CN214084525U - Suspension driving structure of heavy-load AGV - Google Patents

Abstract

The utility model provides a heavy load AGV's suspension drive structure, including forerunner's assembly and rear-guard assembly, the forerunner's assembly includes first drive unit and second drive unit, the rear-guard assembly includes that third drive unit, fourth drive unit and rear-guard hang, the equal fixed connection in first drive unit upper end and second drive unit upper end is to the automobile body lower extreme, the rear-guard hangs the first mounted beam that cup joints including first deflection axle and periphery thereof, the lower extreme of the equal fixed cover of both ends of first deflection axle to the automobile body, third drive unit and fourth drive unit are installed respectively to the both ends of first mounted beam, first drive unit, second drive unit, third drive unit, fourth drive unit all are parallel arrangement each other and equal signal connection to AGV's controller. Heavy load AGV hang drive structure, the setting up of first hanging beam and second hanging beam has ensured the height transform of every runner to this ensures that AGV fork truck has good land fertility of grabbing on the road surface of height fluctuation.

Description

Suspension driving structure of heavy-load AGV

Technical Field

The utility model belongs to AGV fork truck field especially relates to a heavy load AGV's suspension drive structure.

Background

AGV fork truck is emerging automatic warehouse handling instrument in recent years, can realize unmanned goods fork and get, transport, pile up functions such as high, put things in good order, because of fork truck's load is great, need great turning radius can accomplish the instruction of turning, if turning radius undersize runner and road surface all can produce the sex because of torsion, the life of product has been reduced, and after fork truck loads, when meetting the condition of road surface unevenness, rigid lower wall can lead to there being one side drive wheel perk, and can not be fine ground of grabbing, and so cause easily and tumble or turn rapidly, caused very big potential safety hazard.

Disclosure of Invention

In view of this, the utility model aims at providing a heavy load AGV's suspension drive structure to solve the big and not firm problem of drive wheel ground of fork truck turning radius.

In order to achieve the above purpose, the technical scheme of the utility model is realized like this:

the utility model provides a heavy load AGV's suspension drive structure, includes forerunner's assembly and rear-guard assembly, the forerunner's assembly includes first drive unit and second drive unit, the rear-guard assembly includes that third drive unit, fourth drive unit and rear-guard hang, and equal fixed connection in first drive unit upper end and second drive unit upper end is to the automobile body lower extreme, and the rear-guard hangs the first mounted beam that cup joints including first deflection shaft and periphery thereof, and the both ends of first deflection shaft are all fixed the cover and are connected to the lower extreme of automobile body, and third drive unit and fourth drive unit are installed respectively to the both ends of first mounted beam, and first drive unit, second drive unit, third drive unit, fourth drive unit are all parallel arrangement each other and equal signal connection to AGV's controller.

Furthermore, the first driving unit, the second driving unit, the third driving unit and the fourth driving unit have the same structure, the third driving unit comprises a turntable bearing and a first support plate, the upper end of the outer ring of the turntable bearing is fixedly connected to one end of the first suspension beam, the lower end of the inner ring of the turntable bearing is fixedly connected to the upper end of the first support plate, the two second support plates which are arranged in parallel are installed at the lower end of the first support plate, the two ends of the second deflection shaft are fixedly sleeved on the two first support plates respectively, the cross section of the second suspension beam is of an inverted U-shaped structure, the upper end of the second suspension beam is sleeved on the periphery of the second deflection shaft, the first driving module and the second driving module are installed on two side walls of the second suspension beam respectively, and the first driving module and the second driving module are symmetrically arranged.

Further, first drive module and second drive module's structure is the same, and first drive module includes gear motor, axle sleeve seat and runner, the peripheral fixed connection of gear motor to the one end of axle sleeve seat, the other end fixed connection of axle sleeve seat to the lateral wall of second mounted beam, gear motor's transmission shaft is fixed the cover after passing axle sleeve seat and the lateral wall of second mounted beam in proper order and is connected to the middle part of runner, gear motor and axle sleeve seat all are located the inside of second mounted beam, gear motor signal connection to AGV's controller.

