CN216835721U - Self-interacting formula hangs and AGV dolly - Google Patents
Self-interacting formula hangs and AGV dolly Download PDFInfo
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- CN216835721U CN216835721U CN202220485722.0U CN202220485722U CN216835721U CN 216835721 U CN216835721 U CN 216835721U CN 202220485722 U CN202220485722 U CN 202220485722U CN 216835721 U CN216835721 U CN 216835721U
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- 230000005540 biological transmission Effects 0.000 claims abstract description 31
- 230000001360 synchronised effect Effects 0.000 claims abstract description 28
- 239000000725 suspension Substances 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 6
- 230000000903 blocking effect Effects 0.000 claims description 4
- 230000006978 adaptation Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005571 horizontal transmission Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Abstract
The utility model provides a self-interacting formula hangs and AGV dolly relates to AGV dolly field. The utility model provides a self-interacting formula hangs includes fore-and-aft spring guide cylinder, spring guide cylinder overcoat is equipped with the spring, the lower extreme of spring is provided with the spring under bracing seat, the direction slide opening has been seted up to the centre of spring under bracing seat, the lower extreme of spring guide cylinder still is provided with the piece that is used for preventing the spring under bracing seat roll-off, the spring overcoat still has the swing ring of controlling, the preceding, back both ends of the swing ring of controlling rotate to be connected on the synchronous bottom plate of horizontally transmission, set up on the synchronous bottom plate of transmission and control the ring hole that sways that corresponds with the swing ring of controlling, the swing ring fixed connection is on the upper end of spring under bracing seat about, the left and right sides of the synchronous bottom plate of transmission is fixed with fore-and-aft swaying guiding axle respectively. The utility model discloses simple structure, the space is compact, can satisfy the nimble requirement of traditional AGV dolly, can avoid again controlling the wheel because of the road surface is uneven, leads to frictional force unbalanced, the phenomenon that appears skidding.
Description
Technical Field
The utility model relates to a AGV dolly field, in particular to self-interacting formula hangs and AGV dolly.
Background
An Automatic Guided Vehicle (AGV) is a transportation Vehicle equipped with an electromagnetic or optical Automatic guiding device, capable of traveling along a predetermined guiding path, having safety protection and various transfer functions, and requiring no driver's transportation Vehicle in industrial application, and using a rechargeable battery as its power source. The AGV is characterized by wheeled movement, and has the advantages of quick action, high working efficiency, simple structure, strong controllability, good safety and the like compared with walking, crawling or other non-wheeled mobile robots. However, the traveling driving structure of the existing AGV lacks a synchronous flexible connection device, and when the AGV passes through a rugged road, the differential structure is easy to slip, which seriously affects the accurate control of the traveling dynamics of the AGV, and causes the application range to be limited.
SUMMERY OF THE UTILITY MODEL
The utility model aims at overcoming the defect that above-mentioned prior art exists, providing a self-interacting formula hangs and AGV dolly, simple structure, the space is compact, can satisfy the nimble requirement of traditional AGV dolly, can avoid again controlling the wheel because of the road surface is uneven, leads to frictional force unbalanced, the phenomenon that appears skidding.
The technical scheme of the utility model is realized like this:
the utility model discloses at first, a self-interacting formula hangs, including fore-and-aft spring guide cylinder, the spring guide cylinder overcoat is equipped with the spring, the lower extreme of spring is provided with the spring under bracing seat that is used for supporting spring, the direction slide opening that the spring guide cylinder passes through is seted up to the centre of spring under bracing seat, the lower extreme of spring guide cylinder still is provided with the piece that is used for preventing spring under bracing seat roll-off spring guide cylinder, the spring still overlaps outward and has the swing ring of controlling, control before the swing ring, back both ends are rotated and are connected on the synchronous bottom plate of horizontally transmission, set up on the synchronous bottom plate of transmission and control the ring hole that sways that the swing ring corresponds, control swing ring fixed connection on the upper end of spring under bracing seat, the left and right sides of the synchronous bottom plate of transmission is fixed with fore-and-aft guide axle that sways respectively.
Furthermore, the upper end of the spring guide cylinder is fixedly connected with a first flange plate.
Furthermore, the lower spring supporting seat comprises a conical tube, a second flange is fixed at the upper end of the conical tube, and the second flange is fixedly connected with the left-right swinging ring through a second fixing bolt.
Further, the blocking piece comprises a shaft circlip, and the shaft circlip is fixed on the side surface of the lower end of the spring guide cylinder.
