CN211493575U - A independently hang mechanism and heavy load AGV for AGV - Google Patents

Abstract

The utility model discloses an independently hang mechanism and heavy load AGV for AGV, include: a driving part, a shock absorber and a swing rod; the driving part is connected with the wheels through a transmission shaft; one end of the shock absorber is connected with the frame main body, and the other end of the shock absorber is hinged with one end of the swinging rod; the swing rod is sleeved on the transmission shaft and can rotate around the transmission shaft; the other end of the swinging rod is hinged with the frame main body; the included angle between the shock absorber and the horizontal plane is smaller than a set angle. The shock absorber of the utility model is arranged approximately horizontally, the frame main body does not need to extend above the driving unit any more, and compared with the vertical shock absorption design, the height of the frame main body is lower, and the structural rigidity is better; the horizontal arrangement of bumper shock absorber compares in vertical arrangement, and is the same and frame main part weight unanimous condition under spring rate coefficient, because the reduction of arm of force can produce bigger displacement in vertical direction, consequently can have better shock attenuation effect.

Description

A independently hang mechanism and heavy load AGV for AGV

Technical Field

The utility model relates to a heavy load AGV technical field especially relates to an independently hang mechanism and heavy load AGV for AGV.

Background

The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.

The AGV is widely applied automatic transportation equipment and has the advantages of high automation level, simplicity, convenience and flexibility in movement, wide application range and the like. The working efficiency can be improved in a plurality of fields, and even the human operation can be partially or completely replaced under certain conditions, so that the automation level of a production workshop can be improved, the human operation can be replaced under certain high-risk conditions, and the danger of manual operation is greatly reduced. A highly automatic and reliable AGV has become an essential tool for human production and life.

The suspension mechanism is a general term for all force transmission connecting devices between a frame main body and an axle or a wheel of an automobile, and has the functions of transmitting force and torque acting between the wheel and the frame main body, buffering impact force transmitted to the frame main body or an automobile body from an uneven road surface and attenuating vibration caused by the impact force so as to ensure that the automobile can run stably.

For a four-wheel mobile robot, according to the principle that three points determine a plane, when the uneven ground moves, one wheel always cannot be in complete contact with the ground, which brings great difficulty to motion control and can cause unstable motion of a frame body, in particular to a Mecanum wheel mobile robot. If one of the wheels does not contact the ground or slightly contacts the ground, the direction of movement will change, causing the robot to deviate from the intended path and causing a violent oscillation.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving the above problem, a independently hang mechanism and heavy load AGV for AGV is proposed, this mechanism simple structure, can adapt to the heavy load requirement, have better shock attenuation effect.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

an independent suspension mechanism for an AGV, comprising: a driving part, a shock absorber and a swing rod; the driving part is connected with the wheels through a transmission shaft; one end of the shock absorber is connected with the frame main body, and the other end of the shock absorber is hinged with the swinging rod; the swing rod is sleeved on the transmission shaft and can rotate around the transmission shaft; the other end of the swinging rod is hinged with the frame main body; shock absorber AGV is in the horizontality under the condition that bears the normal weight of frame main part.

Furthermore, a through hole for passing through the transmission shaft is formed in the middle of the swinging rod; and through holes for connecting the shock absorber and the frame main body are respectively formed at two ends of the swinging rod.

Further, the driving part includes: the device comprises a driving motor and a speed reducer connected with the driving motor; and the output end of the speed reducer is connected with the transmission shaft.

Furthermore, the wheel is sleeved on the transmission shaft, one side of the wheel is tightly propped against the end face of the transmission shaft through the adapter, and the other side of the wheel is fixed by the end cover.

Furthermore, the shock absorber is a spring damping shock absorber, the damping spring bears the weight of the frame main body, and the spring generates a pre-pressing stroke due to stress; through selecting the spring constant for spring pre-compaction stroke is greater than the road surface unevenness, and the spring is in compression state all the time, thereby guarantees that there is pressure, real-time contact all the time with ground in wheel.

In other embodiments, the following technical solutions are adopted:

a heavy-duty AGV comprising: the independent suspension mechanism described above.