Further, the axle sleeve seat includes casing and internally mounted distance ring, first bearing, the second bearing, first skeleton oil blanket and second skeleton oil blanket, the peripheral fixed connection of gear motor to the one end of casing, the other end fixed connection of casing to the lateral wall of second mounted beam, distance ring is cup jointed respectively to gear motor's transmission shaft periphery, first bearing, the second bearing, first skeleton oil blanket and second skeleton oil blanket, distance ring both ends contact respectively and are connected to the one end of first bearing, the one end of second bearing, first skeleton oil blanket is installed to the other end of first bearing, second skeleton oil blanket is installed to the other end that the second was taken out, and first bearing periphery and second bearing periphery cup joint respectively to the inner wall of casing.

Further, first drive module still includes gear box and inside first gear, second gear and the gear shaft that sets up, gear motor's peripheral fixed connection to one side of gear box, the one end fixed connection of axle sleeve seat to the opposite side of gear box, and the inside cup jointing of axle sleeve seat the gear shaft, the fixed cover of one end of gear shaft connects to the runner middle part, the second gear of other end installation of gear shaft, gear motor's transmission shaft cup joints first gear, first gear and second gear intermeshing.

Compared with the prior art, heavy load AGV's suspension drive structure have following advantage:

(1) heavy load AGV hang drive structure, the setting up of first hanging beam and second hanging beam has ensured the height transform of every runner to this ensures that AGV fork truck has good land fertility of grabbing on the road surface of height fluctuation.

(2) Heavy load AGV's suspension drive structure, two sets of drive module's setting has ensured that every drive unit all can rotate through the differential, does not need turning radius, but the turn is realized in situ, and can not lead to the fact the damage to runner and road surface.

Drawings

The accompanying drawings, which form a part hereof, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without undue limitation. In the drawings:

FIG. 1 is a bottom view of a heavy AGV according to an embodiment of the present invention mounted to a vehicle body;

fig. 2 is a schematic structural diagram of a rear drive assembly according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a third driving unit according to an embodiment of the present invention;

fig. 4 is a schematic structural view of a shaft sleeve seat according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a first driving module according to an embodiment of the present invention.

Description of reference numerals:

1-a vehicle body; 2-a third drive unit; 21-a turntable bearing; 22-a first plate; 23-a second plate; 24-a second suspension beam; 25-a second yaw axis; 26-a first drive module; 261-a reduction motor; 262-a rotating wheel; 263-shaft sleeve seat; 2631-a housing; 2632-distance ring; 2633-first backbone oil seal; 2634 — a first bearing; 2635-a second bearing; 2636-second backbone oil seal; 264-gear box; 27-a second drive module; 3-a fourth drive unit; 4-a first drive unit; 5-a second drive unit; 6, rear drive suspension; 61-a first axis of deflection; 62-first suspension beam.

Detailed Description

It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

As shown in fig. 1-5, the suspension driving structure of heavy-duty AGV includes a front drive assembly and a rear drive assembly, the front drive assembly includes a first driving unit 4 and a second driving unit 5, the rear drive assembly includes a third driving unit 2, a fourth driving unit 3 and a rear drive suspension 6, the upper end of the first driving unit 4 and the upper end of the second driving unit 5 are both fixedly connected to the lower end of the vehicle body 1, the rear drive suspension 6 includes a first deflection shaft 61 and a first suspension beam 62 sleeved on the periphery thereof, both ends of the first deflection shaft 61 are both fixedly sleeved to the lower end of the vehicle body 1, both ends of the first suspension beam 62 are respectively provided with the third driving unit 2 and the fourth driving unit 3, and the first driving unit 4, the second driving unit 5, the third driving unit 2 and the fourth driving unit 3 are all arranged in parallel to each other and are all signal-connected to the controller of the AGV.

The first driving unit 4, the second driving unit 5, the third driving unit 2 and the fourth driving unit 3 have the same structure, the third driving unit 2 comprises a turntable bearing 21, a first supporting plate 22, a second supporting plate 23, a second suspension beam 24, a second deflection shaft 25, a first driving module 26 and a second driving module 27, the upper end of the outer ring of the turntable bearing 21 is fixedly connected to one end of a first suspension beam 62, the lower end of the inner ring of the turntable bearing 21 is fixedly connected to the upper end of the first supporting plate 22, the lower end of the first supporting plate 22 is provided with two second supporting plates 23 which are arranged in parallel, the two ends of the second deflection shaft 25 are respectively connected to the two first supporting plates 22 of the fixed sleeve, the cross section of the second suspension beam 24 is of an inverted U-shaped structure, the upper end of the second suspension beam 24 is sleeved to the periphery of the second deflection shaft 25, the two side walls of the second suspension beam 24 are respectively provided with the first driving module 26 and the second driving module 27, the first driving module 26 and the second driving module 27 are symmetrically arranged with each other, and the arrangement of the first suspension beam and the second suspension beam ensures the height change of each rotating wheel, so as to ensure that the AGV forklift has good gripping force on a rugged road surface.

