4 is a schematic diagram of the AGV steering wheel double-link vibration damping device of the present invention working in a concave road condition;

5 is a schematic diagram of the AGV steering wheel double-link vibration damping device of the present utility model working in a convex road condition;

Among them, 1 is the steering motor, 2 is the brake, 3 is the wheel, 4 is the encoder, 5 is the encoder gear, 6 is the steering gear, 7 is the connecting rod a, 8 is the connecting rod b, 9 is the connecting rod c, 10 is a damping spring shock absorber, 11 is a steering pinion, 12 is an upper top plate, 13 is a drive motor, 14 is a fixed seat, 15 is a mounting frame, and 16 is a vehicle body.

Detailed ways

The present utility model will be described in further detail below with reference to the accompanying drawings and specific embodiments.

Example

As shown in Figures 1 to 5, the AGV steering wheel double-link vibration damping device of the present invention is connected to the AGV steering wheel through the mounting frame 15 and installed on the upper end of the AGV steering wheel; the double-link vibration damping device is symmetrically arranged on the AGV by two The upper end of the steering wheel is composed of vibration damping components, each vibration damping component includes an upper top plate 12, a damping spring damper 10, a fixed seat 14 connected to the mounting frame 15 and a link mechanism, wherein one end of the damping spring damper 10 It is hinged with the upper top plate 12, and the other end is hinged with a link mechanism. The link mechanism is hinged with the fixed seat 14 and the end of the upper top plate 12 away from the damping spring shock absorber 10 respectively. The link mechanism and the fixed seat 14 form a parallelogram structure. , in order to ensure that the link mechanism connected to the upper top plate 12 and the damping spring shock absorber 10 are kept parallel to each other in the vertical direction through the parallelogram structure, so as to realize the vibration reduction and stable driving of the AGV steering wheel during the driving process.

The connecting rod mechanism of the present invention includes a connecting rod a 7, a connecting rod b 8 and a connecting rod c 9 hinged with the fixed seat 14, wherein one end of the connecting rod a7 is hinged with the damping spring shock absorber 10 through a bearing, and the other end is hinged with the damping spring shock absorber 10. The end of the connecting rod c 9 away from the connecting rod a 7 is hinged with the upper top plate 12 through the bearing, and the two ends of the connecting rod b 8 are hinged with the fixed seat 14 and the connecting rod c 9 respectively through the bearing. The connecting rod c 9 and the damping spring shock absorber 10 are parallel to each other, the connecting rod a 7 and the connecting rod b 8 are parallel to each other, the connecting rod a 7, the connecting rod b 8, the connecting rod c 9 and the fixed seat 14 form a parallelogram structure, The parallelogram structure ensures that the connecting rod c 9 connected to the upper top plate 12 and the damping spring shock absorber 10 are kept parallel to each other in the vertical direction, so as to realize the vibration reduction of the AGV steering wheel during the driving process.

The AGV steering wheel of the present invention includes a vehicle body 16, a wheel 3, a drive motor 13 for driving the movement of the wheel 3, a steering mechanism and a brake 2 arranged on the wheel 3, wherein the drive motor 13 is arranged on the vehicle body 16 and is connected with the vehicle body 16. The wheels 3 are connected, the steering mechanism is connected with the vehicle body 16 to drive the vehicle body 16 to turn, and the mounting frame 15 is connected with the vehicle body 16 and installed on the upper end of the vehicle body 16 . The steering mechanism includes a steering motor 1 , a steering pinion 11 and a steering gear 6 , the steering motor 1 is connected with the steering pinion 11 , and the steering gear 6 is coaxially connected to the vehicle body 16 and meshed with the steering pinion 11 .

The utility model also includes an encoder 4 and an encoder gear 5 for feeding back the motion information of the AGV steering wheel. The encoder gear 5 is meshed with the steering gear 6 and connected with the encoder 4 .

The principle of the present utility model is as follows: the parallelogram mechanism of the present utility model has good stability and simple structure. c 9 and the fixed seat 14) have isokinetic properties, that is, the speed and acceleration of each pair of sides are always the same, and each pair of sides is always kept parallel, and there will be no movement interference phenomenon. The damping spring shock absorber 10 can bear a large load, has a low natural frequency, is suitable for the low-speed and low-frequency working environment of AGV, and performs well under extreme temperature conditions, has a long service life, and has the characteristics of easy installation and strong versatility.

