CN216610777U

CN216610777U - Self-adaptation suspension and AGV vehicle

Info

Publication number: CN216610777U
Application number: CN202123438496.5U
Authority: CN
Inventors: 张超; 杨金龙; 张越
Original assignee: Sany Robot Technology Co Ltd
Current assignee: Sany Robot Technology Co Ltd
Priority date: 2021-12-31
Filing date: 2021-12-31
Publication date: 2022-05-27
Anticipated expiration: 2031-12-31

Abstract

The utility model provides a self-adaptive suspension system and an AGV vehicle, and relates to the technical field of vehicles. The self-adaptive suspension system comprises wheels and a pressure adjusting device arranged above the wheels; the pressure adjusting device comprises an adjusting cylinder, a cylinder body of the adjusting cylinder is fixed on a frame of the vehicle, and a push rod of the adjusting cylinder is connected with the wheel; the device comprises a plurality of wheels, pressure adjusting devices are arranged above at least part of the wheels, rodless cavities of adjusting cylinders of the pressure adjusting devices are connected in parallel through connecting pipelines and then communicated with an input pipeline for providing media, and a one-way circulation structure is arranged on the input pipeline. The utility model solves the problems of complex structure and control system, more parts, more pipelines, high cost and difficult maintenance of the damping leveling device in the prior art, has simple structure, timely feedback, high leveling efficiency of the vehicle, no complex control system, fewer parts and simple oil circuit, greatly reduces the cost of a suspension system and is convenient to maintain.

Description

Self-adaptation suspension and AGV vehicle

Technical Field

The utility model relates to the technical field of vehicles, in particular to a self-adaptive suspension system and an AGV.

Background

The swing beam is used as an important frame leveling structure of the AGV and applied to most AGV bodies, but the AGV bodies are various in modeling structure, so that some vehicle types are not suitable for mounting the swing beam. The prior art has the shock absorption leveling device of the vehicle, but has the problems of complex structure, more parts, more connecting pipelines, complex oil circuit control system, high cost and difficult maintenance.

SUMMERY OF THE UTILITY MODEL

Therefore, the technical problem to be solved by the utility model is to overcome the defects of complex structure and control system, more parts, more oil ways, high cost and difficult maintenance of the damping leveling device in the prior art, so that the self-adaptive suspension system and the AGV vehicle are provided.

In order to solve the above problems, an aspect of the present invention provides an adaptive suspension system including a wheel and a pressure adjusting device provided above the wheel; the pressure adjusting device comprises an adjusting cylinder, a cylinder body of the adjusting cylinder is fixed on a frame of the vehicle, and a push rod of the adjusting cylinder is connected with the wheels; the device comprises a plurality of wheels, pressure adjusting devices are arranged above at least part of the wheels, rodless cavities of adjusting cylinders of the pressure adjusting devices are connected in parallel through connecting pipelines and then communicated with an input pipeline for providing media, and a one-way circulation structure is arranged on the input pipeline.

Optionally, the adjusting cylinder includes a hydraulic cylinder or an air cylinder, and the push rod is a piston rod.

Optionally, the one-way flow arrangement comprises a one-way valve.

Optionally, one end of the input pipeline is connected with the connecting pipeline, the other end of the input pipeline is connected with the oil tank through the motor and the hydraulic pump, and the one-way valve is arranged on the input pipeline between the connecting pipeline and the hydraulic pump.

Optionally, the input pipeline is further connected with an overflow valve, and an oil return port of the overflow valve is connected with the oil tank through an oil return pipeline.

Alternatively, the rodless chambers of the adjustment cylinders on the two wheels on the same side communicate with each other.

Optionally, the check valve is disposed proximate an oil inlet of the rodless cavity of the adjustment cylinder.

Optionally, the pressure adjusting device is fixedly connected with the frame through a mounting plate.

Alternatively, the axis of the push rod is arranged in line with the center of rotation of the wheel.