The first driving module 26 and the second driving module 27 have the same structure, the first driving module 26 includes a speed reducing motor 261, a sleeve seat 263 and a rotating wheel 262, the type of the speed reducing motor 261 is SMH80, the periphery of the speed reducing motor 261 is fixedly connected to one end of the sleeve seat 263, the other end of the sleeve seat 263 is fixedly connected to the side wall of the second suspension beam 24, the transmission shaft of the speed reducing motor 261 sequentially penetrates through the sleeve seat 263 and the side wall of the second suspension beam 24 and then is fixedly connected to the middle part of the rotating wheel 262, the speed reducing motor 261 and the sleeve seat 263 are both located inside the second suspension beam 24, the speed reducing motor 261 is in signal connection with a controller of the AGV, and the arrangement of the two sets of driving modules ensures that each driving unit can rotate through differential speed, does not need a turning radius, can realize turning in situ, and does not damage the rotating wheel and the road surface.

The shaft sleeve seat 263 includes a housing 2631 and a distance ring 2632, a first bearing 2634, a second bearing 2635, a first framework oil seal 2633 and a second framework oil seal 2636 mounted inside the housing 2631, the periphery of the speed reducing motor 261 is fixedly connected to one end of the housing 2631, the other end of the housing 2631 is fixedly connected to a side wall of the second suspension beam 24, the periphery of the transmission shaft of the speed reducing motor 261 is respectively sleeved with the distance ring 2632, the first bearing 2634, the second bearing 2635, the first framework oil seal 2633 and the second framework oil seal 2636, two ends of the distance ring 2632 are respectively contacted and connected to one end of the first bearing 2634 and one end of the second bearing 2635, the other end of the first bearing 2634 is provided with the first framework oil seal 2633, the other end of the second extraction is provided with the second framework oil seal 2636, and the periphery of the first bearing 2634 and the periphery of the second bearing 2635 are respectively sleeved and connected to an inner wall of the housing 2631, the first bearing 2634 and the second bearing 2635 which are arranged on left and right are used in pairs, due to the axial force of the running and twisting of the runner, a distance ring 2632 is added between the first bearing 2634 and the second bearing 2635 to increase the distance shaft, and the distance ring 2632 mainly plays a role in compensating for the tolerance, so that the problem of the positioning accuracy of the first bearing 2634 and the second bearing 2635 is solved.

The first driving module 26 further includes a gear box 264, and a first gear, a second gear and a gear shaft which are arranged inside the gear box 264, the periphery of the speed reducing motor 261 is fixedly connected to one side of the gear box 264, one end of the shaft sleeve seat 263 is fixedly connected to the other side of the gear box 264, the gear shaft is sleeved inside the shaft sleeve seat 263, one end of the gear shaft is fixedly sleeved to the middle of the rotating wheel 262, the second gear is installed at the other end of the gear shaft, a transmission shaft of the speed reducing motor 261 is sleeved to the first gear, and the first gear and the second gear are meshed with each other, so that the use space of the second suspension beam 24 is effectively utilized, and it is ensured that the two rotating wheels 262 are located on a coaxial line, it is ensured that the rotating wheel bearing 21 rotates during differential turning, the rotating wheels 262 and the local torsion are reduced, it is ensured that the ground is not damaged, and the service life of the rotating wheels 262 is ensured.