The utility model combines the advantages of the parallelogram linkage mechanism and the damping spring shock absorber 10. The damping spring shock absorber 10 and the connecting rod mechanism are connected by bearings. When the AGV steering wheel passes through the bumpy road surface, the damping spring shock absorber dampens the vibration. The actuator 10 and the linkage mechanism work together to ensure the driving stability of the AGV, significantly enhance the vibration reduction effect, and achieve the goal of multi-directional and multi-angle vibration reduction.

The above-mentioned embodiments are preferred embodiments of the present utility model, but the embodiments of the present utility model are not limited by the above-mentioned embodiments, and any other changes, modifications, and substitutions made without departing from the spirit and principle of the present utility model , combination and simplification, all should be equivalent replacement methods, which are all included in the protection scope of the present invention.

Claims (7)

1. A novel AGV steering wheel double-link vibration damping device is characterized in that: be connected with the AGV steering wheel by the mounting frame and be installed on the upper end of the AGV steering wheel; It is composed of vibration damping components, each damping component includes an upper top plate, a damping spring shock absorber, a fixed seat connected with the mounting frame and a link mechanism; one end of the damping spring shock absorber is hinged with the upper top plate, and the other end is connected with The connecting rod mechanism is hinged; the connecting rod mechanism is hinged with the fixed seat and the end of the upper top plate away from the damping spring shock absorber respectively; the connecting rod mechanism and the fixed seat form a parallelogram structure, so as to ensure the connection with the upper top plate through the parallelogram structure The connected link mechanism and the damping spring shock absorber keep the vertical direction parallel to each other, so as to realize the vibration reduction and stable driving of the AGV steering wheel during the driving process. 2. The novel AGV steering wheel double-link vibration damping device according to claim 1, characterized in that: the link mechanism comprises a connecting rod a, a connecting rod b and a connecting rod c hinged with the fixed seat; the connecting rod One end of a is hinged with the damping spring shock absorber, and the other end is hinged with the connecting rod c; the end of the connecting rod c away from the connecting rod a is hinged with the upper top plate; the two ends of the connecting rod b are respectively connected with the fixed seat and the connecting rod c Hinged. 3. The novel AGV steering wheel double-link vibration damping device according to claim 2, characterized in that: the connecting rod c and the damping spring shock absorber are parallel to each other, and the connecting rod a and the connecting rod b are parallel to each other; the The connecting rod a, the connecting rod b, the connecting rod c and the fixed seat form a parallelogram structure, so as to ensure that the connecting rod c connected to the upper top plate and the damping spring shock absorber are kept parallel to each other in the vertical direction through the parallelogram structure, so as to realize the AGV Vibration reduction of the steering wheel during driving. 4. The novel AGV steering wheel double-link vibration damping device according to claim 2, characterized in that: the connecting rod a and the fixed seat, the damping spring shock absorber and the connecting rod c are respectively hinged through bearings; The connecting rod b is hinged with the fixed seat and the connecting rod c through the bearing respectively; the connecting rod c and the damping spring shock absorber are hinged with the upper top plate through the bearing respectively. 5. The novel AGV steering wheel double-link vibration damping device according to claim 1, characterized in that: the AGV steering wheel comprises a vehicle body, a wheel, a drive motor for driving the movement of the wheel, a steering mechanism, and a steering wheel arranged on the wheel. The driving motor is arranged on the vehicle body and connected with the wheels; the steering mechanism is connected with the vehicle body to realize steering of the vehicle body; the mounting frame is connected with the vehicle body and installed on the upper end of the vehicle body. 6. The novel AGV steering wheel double-link vibration damping device according to claim 5, characterized in that: the steering mechanism comprises a steering motor, a steering pinion and a steering gear; the steering motor is connected with the steering pinion; The steering large gear is coaxially connected with the vehicle body and meshed with the steering pinion. 7. The novel AGV steering wheel double-link vibration damping device according to claim 6, characterized in that: it also includes an encoder and an encoder gear for feeding back motion information of the AGV steering wheel; the encoder gear is meshed with the steering gear connected and connected with the encoder.

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