CN210941241U - Novel AGV steering wheel double-link damping device - Google Patents

Novel AGV steering wheel double-link damping device Download PDF

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Publication number
CN210941241U
CN210941241U CN201921734657.5U CN201921734657U CN210941241U CN 210941241 U CN210941241 U CN 210941241U CN 201921734657 U CN201921734657 U CN 201921734657U CN 210941241 U CN210941241 U CN 210941241U
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connecting rod
agv
steering wheel
damping
hinged
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CN201921734657.5U
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Chinese (zh)
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王好男
乔健
杨景卫
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Foshan University
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Foshan University
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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

Novel AGV steering wheel double-link damping device
Technical Field
The utility model relates to an automatic navigation mobile robot technical field, more specifically say, relate to a novel AGV steering wheel double-link damping device.
Background
With the rapid development of industrial robot technology, an automatic navigation robot (AGV) is now widely used in the fields of manufacturing, logistics, transportation, etc. due to its characteristics of rapidness, high efficiency, energy saving, flexibility, etc.
However, most of the currently-used AGV products have high requirements on the ground environment, and when the working road conditions are raised or depressed, the AGV steering wheel cannot meet the normal working requirements. In addition, the damping device who designs to AGV steering wheel damping often only has good damping effect in the vertical direction at present, and when there is great slope and the atress that comes from the equidirectional in the course of the work and assaults in AGV operational environment, present AGV steering wheel damping device has just lost the effect, can appear the damping and not be in order smooth or even block phenomenon such as die, leads to bringing economic huge loss.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome the defects and shortcomings in the prior art and provide a novel AGV steering wheel double-connecting-rod vibration damper; the utility model discloses can realize guaranteeing the target of AGV steering wheel ability safety and stability work when passing through different slopes, can effectual reduction manufacturing enterprise production and processing cost, avoid AGV steering wheel self with and transport goods because the road surface jolts the loss that causes, have important meaning to realizing the modernization intellectuality of manufacturing.
In order to achieve the above purpose, the utility model discloses a following technical scheme realizes: the utility model provides a novel AGV steering wheel double-link damping device which characterized in that: the AGV steering wheel is connected with the AGV steering wheel through the mounting frame and is arranged at the upper end of the AGV steering wheel; 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.
In the technical scheme, the utility model discloses can guarantee that the AGV rudderwheel can not take place to lean forward or turn over after, the AGV rudderwheel can be in great slope road conditions or the road surface safety and stability work of jolting, has improved the stability of traveling in the AGV rudderwheel working process. The utility model discloses combined parallelogram mechanism and damping formula spring damper's advantage, damping formula spring damper is connected with link mechanism, and when the steering wheel was through jolting the road surface, damping formula spring damper played the effect with link mechanism jointly, had guaranteed AGV steering wheel stability of traveling, was showing and has strengthened the damping effect, has realized the damping target of multi-direction multi-angle.
The connecting rod mechanism comprises a connecting rod a, a connecting rod b and a connecting rod c which are hinged with the fixed seat; one end of the connecting rod a is hinged with the damping type spring shock absorber, and the other end of the connecting rod a is hinged with the connecting rod c; one end of the connecting rod c, which is far away from the connecting rod a, is hinged with the upper top plate; and two ends of the connecting rod b are respectively hinged with the fixed seat and the connecting rod c.
The connecting rod c is parallel to the damping type spring shock absorber, and the connecting rod a is parallel to the connecting rod b; the connecting rod a, the connecting rod b, the connecting rod c and the fixing seat form a parallelogram structure, so that the connecting rod c connected with the upper top plate and the damping type spring shock absorber are kept in a mutually parallel state in the vertical direction through the parallelogram structure, and the shock absorption of the AGV rudder wheel in the driving process is realized.
The connecting rod a is hinged with the fixed seat, the damping type spring shock absorber and the connecting rod c through bearings respectively; the connecting rod b is hinged with the fixed seat and the connecting rod c through bearings respectively; and the connecting rod c and the damping type spring shock absorber are hinged with the upper top plate through bearings respectively.
The AGV steering wheel comprises a vehicle body, wheels, a driving motor for driving the wheels to move, a steering mechanism and brakes arranged on the wheels; the driving motor is arranged on the vehicle body and connected with the wheels; the steering mechanism is connected with the vehicle body to drive the vehicle body to steer; the mounting bracket is connected with the vehicle body and is arranged at the upper end of the vehicle body.
The steering mechanism comprises a steering motor, a steering pinion and a steering bull gear; the steering motor is connected with the steering pinion; the steering large gear is coaxially connected with the vehicle body and is meshed with the steering small gear.
The utility model also comprises an encoder and an encoder gear which are used for feeding back the motion information of the AGV steering wheel; the encoder gear is meshed with the steering gear wheel and is connected with the encoder.
The principle of the utility model is as follows: the utility model discloses a parallelogram mechanism is because having good stability and simple structure, and its most apparent characteristics are that every to parallel opposite side (connecting rod a and connecting rod b, connecting rod c and fixing base) have the constant velocity, and speed, the acceleration of every opposite side are the same all the time promptly, and every to keep parallel all the time to the limit, can not produce the motion interference phenomenon. The damping type spring shock absorber can bear larger load, has low natural frequency, is suitable for the low-speed and low-frequency working environment of the AGV, has better performance under the condition of extreme temperature, has long service life, and has the characteristics of simplicity and convenience in installation and strong universality.