Another aspect of the present invention provides an AGV vehicle including an adaptive suspension system according to any one of the previous claims.

The utility model has the following advantages:

1. by utilizing the technical scheme of the utility model, the rodless cavities of the adjusting cylinders on the wheels are mutually communicated, so that when a vehicle runs on an uneven road surface, the wheel on one side with a high road surface moves upwards to push the push rod of the adjusting cylinder above the wheel, the push rod extrudes a medium in the rodless cavity of the adjusting cylinder, the medium flows to the rodless cavity of the adjusting cylinder above the wheel on one side with a low road surface, the push rod of the adjusting rod on the side extends to compensate the height difference between the two wheels, and therefore, the automatic leveling between the wheels is realized. The self-adaptation suspension system does not have complicated control system, adjusts the interior medium of jar and communicates each other for the vehicle can the road surface of self-adaptation unevenness, the balance of automatically regulated vehicle, simultaneously, the push rod of adjusting the jar promotes the removal of medium, makes the impact force that the vehicle jolted and bring can be absorbed to the medium of no pole intracavity, thereby plays the cushioning effect to the vehicle, improves vehicle suspension system's shock attenuation effect. The utility model has simple structure, no need of additional control system, few parts, simple oil circuit, greatly reduced cost of the suspension system and convenient maintenance.

2. Adopt pneumatic cylinder or cylinder, its simple structure, the operation is reliable to the space demand is low, makes the space obtain abundant and effectual utilization.

3. The input pipeline is provided with a one-way valve, so that media in rodless cavities of a plurality of mutually communicated adjusting cylinders can mutually circulate without reversely flowing out, and the self-adaptive leveling of the vehicle is realized.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 shows a schematic structural diagram of an adaptive suspension system provided by the present invention.

Description of reference numerals:

1. a wheel; 2. an adjusting cylinder; 21. a cylinder body; 22. a push rod; 23. a rodless cavity; 3. a one-way valve; 4. connecting a pipeline; 5. an input pipeline; 6. and (7) mounting the plate.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but 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 thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; 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 meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

The utility model mainly solves the problems of complex structure and control system, more parts, more oil ways, high cost and difficult maintenance of the damping leveling device in the prior art, and mainly solves the problems by a technical means of mutually communicating rodless cavities 23 of adjusting cylinders 2 on wheels 1, so that the ascending or descending action of the wheels 1 caused by uneven road surface is converted into the up-and-down pushing and pulling action of push rods 22 of the adjusting cylinders 2, the push rods 22 of the adjusting cylinders 2 on the side with high road surface are shortened, the push rods 22 of the adjusting cylinders 2 on the side with low road surface are extended, the height difference between the wheels 1 is compensated, and the automatic leveling of the vehicle is realized.

For convenience of describing the technical scheme of the present invention, the following detailed description is provided in conjunction with the accompanying drawings and specific embodiments, but the embodiments should not be construed as limiting the present invention.

Example 1

An adaptive suspension system, referring to fig. 1, includes a wheel 1 and a pressure adjusting device disposed above the wheel 1; the pressure adjusting device comprises an adjusting cylinder 2, a cylinder body 21 of the adjusting cylinder 2 is fixed on a frame of a vehicle, and a push rod 22 of the adjusting cylinder 2 is connected with a wheel 1; the device comprises a plurality of wheels 1, wherein pressure adjusting devices are arranged above at least part of the wheels 1, rodless cavities 23 of adjusting cylinders 2 of the pressure adjusting devices are connected in parallel through connecting pipelines 4 and then communicated with an input pipeline 5 for providing media, and a one-way circulation structure is arranged on the input pipeline 5.