Furthermore, the front end and the rear end of the left and right swinging rings are fixed with rotating shafts, the rotating shafts are rotatably connected to the transmission synchronous bottom plate through rotating connecting pieces, each rotating connecting piece comprises an upper pressing block and a lower pressing block which are fixedly connected, a groove matched with the rotating shafts is formed in the middle of the upper end face of each lower pressing block, and the upper pressing block are fixed to the transmission synchronous bottom plate through a third fixing bolt.
The utility model also provides a AGV dolly, including the frame, still include above the self-interacting formula hang, spring guide cylinder's upper end is fixed in the middle of the bottom of frame, offers on the frame to be used for the cooperation to sway the guiding axle and slide from top to bottom and the swing groove of horizontal hunting, sways the guiding axle and is located the swing groove, the drive wheel is installed respectively to the left and right sides of the synchronous bottom plate of transmission.
Furthermore, an end cover with the diameter larger than the width of the swing groove is fixed at the upper end of the swing guide shaft.
Furthermore, a plurality of auxiliary wheels are arranged around the frame.
Furthermore, the frame is U-shaped, the front end and the rear end of the frame are fixedly connected with horizontal mounting plates, and auxiliary wheel mounting seats for mounting auxiliary wheels are fixed on the mounting plates.
Furthermore, the driving wheel is a differential driving wheel, the auxiliary wheel is a universal wheel, the auxiliary wheel mounting seat is an installation barrel with an opening at the lower end, the universal wheel is installed at the inner top of the installation barrel, and the lower end of the universal wheel extends out of the lower end of the installation barrel.
The utility model has the advantages that:
1. the utility model discloses a when using, install on the frame from the regulation formula, simple structure, the space is compact, can satisfy the nimble requirement of traditional AGV dolly, can avoid again controlling the wheel because of the road surface is uneven, leads to frictional force unbalanced, the phenomenon that appears skidding.
2. When the AGV of the utility model is used for a trolley, articles are loaded on the frame, under the gravity of the articles, the spring is compressed, the elastic force at the lower end of the spring is transmitted to the transmission synchronous bottom plate through the lower spring supporting seat and the left-right swinging ring in sequence and is finally transmitted to the driving wheel and the universal wheel, when the left and the right driving wheels pass through uneven road surfaces, the driving wheels drive the transmission synchronous bottom plate to swing left and right, but the left and the right swing rings are rotationally connected on the transmission synchronous bottom plate, so that the left and right swinging rings are still kept horizontal, and the vehicle frame is also kept horizontal through the lower spring supporting seat and the spring guide cylinder, but the elasticity of spring still through spring under bracing seat, control the synchronous bottom plate of rocking ring and transmission and transmit to the drive wheel on, make the drive wheel have sufficient self-adaptation holding down force, guarantee that frictional force is balanced on two drive wheels, the phenomenon of skidding can not appear, reached the slightly uneven place effect of adaptation.
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, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is an exploded view of example 1;
FIG. 2 is an exploded view of example 2;
FIG. 3 is an assembly view of embodiment 2.
In the figure: 1-universal wheel mounting seat, 2-end cover, 3-vehicle frame, 4-spring guide cylinder, 5-upper pressing block, 6-spring, 7-left and right swinging ring, 8-transmission synchronous bottom plate, 9-lower pressing block, 10-spring lower supporting seat, 11-blocking piece, 12-driving wheel, 13-auxiliary wheel, 14-guide sliding hole, 15-rotating shaft, 16-swinging ring hole, 17-swinging guide shaft, 18-swinging groove and 19-mounting plate.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Example 1
Referring to fig. 1, the embodiment provides a self-adjusting suspension, which includes a longitudinal spring guide cylinder 4, the upper end of the spring guide cylinder 4 is fixed on a vehicle frame 3, a spring 6 is sleeved outside the spring guide cylinder 4, a lower spring support seat 10 for supporting the spring 6 is arranged at the lower end of the spring 6, a guide slide hole 14 through which the spring guide cylinder passes is arranged in the middle of the lower spring support seat 10, a blocking member 11 for preventing the lower spring support seat 10 from sliding out of the spring guide cylinder 4 is further arranged at the lower end of the spring guide cylinder 4, a left and right rocking ring 7 is further sleeved outside the spring 6, the front and rear ends of the left and right rocking ring 7 are rotatably connected to a horizontal transmission synchronization bottom plate 8, a rocking ring hole 16 corresponding to the left and right rocking ring 7 is arranged on the transmission synchronization bottom plate 8, the left and right rocking ring 7 are fixedly connected to the upper end of the lower spring support seat 10, longitudinal rocking guide shafts 17 are respectively fixed at the left and right sides of the transmission synchronization bottom plate 8,
as a further embodiment, a first flange is fixedly connected to the upper end of the spring guide cylinder 4, and the flange is connected to the frame 3 through a first fixing bolt.