The utility model discloses combined parallelogram link mechanism and damping formula spring damper's advantage, damping formula spring damper is connected through the bearing with link mechanism, and when the AGV steering wheel was through jolting the road surface, damping formula spring damper played the effect with link mechanism jointly, had guaranteed AGV stability of traveling, was showing and has strengthened the damping effect, has realized the damping target of multi-direction multi-angle.
Compared with the prior art, the utility model has the advantages of as follows and beneficial effect: the utility model discloses AGV steering wheel double-link damping device can realize guaranteeing the target of AGV steering wheel ability safety and stability work when passing through different slopes, can effectual reduction manufacturing enterprise production and processing cost, avoids AGV steering wheel self and the loss that the transportation goods jolted because the road surface caused, has important meaning to realizing the modernization intellectuality of manufacturing.
Drawings
FIG. 1 is a front view of the double link damping device for the steering wheel of AGV;
FIG. 2 is a left side view of the double link damping device for the AGV steering wheel;
FIG. 3 is a rear view of the double link damping device for the AGV steering wheel;
FIG. 4 is a schematic diagram of the AGV steering wheel double-link damping device of the present invention working in a sunken road condition;
FIG. 5 is a schematic diagram of the AGV steering wheel double-link damping device of the present invention working in a raised road condition;
wherein, 1 is a steering motor, 2 is a brake, 3 is wheels, 4 is an encoder, 5 is an encoder gear, 6 is a steering large gear, 7 is a connecting rod a, 8 is a connecting rod b, 9 is a connecting rod c, 10 is a damping type spring shock absorber, 11 is a steering small gear, 12 is an upper top plate, 13 is a driving motor, 14 is a fixed seat, 15 is an installation frame, and 16 is a vehicle body.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Examples
As shown in fig. 1 to 5, the double-link damping device for the AGV steering wheel of the present invention is connected to the AGV steering wheel through a mounting bracket 15 and is installed at the upper end of the AGV steering wheel; this two connecting rod vibration damper comprises two symmetry setting vibration damping components in AGV steering wheel upper end, every vibration damping component includes top plate 12, damping formula spring damper 10, fixing base 14 and link mechanism be connected with mounting bracket 15, wherein, damping formula spring damper 10 one end is articulated with top plate 12, the other end is articulated with link mechanism, this link mechanism is articulated with fixing base 14 and the one end that last top plate 12 kept away from damping formula spring damper 10 respectively, link mechanism forms the parallelogram structure with fixing base 14, with link mechanism and the damping formula spring damper 10 of guaranteeing to be connected with last top plate 12 through the parallelogram structure keep vertical direction parallel state of each other, realize that the damping of AGV steering wheel is in the driving process and the steady driving.
The link mechanism of the utility model comprises a connecting rod a 7, a connecting rod b 8 and a connecting rod c 9 which are hinged with a fixed seat 14, wherein, one end of the connecting rod a 7 is hinged with a damping type spring shock absorber 10 through a bearing, and the other end is hinged with the connecting rod c 9 through a bearing; one end of the connecting rod c 9, which is far away from the connecting rod a 7, is hinged with the upper top plate 12 through a bearing, and two ends of the connecting rod b 8 are hinged with the fixed seat 14 and the connecting rod c 9 through bearings respectively. The connecting rod c 9 is parallel to the damping type spring shock absorber 10, the connecting rod a 7 is parallel to the connecting rod b 8, the connecting rod a 7, the connecting rod b 8, the connecting rod c 9 and the fixing seat 14 form a parallelogram structure, so that the connecting rod c 9 connected with the upper top plate 12 and the damping type spring shock absorber 10 are kept in a vertical parallel state through the parallelogram structure, and shock absorption of the AGV rudder wheel in the driving process is achieved.
The utility model discloses a AGV helm includes automobile body 16, wheel 3, is used for driving motor 13, the steering mechanism of 3 movements of wheel and sets up stopper 2 on wheel 3, and wherein, driving motor 13 sets up on automobile body 16 and is connected with wheel 3, and steering mechanism is connected with automobile body 16, realizes driving automobile body 16 and turns to, and mounting bracket 15 is connected with automobile body 16 to install in automobile body 16's upper end. The steering mechanism comprises a steering motor 1, a steering pinion 11 and a steering bull gear 6, wherein the steering motor 1 is connected with the steering pinion 11, and the steering bull gear 6 is coaxially connected with a vehicle body 16 and is in meshed connection with the steering pinion 11.
The utility model discloses still including encoder 4 and encoder gear 5 that are used for feeding back AGV steering wheel motion information, this encoder gear 5 with turn to 6 meshing connections in gear wheel to be connected with encoder 4.
The principle of the utility model is as follows: the utility model discloses a parallelogram mechanism is because having good stability and simple structure, and its most apparent characteristics are that every to parallel opposite side (connecting rod a 7 and connecting rod b 8, connecting rod c 9 and fixing base 14) have the constant velocity, and speed, the acceleration of every opposite side are the same all the time promptly, and every to keep parallel all the time to the limit, can not produce the motion interference phenomenon. The damping type spring shock absorber 10 can bear larger load, has low natural frequency, is suitable for the low-speed and low-frequency working environment of the AGV, has better performance under the condition of extreme temperature, has long service life, and has the characteristics of simplicity and convenience in installation and strong universality.
The utility model discloses combined parallelogram link mechanism and damping formula spring damper 10's advantage, damping formula spring damper 10 is connected through the bearing with link mechanism, and when the AGV steering wheel was through jolting the road surface, damping formula spring damper 10 played the effect with link mechanism jointly, had guaranteed AGV traveling stability, was showing and has strengthened the damping effect, had realized multi-directional damping target.
The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be equivalent replacement modes, and all are included in the scope of the present invention.