By utilizing the technical scheme of the utility model, the rodless cavities 23 of the adjusting cylinders 2 on the wheels 1 are mutually communicated, so that when a vehicle runs on an uneven road surface, the wheels 1 on the side with a high road surface move upwards to push the push rods 22 of the adjusting cylinders 2 above the wheels 1, the push rods 22 extrude media in the rodless cavities 23 of the adjusting cylinders 2 to flow into the rodless cavities 23 of the adjusting cylinders 2 above the wheels 1 on the side with a low road surface, the push rods 22 of the adjusting rods 2 on the side extend to compensate the height difference between the two wheels 1, and thus, the automatic leveling between the wheels 1 is realized, and meanwhile, the push rods 22 of the adjusting cylinders 2 are directly connected with the wheels 1, the structure is simple, the feedback is timely, and the leveling efficiency of the vehicle is high. The self-adaptation suspension system does not have complicated control system, and the medium intercommunication each other in the adjusting cylinder 2 for the vehicle can the road surface of self-adaptation unevenness, the balance of automatically regulated vehicle, and simultaneously, the push rod 22 of adjusting cylinder 2 promotes the removal of medium, makes the medium in the rodless chamber 23 can absorb the impact force that the vehicle jolted and brought, thereby plays the cushioning effect to the vehicle, improves vehicle suspension system's shock attenuation effect. The utility model has simple structure, no need of additional control system, few parts, simple oil circuit, greatly reduced cost of the suspension system and convenient maintenance.

Specifically, referring to fig. 1, in the present embodiment, the adjusting cylinder 2 is a hydraulic cylinder, and the push rod 22 of the adjusting cylinder 2 is a piston rod of the hydraulic cylinder. The hydraulic cylinder has the characteristics of stable work, quick response, small impact and simple structure, and has low space requirement, so that the space can be fully and effectively utilized. Of course, as an alternative embodiment of the present embodiment, the adjusting cylinder 2 may also be a pneumatic cylinder.

Taking the AGV vehicle as an example, in this embodiment, the AGV vehicle has four wheels at the front, rear, left and right, and each wheel is provided with a pressure adjusting device. Specifically, the hydraulic cylinders are fixedly arranged on the frame above the wheels 1 through the mounting plates 6, and the push rod 22 of each hydraulic cylinder is arranged vertically downwards and connected with the wheels 1. Further, in the present embodiment, the axis of the piston rod of the hydraulic cylinder is arranged in line with the rotation center of the wheel 1. Like this, AGV vehicle is at the in-process of marcing, meets uneven road surface, and the jolt about the wheel 1 of AGV vehicle can be more direct transmit the piston rod on, and the difference in height between the wheel is directly compensated to the stroke of the concertina movement of piston rod for self-adaptation suspension's leveling efficiency is higher, and leveling effect is better.

Among the four wheels of an AGV vehicle, the rodless chambers 23 of the hydraulic cylinders above at least two wheels communicate with each other. In this embodiment, the rodless chambers 23 of the hydraulic cylinders on the two wheels 1 on the same side communicate with each other. Here, the two wheels 1 on the same side may be front and rear wheels 1 of the AGV vehicle on the same side, or left and right wheels 1 of the AGV vehicle on the front side. That is, four hydraulic cylinders above the four wheels of the AGV vehicle are in communication in groups of two. The rodless cavities 23 of the two hydraulic cylinders in the first group are communicated through a first connecting pipeline 4, the rodless cavities 23 of the two hydraulic cylinders in the second group are communicated through a second connecting pipeline 4, the first connecting pipeline 4 is communicated with the input pipeline 5 through a first one-way valve, and the second connecting pipeline 4 is communicated with the input pipeline 5 through a second one-way valve. Of course, as an alternative embodiment, the rodless cavities 23 of the hydraulic cylinders above the four wheels of the AGV vehicle may be in communication with each other.

Specifically, the one-way flow structure is a structure that flows in one direction toward the rodless chamber 23 of the hydraulic cylinder, and the one-way valve 3 is selected in this embodiment. Of course, other flow structures having the same one-way conduction function as the one-way valve 3 may be adopted, and the one-way valve 3 is only used as an example here, and the other structures are not limited.