As a further embodiment, the lower spring support seat 10 includes a conical tube, and a second flange is fixed to an upper end of the conical tube, and the second flange is fixedly connected to the left and right swing ring 7 through a second fixing bolt. The minimum inner diameter of the conical tube is smaller than the outer diameter of the spring 6, so that the spring 6 can be sleeved in the conical tube and cannot slide out.
As a further embodiment, the blocking member 11 includes a shaft circlip, the shaft circlip is fixed on the lower end side surface of the spring guide cylinder 4, and a positioning groove for fixing the shaft circlip is formed on the lower end side surface of the spring guide cylinder. The stop member 11 may be directly welded with a rigid stop ring.
As a further embodiment, the front and rear ends of the left and right swinging ring 7 are fixed with rotating shafts 15, the rotating shafts 15 are rotatably connected to the transmission synchronization bottom plate 8 through rotating connectors, each rotating connector comprises an upper pressing block 5 and a lower pressing block 9 which are fixedly connected, a groove matched with the rotating shaft 15 is formed in the middle of the upper end face of the lower pressing block 9, and the upper pressing block 5 and the upper pressing block 9 are fixed on the transmission synchronization bottom plate 8 through third fixing bolts. The groove can be an arc groove or a square groove corresponding to the size of the rotating shaft 15, and the purpose of facilitating the rotation of the rotating shaft 15 can be achieved.
Example 2
Referring to fig. 2-3, this embodiment provides an AGV trolley, which includes a frame 3 and further includes the self-adjusting suspension described in embodiment 1, the upper end of the spring guide cylinder 4 is fixed in the middle of the bottom of the frame 3, a swing groove 18 for matching with a swing guide shaft 17 to slide up and down and swing left and right is formed in the frame 3, the swing guide shaft 17 is located in the swing groove 18, and driving wheels are respectively installed on the left and right sides of the transmission synchronization bottom plate 8. The length of the swing guide shaft 17 is proper and can not be too short, when the swing guide shaft 17 slides downwards to the lowest position, the swing guide shaft 17 is still in the swing groove 18 and can not be separated from the swing groove 18, and the driving wheels 12 are respectively arranged at the left side and the right side of the transmission synchronous bottom plate 8.
As a further embodiment, an end cap having a diameter larger than the width of the rocking groove is fixed to the upper end of the rocking guide shaft 17. The end cover 2 can be a round cover, and can limit the downward sliding distance of the swinging guide shaft 17 and prevent the swinging guide shaft 17 from sliding out of the swinging groove 18.
As a further embodiment, a plurality of auxiliary wheels 13 are mounted around the frame 3.
In a further embodiment, the frame 3 is U-shaped, and the front and rear ends of the frame 3 are fixedly connected with horizontal mounting plates 19, and the mounting plates 19 are fixed with auxiliary wheel mounting seats 1 for mounting the auxiliary wheels 13.
As a further embodiment, the driving wheel 12 is a differential driving wheel, the auxiliary wheel 13 is a universal wheel, the auxiliary wheel mounting base 1 is a mounting drum with an opening at the lower end, the universal wheel is mounted at the inner top of the mounting drum, and the lower end of the universal wheel extends out of the lower end of the mounting drum. The number of the universal wheels 13 can be 4, the front two and the rear two.
When the automatic walking-type vehicle is used, articles are loaded on the vehicle frame 3, under the gravity of the articles, the spring 6 is compressed, the elastic force at the lower end of the spring 6 is transmitted to the transmission synchronous bottom plate 8 through the lower spring supporting seat 10 and the left and right swinging rings 7 in sequence, and is finally transmitted to the driving wheel 12 and the universal wheel 13, when the left and right driving wheels 12 pass through an uneven road surface, the driving wheel 12 drives the transmission synchronous bottom plate 8 to swing left and right, but the left and right swinging rings 7 are rotatably connected to the transmission synchronous bottom plate 8, so that the left and right swinging rings 7 are still kept horizontal, the vehicle frame 3 is also kept horizontal through the lower spring supporting seat 10 and the spring guide cylinder 4, but the elastic force of the spring 6 is still transmitted to the driving wheel 12 through the lower spring supporting seat 10, the left and right swinging rings 7 and the transmission synchronous bottom plate 8, so that the driving wheel 12 has enough self-adaptive downward pressure, the balance of the friction force on the two driving wheels 12 is ensured, the phenomenon of skidding can not appear, has reached the slightly uneven place effect of adaptation.