Compared with the prior art, the beneficial effects of the utility model are that:

the suspension structure provided by the utility model has the advantages that due to the special-shaped design of the oscillating rod, the shock absorbers are arranged approximately horizontally, the frame main body does not need to extend above the driving unit any more, and compared with the vertical shock absorption design, the suspension structure can realize lower frame main body height and better structural rigidity; the horizontal arrangement of bumper shock absorber compares in vertical arrangement, and is the same and frame main part weight unanimous condition under spring rate coefficient, because the reduction of arm of force can produce bigger displacement in vertical direction, consequently can have better shock attenuation effect.

The suspension structure of the utility model adopts the spring damping shock absorber, thereby realizing faster vibration attenuation even under heavy load; the shaft sleeve embedded in the swinging rod is connected with the frame main body through the pin shaft, so that the verticality between the wheel surface and the ground in the up-and-down movement of the Mecanum and the strength of the structure under heavy load can be better ensured; simple structure, intensity are high, can be applied to the shock attenuation that hangs of heavy load, super low type AGV.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.

FIG. 1 is a schematic overall view of an independent suspension mechanism for a heavy AGV according to a first embodiment of the present invention;

fig. 2 is a detailed schematic view of an independent suspension mechanism in the first embodiment of the present invention;

fig. 3 is a schematic structural view of a swing lever according to a first embodiment of the present invention;

FIG. 4 is a schematic view illustrating a movement process of the oscillating rod and the damper according to a first embodiment of the present invention;

the electric bicycle comprises a motor 1, a speed reducer 2, a swinging rod 3, a shock absorber 4, a first pin shaft 5, a second pin shaft 6, a third pin shaft 7, a shaft sleeve 8, a transmission shaft 9, an adapter 10, a key 11, a fixed end cover 12, a bicycle frame main body 13 and a Mecanum wheel 14.

Detailed Description

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

It should be noted that unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly and include, for example, fixed or removable connections or integral connections; can be mechanically or electrically connected; the two elements may be directly connected or indirectly connected through an intermediate medium, or may be communicated with each other inside the two elements, or may be wirelessly connected or wired connected. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

Example one

In one or more embodiments, an independent suspension mechanism for an AGV is disclosed, with reference to fig. 1 and 2, comprising: the device comprises a driving motor 1, a speed reducer 2, a shock absorber 4 and a swing rod 3; the driving motor 1 is connected with the speed reducer 2; the output end of the speed reducer 2 is connected with a transmission shaft 9. The transmission shaft 9 is connected with the wheels; one end of the shock absorber 4 is connected with the frame main body 13, and the other end is hinged with one end of the swinging rod 3; the swing rod 3 is sleeved on the transmission shaft 9 and can rotate around the transmission shaft 9; the other end of the swing rod 3 is hinged with the frame main body 13.

In consideration of lowering the height of the frame body 13, the shock absorber 4 is in a horizontal state while bearing the normal weight of the frame body 13.

Structure of the oscillating rod 3 referring to fig. 3, a through hole for passing through the transmission shaft 9 is formed in the middle of the oscillating rod 3; and through holes for connecting the shock absorber 4 and the frame main body 13 are respectively arranged at two ends of the swinging rod 3.

In this embodiment, the oscillating lever 3 is designed like a triangle, and each corner of the triangle is smoothly designed. Of course, other shapes can be designed by those skilled in the art according to actual needs. As long as it can satisfy the connection relationship between the swing lever 3 and the shock absorber 4 and the frame body 13 when the shock absorber 4 disclosed in the present embodiment is in the horizontal state.

In the embodiment, the shock absorber 4 is a spring damping shock absorber 4, the shock absorber 4 is arranged approximately horizontally, the frame main body 13 does not need to extend above the driving unit any more, and compared with a vertical shock absorption design, the height of the frame main body 13 is lower, and the structural rigidity is better; the horizontal arrangement of the shock absorber 4, compared with the vertical arrangement, under the condition that the spring stiffness coefficient is the same and the weight of the frame main body 13 is the same, can generate larger displacement in the vertical direction due to the reduction of the moment arm, and therefore can have better shock absorption effect.