Specifically, the check valve 3 is arranged close to an oil inlet of a rodless cavity 23 of the hydraulic cylinder. Therefore, the hydraulic oil between the rodless cavities 23 of the mutually communicated hydraulic cylinders can enable most of the hydraulic oil to be directly pressed into the rodless cavity 23 of the other hydraulic cylinder in the pushing process, and the leveling efficiency of the self-adaptive suspension system is improved.

Specifically, one end of an input pipeline 5 is connected with a connecting pipeline 4, the other end of the input pipeline is connected with an oil tank through a motor and a hydraulic pump, and the one-way valve 3 is arranged on the input pipeline 5 between the connecting pipeline 4 and the hydraulic pump. The motor provides power for the hydraulic pump, the hydraulic pump pumps out the hydraulic oil in the oil tank, the hydraulic oil flows into the connecting pipeline 4 through the input pipeline 5 and the one-way valve 3, and the hydraulic oil is filled into the rodless cavity 23 of the communicated hydraulic cylinder through the connecting pipeline 4.

Furthermore, the input pipeline 5 is also connected with an overflow valve, and an oil return port of the overflow valve is connected with an oil tank through an oil return pipeline.

Example 2

An AGV vehicle comprising an adaptive suspension system as described in embodiment 1.

According to the above description, the present patent application has the following advantages:

1. simple structure, no complex control system, few parts, simple oil circuit, greatly reduced cost of the suspension system, and convenient maintenance

2. The leveling device can be automatically adjusted and automatically adapt to unevenness of a road surface, feedback is timely, and leveling efficiency is high;

3. the damping device has a damping effect on jolting of the vehicle, and the damping effect of a vehicle suspension system is improved.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the utility model.

Claims

1. An adaptive suspension system, characterized by comprising a wheel (1) and a pressure regulating device arranged above the wheel (1); wherein the pressure adjusting device includes:

the adjusting device comprises an adjusting cylinder (2), wherein a cylinder body (21) of the adjusting cylinder (2) is fixed on a frame of a vehicle, and a push rod (22) of the adjusting cylinder (2) is connected with the wheel (1);

the device comprises a plurality of wheels (1), wherein at least part of the wheels (1) are provided with pressure adjusting devices, rodless cavities (23) of adjusting cylinders (2) of the pressure adjusting devices are connected in parallel through connecting pipelines (4) and then communicated with an input pipeline (5) for providing media, and the input pipeline (5) is provided with a one-way circulation structure.

2. An adaptive suspension system according to claim 1, characterized in that the adjusting cylinder (2) comprises a hydraulic or pneumatic cylinder and the push rod (22) is a piston rod.

3. An adaptive suspension system according to claim 1, characterized in that the one-way flow structure comprises a one-way valve (3).

4. An adaptive suspension system according to claim 3, characterized in that the input line (5) is connected at one end to the connecting line (4) and at the other end to a tank via an electric motor and a hydraulic pump, the non-return valve (3) being provided on the input line (5) between the connecting line (4) and the hydraulic pump.

5. The adaptive suspension system according to claim 4, wherein an overflow valve is further connected to the input pipeline (5), and an oil return port of the overflow valve is connected with the oil tank through an oil return pipeline.

6. An adaptive suspension system according to any one of claims 1-5, characterized in that there is communication between the rodless chambers (23) of the adjusting cylinders (2) on both wheels (1) on the same side.

7. An adaptive suspension system according to claim 3, characterized in that the non-return valve (3) is arranged close to the oil inlet of the rodless cavity (23) of the adjusting cylinder (2).

8. An adaptive suspension system according to any one of claims 1-5, characterized in that the pressure regulating device is fixedly connected to the frame by means of a mounting plate (6).

9. An adaptive suspension system according to any one of claims 1-5, characterized in that the axis of the push rod (22) is arranged in line with the centre of rotation of the wheel (1).

10. An AGV vehicle comprising an adaptive suspension system according to any one of claims 1-9.