When the vehicle is to turn, the two driving wheels 12 drive the transmission synchronous bottom plate 8 to turn at different speeds, and then the swinging guide shaft 17 on the transmission synchronous bottom plate 8 drives the vehicle frame 3 to turn because the swinging guide shaft 17 is positioned in the swinging groove 18.
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 (10)
1. A self-adjusting suspension characterized by: including fore-and-aft spring guide cylinder, the spring guide cylinder overcoat is equipped with the spring, the lower extreme of spring is provided with the spring under bracing seat that is used for supporting spring, the direction slide opening that the spring guide cylinder passes through is seted up to the centre of spring under bracing seat, the lower extreme of spring guide cylinder still is provided with the piece that is used for preventing spring under bracing seat roll-off spring guide cylinder, the spring overcoat has the ring of shaking about, it is preceding to shake the ring about, the back both ends are rotated and are connected on the synchronous bottom plate of horizontally transmission, set up the ring hole that sways that corresponds with the ring of shaking about on the synchronous bottom plate of transmission, it is on the upper end of spring under bracing seat to sway ring fixed connection about, the left and right sides of the synchronous bottom plate of transmission is fixed with fore-and-aft guide axle that sways respectively.
2. The self-adjusting suspension of claim 1, wherein: the upper end of the spring guide cylinder is fixedly connected with a first flange plate.
3. The self-adjusting suspension of claim 1, wherein: the spring lower supporting seat comprises a conical pipe, a second flange plate is fixed at the upper end of the conical pipe, and the second flange plate is fixedly connected with the left-right swinging ring through a second fixing bolt.
4. The self-adjusting suspension of claim 1, wherein: the blocking piece comprises a circlip for the shaft, and the circlip for the shaft is fixed on the side face of the lower end of the spring guide cylinder.
5. A self-adjusting suspension as defined in claim 1, wherein: the front end and the rear end of the left and right rocking rings are fixed with rotating shafts, the rotating shafts are connected to the transmission synchronous bottom plate in a rotating mode through rotating connecting pieces, each rotating connecting piece comprises an upper pressing block and a lower pressing block which are fixedly connected, a groove matched with the rotating shafts is formed in the middle of the upper end face of each lower pressing block, and the upper pressing blocks are fixed to the transmission synchronous bottom plate through third fixing bolts.
6. An AGV dolly which characterized in that: the self-adjusting suspension device comprises a frame and further comprises the self-adjusting suspension device according to any one of claims 1 to 5, the upper end of the spring guide cylinder is fixed in the middle of the bottom of the frame, a swing groove used for matching with the swing guide shaft to slide up and down and swing left and right is formed in the frame, the swing guide shaft is located in the swing groove, and driving wheels are mounted on the left side and the right side of the transmission synchronous bottom plate respectively.
7. The AGV cart of claim 6, wherein: and an end cover with the diameter larger than the width of the swing groove is fixed at the upper end of the swing guide shaft.
8. The AGV cart of claim 6, wherein: a plurality of auxiliary wheels are arranged around the frame.
9. The AGV cart of claim 8, wherein: the frame is U-shaped, and the front end and the rear end of the frame are fixedly connected with horizontal mounting plates, and auxiliary wheel mounting seats for mounting auxiliary wheels are fixed on the mounting plates.
10. The AGV cart of claim 9, wherein: the driving wheel is a differential driving wheel, the auxiliary wheel is a universal wheel, the auxiliary wheel mounting seat is an installation barrel with an opening at the lower end, the universal wheel is mounted at the inner top of the installation barrel, and the lower end of the universal wheel extends out of the lower end of the installation barrel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220485722.0U CN216835721U (en) | 2022-03-08 | 2022-03-08 | Self-interacting formula hangs and AGV dolly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220485722.0U CN216835721U (en) | 2022-03-08 | 2022-03-08 | Self-interacting formula hangs and AGV dolly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216835721U true CN216835721U (en) | 2022-06-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220485722.0U Active CN216835721U (en) | 2022-03-08 | 2022-03-08 | Self-interacting formula hangs and AGV dolly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216835721U (en) |
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- 2022-03-08 CN CN202220485722.0U patent/CN216835721U/en active Active
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Effective date of registration: 20231222 Address after: Room 2-23E, Building 1, No. 27 Huli Road, Mawei District, Fuzhou City, Fujian Province, 350000 (within the Free Trade Zone) Patentee after: Fuzhou Juying Intelligent Technology Co.,Ltd. Address before: 350000 Room 403, 2, Ruida Seiko Industrial Park, No. 7, Gaoxin Avenue, Shangjie Town, Minhou County, Fuzhou City, Fujian Province Patentee before: Ren Qian |