Referring to fig. 2, the motor 1 is connected to the reduction gear 2 by screws, and the reduction gear 2 is connected to the swing lever 3 by screws. A shaft sleeve 8 is embedded on one side of the swinging rod 3 and is connected with the frame main body 13 through a first pin shaft 5, and a hole is formed in one side of the first pin shaft 5 and can be fixed on the frame main body 13 through a screw to prevent the swinging rod from rotating or falling off; the other side of the swing rod 3 is connected with one side of the shock absorber 4 through a second pin shaft 6, and the other side of the shock absorber 4 is connected with the frame main body 13 through a third pin shaft 7. The output end of the speed reducer 2 is provided with a transmission shaft 9 connected with the speed reducer, and the transmission shaft 9 is sleeved with a Mecanum wheel 14 which is driven by a key 11. An adapter 10 is designed between the Mecanum wheel 14 and the transmission shaft 9 to avoid direct contact between the end of the screw connecting the transmission shaft 9 and the reducer 2 and the end face of the Mecanum wheel 14. The other side of the Mecanum wheel 14 is locked onto the drive shaft 9 by screws using a fixed end cap 12.

FIG. 4 is a schematic diagram showing the movement of the swing lever 3 and the spring damper when the vehicle body moves; the swing of the swing rod 3 can drive the spring damper to stretch. When the wheels are in contact with the ground, the swinging rod 3 rotates around the first pin shaft 5 under the action of the self weight of the vehicle body, and the spring damper is compressed. When the wheel moves on uneven road, the wheel can still contact with the ground in real time due to the reaction of the spring.

In this embodiment, the damping spring bears the weight of the frame body 13, and the spring generates a pre-pressure stroke due to the stress. Through selecting reasonable spring constant, design pre-compaction stroke is greater than the road surface unevenness for the spring is in compression state all the time, thereby guarantees that wheel and ground have pressure all the time, real-time contact.

It should be noted that the suspension structure of the present invention can also be used for suspension damping of other non-Mecanum wheels, such as a steering wheel or a common friction wheel. Under the condition that a single shock absorber cannot meet the use requirement, two shock absorbers can be designed to be adopted in parallel to improve the shock absorption effect.

In other embodiments, a heavy-duty AGV is disclosed that includes the independent suspension mechanism described above.

Although the present invention has been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without inventive work are still within the scope of the present invention.

Claims (6)

1. An independent suspension mechanism for an AGV, comprising: a driving part, a shock absorber and a swing rod; the driving part is connected with the wheels through a transmission shaft; one end of the shock absorber is connected with the frame main body, and the other end of the shock absorber is hinged with the swinging rod; the swing rod is sleeved on the transmission shaft and can rotate around the transmission shaft; the other end of the swinging rod is hinged with the frame main body; shock absorber AGV is in the horizontality under the condition that bears the normal weight of frame main part.

2. An independent suspension for an AGV according to claim 1 wherein the swing lever has a through hole at an intermediate position for passing through the drive shaft; and through holes for connecting the shock absorber and the frame main body are respectively formed at two ends of the swinging rod.

3. An independent suspension mechanism for an AGV according to claim 1 wherein said drive includes: the device comprises a driving motor and a speed reducer connected with the driving motor; and the output end of the speed reducer is connected with the transmission shaft.

4. An independent suspension for an AGV according to claim 1 wherein the wheels are mounted around the drive shaft with one side of the wheels abutting against the end of the drive shaft through an adapter and the other side being secured by an end cap.

5. An independent suspension mechanism for an AGV according to claim 1 wherein the shock absorber is a spring-damped shock absorber, the shock absorbing spring bearing the weight of the frame body, the spring being forced to provide a preload stroke; through selecting the spring constant for spring pre-compaction stroke is greater than the road surface unevenness, and the spring is in compression state all the time, thereby guarantees that there is pressure, real-time contact all the time with ground in wheel.

6. A heavy-duty AGV characterized by comprising: an independent suspension for an AGV according to any one of claims 1 to 5.

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