The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (5)

1. Heavy load AGV's suspension drive structure, its characterized in that: comprises a front drive assembly and a rear drive assembly, the front drive assembly comprises a first drive unit (4) and a second drive unit (5), the rear-drive assembly comprises a third driving unit (2), a fourth driving unit (3) and a rear-drive suspension (6), the upper end of the first driving unit (4) and the upper end of the second driving unit (5) are fixedly connected to the lower end of the vehicle body (1), the rear-drive suspension (6) comprises a first deflection shaft (61) and a first suspension beam (62) sleeved on the periphery of the first deflection shaft, the two ends of the first deflection shaft (61) are fixedly sleeved to the lower end of the vehicle body (1), the two ends of the first suspension beam (62) are respectively provided with the third driving unit (2) and the fourth driving unit (3), the first driving unit (4), the second driving unit (5), the third driving unit (2) and the fourth driving unit (3) are arranged in parallel to each other and are connected to the AGV controller through signals.

2. The suspension drive configuration for a heavy loaded AGV of claim 1 further characterized by: the structure of the first driving unit (4), the structure of the second driving unit (5), the structure of the third driving unit (2) and the structure of the fourth driving unit (3) are the same, the third driving unit (2) comprises a turntable bearing (21), a first support plate (22), a second support plate (23), a second suspension beam (24), a second deflection shaft (25), a first driving module (26) and a second driving module (27), the upper end of the outer ring of the turntable bearing (21) is fixedly connected to one end of the first suspension beam (62), the lower end of the inner ring of the turntable bearing (21) is fixedly connected to the upper end of the first support plate (22), the two second support plates (23) which are arranged in parallel are arranged at the lower end of the first support plate (22), the two ends of the second suspension shaft (25) are respectively and fixedly sleeved to the two first support plates (22), the cross section of the second suspension beam (24) is of an inverted U-shaped structure, and the upper end of the second suspension beam (24) is sleeved to the periphery of the second deflection shaft (25), and a first driving module (26) and a second driving module (27) are respectively arranged on two side walls of the second suspension beam (24), and the first driving module (26) and the second driving module (27) are symmetrically arranged.

3. The suspension drive configuration for a heavy loaded AGV of claim 2 further characterized by: the structure of the first driving module (26) is the same as that of the second driving module (27), the first driving module (26) comprises a speed reducing motor (261), a shaft sleeve seat (263) and a rotating wheel (262), the periphery of the speed reducing motor (261) is fixedly connected to one end of the shaft sleeve seat (263), the other end of the shaft sleeve seat (263) is fixedly connected to the side wall of the second suspension beam (24), a transmission shaft of the speed reducing motor (261) sequentially penetrates through the shaft sleeve seat (263) and the side wall of the second suspension beam (24) and then is fixedly sleeved to the middle of the rotating wheel (262), the speed reducing motor (261) and the shaft sleeve seat (263) are located inside the second suspension beam (24), and the speed reducing motor (261) is connected to a controller of the AGV in a signal mode.

4. The suspension drive configuration for a heavy loaded AGV of claim 3 wherein: the shaft sleeve seat (263) comprises a shell (2631) and a distance ring (2632), a first bearing (2634), a second bearing (2635), a first framework oil seal (2633) and a second framework oil seal (2636) which are arranged in the shell, the periphery of a speed reducing motor (261) is fixedly connected to one end of the shell (2631), the other end of the shell (2631) is fixedly connected to the side wall of the second suspension beam (24), the periphery of a transmission shaft of the speed reducing motor (261) is respectively sleeved with the distance ring (2632), the first bearing (2634), the second bearing (2635), the first framework oil seal (2633) and the second framework oil seal (2636), two ends of the distance ring (2632) are respectively in contact connection with one end of the first bearing (2634) and one end of the second bearing (2635), the first framework oil seal (2633) is arranged at the other end of the first bearing (2634), and the second framework oil seal (2636) is arranged at the other end extracted from the second framework, and the outer periphery of the first bearing (2634) and the outer periphery of the second bearing (2635) are respectively sleeved to the inner wall of the housing (2631).

5. The suspension drive configuration for a heavy loaded AGV of claim 4 wherein: first drive module (26) still includes gear box (264) and the inside first gear, second gear and the gear shaft that sets up of gear motor (261), and the peripheral fixed connection of gear motor (261) is to one side of gear box (264), and the one end fixed connection of axle sleeve seat (263) is to the opposite side of gear box (264), and the inside cup joint of axle sleeve seat (263 the gear shaft, the fixed cover of one end of gear shaft connects to runner (262) middle part, the other end installation second gear of gear shaft, the transmission shaft of gear motor (261) cup joints first gear, first gear and second gear intermeshing.

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