Claims (7)

1. The utility model provides a novel AGV steering wheel double-link damping device which characterized in that: the AGV steering wheel is connected with the AGV steering wheel through the mounting frame and is arranged at the upper end of the AGV steering wheel; 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.
2. The novel AGV steering wheel double-link damping device of claim 1, wherein: the connecting rod mechanism comprises a connecting rod a, a connecting rod b and a connecting rod c which are hinged with the fixed seat; one end of the connecting rod a is hinged with the damping type spring shock absorber, and the other end of the connecting rod a is hinged with the connecting rod c; one end of the connecting rod c, which is far away from the connecting rod a, is hinged with the upper top plate; and two ends of the connecting rod b are respectively hinged with the fixed seat and the connecting rod c.
3. The novel AGV steering wheel double-link damping device of claim 2, wherein: the connecting rod c is parallel to the damping type spring shock absorber, and the connecting rod a is parallel to the connecting rod b; the connecting rod a, the connecting rod b, the connecting rod c and the fixing seat form a parallelogram structure, so that the connecting rod c connected with the upper top plate and the damping type spring shock absorber are kept in a mutually parallel state in the vertical direction through the parallelogram structure, and the shock absorption of the AGV rudder wheel in the driving process is realized.
4. The novel AGV steering wheel double-link damping device of claim 2, wherein: the connecting rod a is hinged with the fixed seat, the damping type spring shock absorber and the connecting rod c through bearings respectively; the connecting rod b is hinged with the fixed seat and the connecting rod c through bearings respectively; and the connecting rod c and the damping type spring shock absorber are hinged with the upper top plate through bearings respectively.
5. The novel AGV steering wheel double-link damping device of claim 1, wherein: the AGV steering wheel comprises a vehicle body, wheels, a driving motor for driving the wheels to move, a steering mechanism and brakes arranged on the wheels; the driving motor is arranged on the vehicle body and connected with the wheels; the steering mechanism is connected with the vehicle body to drive the vehicle body to steer; the mounting bracket is connected with the vehicle body and is arranged at the upper end of the vehicle body.
6. The novel AGV steering wheel double-link damping device of claim 5, wherein: the steering mechanism comprises a steering motor, a steering pinion and a steering bull gear; the steering motor is connected with the steering pinion; the steering large gear is coaxially connected with the vehicle body and is meshed with the steering small gear.
7. The novel AGV steering wheel double-link damping device of claim 6, wherein: the AGV steering wheel control system further comprises an encoder and an encoder gear, wherein the encoder and the encoder gear are used for feeding back the motion information of the AGV steering wheel; the encoder gear is meshed with the steering gear wheel and is connected with the encoder.
CN201921734657.5U 2019-10-16 2019-10-16 Novel AGV steering wheel double-link damping device Expired - Fee Related CN210941241U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201921734657.5U CN210941241U (en) 2019-10-16 2019-10-16 Novel AGV steering wheel double-link damping device

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Application Number Priority Date Filing Date Title
CN201921734657.5U CN210941241U (en) 2019-10-16 2019-10-16 Novel AGV steering wheel double-link damping device

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CN210941241U true CN210941241U (en) 2020-07-07

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110696580A (en) * 2019-10-16 2020-01-17 佛山科学技术学院 Novel AGV steering wheel double-link vibration damping method and device
CN111891017A (en) * 2020-07-29 2020-11-06 同济大学 Shock-proof type welding type following transfer robot system
CN114211923A (en) * 2021-11-01 2022-03-22 佛山科学技术学院 Self-adaptive suspended wheel type chassis of robot

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110696580A (en) * 2019-10-16 2020-01-17 佛山科学技术学院 Novel AGV steering wheel double-link vibration damping method and device
CN110696580B (en) * 2019-10-16 2024-06-25 佛山科学技术学院 Novel AGV steering wheel double-connecting-rod vibration reduction method and vibration reduction device
CN111891017A (en) * 2020-07-29 2020-11-06 同济大学 Shock-proof type welding type following transfer robot system
CN114211923A (en) * 2021-11-01 2022-03-22 佛山科学技术学院 Self-adaptive suspended wheel type chassis of robot

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