DE102019003543A1 - Handset with independent suspension - Google Patents

Abstract

Handset with independent suspensions, in particular wherein the handset has a traction drive and / or is provided for driving on a travel surface, wherein the frame, in particular vehicle frame of the handset, the independent suspensions are fixed, each independent suspension of at least one particular blockable spring-damper unit controlled parallelogram -Führung for a wheel 1 rotatably supporting unit, in particular steering roller unit having.

Description

The invention relates to a handset with independent suspensions.

As handsets, for example, driverless transport systems, such as FTS, or automatically guided vehicles, such as AGV known.

In general, independent wheel suspensions are also known in automobiles.

The invention is therefore based on the object of developing a handset, the handset being able to be operated robustly and flexibly on travel surfaces.

According to the invention the object is achieved in the handset according to the features indicated in claim 1.

Important features of the invention in the handset are that the handset is designed with independent wheel suspensions,
in particular where the mobile part has a traction drive and / or is provided for driving on a travel surface,
the independent wheel suspensions being fastened to the frame, in particular the vehicle frame of the handset,
each independent wheel suspension has a parallelogram guide, controlled by at least one spring-damper unit that can be blocked, for a wheel 1 rotatably supporting unit, in particular swivel castor unit.

The advantage here is that the wheel led to the Verfahrfläche out, that is guided vertically, is. Particularly important is the advantage of the invention in a handset with statically undefined suspension. Because here, the independent suspension causes a further degree of freedom, so that the number of statistical support points is reduced and uneven ground, so unevenness in the otherwise ideally flat Verfahrfläche be compensated. In addition, the spring presses the wheel not only to the traversing surface but it also causes a damping by means of the spring-damper unit.

Preferably, the traction drive is disposed within that polygon whose corners are formed by the independent wheel suspensions and which is aligned parallel to the travel surface.

In particular, the wheel distance between the two drive wheels of the traction drive is smaller than the smallest distance between one of the drive wheels and one wheel of the independent wheel suspensions.

The orientation of the wheel of the independent suspension adjusts itself by moving the frame by means of traction drive, since the wheel of the independent suspension is arranged via a pivot bearing on a flange. Thus, the axis of rotation of the wheel is indeed parallel to the travel surface, but the direction of the axis of rotation otherwise indeterminate. The advantage is that the handset is executable with a traction drive, which itself has at least two separately driven wheels and beyond four independent suspensions with castors are additionally providable on the frame.

It is also advantageous in the invention that the independent suspension compensates for the bumps when driving and increases stability when required by blocking this degree of freedom by the system is indeed statically indeterminate and thus the possibility of a "tilting" is, however, the four support points at a standstill sit well on the floor and thus a "tipping" is prevented.

• - ein Hebelteil, welches mittels einer ersten Drehachse relativ drehbar zur Einheit gelagert ist und welches mittels einer zweiten Drehachse relativ drehbar zum Gestell des Mobilteils gelagert ist,
• - und ein Schwenkteil, welches mittels einer dritten Drehachse relativ zum Gestell des Mobilteils drehbar gelagert ist und welches mittels einer vierten Drehachse relativ zur Einheit drehbar gelagert ist,

auf,
wobei die erste, zweite, dritte und vierte Drehachse zueinander parallel ausgerichtet und jeweils voneinander beabstandet angeordnet sind,
wobei der Abstand zwischen der ersten und zweiten Drehachse dem Abstand zwischen der dritten und vierten Drehachse gleicht,
insbesondere wobei die die erste und zweite Drehachse enthaltende Ebene parallel ist zu der die dritte und vierte Drehachse enthaltenden Ebene. Von Vorteil ist dabei, dass die Einheit, insbesondere Lenkrolleneinheit, parallel verschoben wird, insbesondere also das Rad nicht schräg gekippt wird beim Verschieben.In an advantageous embodiment, the parallelogram guide, in particular in each case,

• a lever part which is mounted so as to be relatively rotatable relative to the unit by means of a first axis of rotation and which is supported rotatably relative to the frame of the mobile part by means of a second axis of rotation,
• - And a pivoting part which is rotatably supported relative to the frame of the mobile part by means of a third axis of rotation and which is rotatably supported relative to the unit by means of a fourth axis of rotation,

on,
wherein the first, second, third and fourth axes of rotation are aligned parallel to each other and spaced from each other,
wherein the distance between the first and second axes of rotation is equal to the distance between the third and fourth axes of rotation,
in particular, wherein the plane containing the first and second axes of rotation is parallel to the plane containing the third and fourth axes of rotation. The advantage here is that the unit, in particular castor unit is moved in parallel, so in particular the wheel is not tilted obliquely when moving.

In an advantageous embodiment, the unit, in particular each independent wheel suspension, has a flange part and a rotary bearing,
the wheel being rotatably mounted in a joint part which is arranged on the pivot part on the flange part and is rotatably mounted relative to the flange part,
wherein the wheel axis of rotation, in particular of the wheel, is arranged perpendicular to the axis of rotation of the pivot bearing, in particular of the pivot bearing,
in particular where the pivot axis of rotation is aligned parallel to the normal of the travel surface. The advantage here is that the alignment of the wheel adjusts itself automatically.

In an advantageous embodiment, bearing parts are fastened to the flange part, wherein each bearing part rotatably supports a respective first axis of rotation,
wherein each of the first axes of rotation are connected to the lever part or wherein the respective lever part is rotatably mounted on each first axis of rotation,
wherein the two first axes of rotation are aligned coaxially with each other. The advantage here is that a double parallelogram guide is executed and thus increased stability can be achieved.

In an advantageous embodiment, in each case a second axis of rotation is rotatably mounted or attached to each of the lever parts,
which each in a respective bearing block 3 is rotatably mounted,
each of the bearing blocks being fixed to a base plate of the independent wheel suspension which is fastened to the frame of the mobile part,
in particular wherein the base plate and the frame are integral, in particular one-piece, executed. The advantage here is that a double parallelogram guide is executed and thus increased stability can be achieved. This applies in particular to lateral forces in, for example, cornering and the resulting moments.

In an advantageous embodiment, a swivel part is rotatably mounted on the base plate or on the frame of the mobile part by means of the third axis of rotation,
wherein the swivel part is rotatably mounted on the bearing parts by means of the fourth axis of rotation,
in particular, wherein the swivel part receives the third axis of rotation, which is rotatably mounted in a further bearing block which is fastened to the base plate. The advantage here is that a double parallelogram guide is carried out and thus increased stability can be achieved.

In an advantageous embodiment, the blockable spring-damper unit is supported in each case on an adjusting unit connected to the base plate or to the frame and connected to a respective lever part, in particular on its side facing away from the adjusting unit,
in particular wherein by means of the adjusting unit, a deflection of the spring of the spring-damper unit, in particular and thus a spring force of the spring-damper unit is adjustable. The advantage here is that by means of the adjusting the spring force is adjustable and stabilization is effected by blocking, especially if a very heavy load is to be transported by the handset, or if unevenness of the travel surface leads to an unstable handling of the handset, in particular for example at high speed.
In an advantageous embodiment, the spring-damper unit as a gas spring, in particular as a lockable gas spring, executable or as a spring-hydraulic cylinder combination. The advantage here is that can be blocked by the blocking of the degree of freedom of the vertical guide and thus situational the stability of the handset is increased.

In an advantageous embodiment, the traction drive is pressed by a supported on the frame of the handset spring part to the travel surface,
in particular, so that the weight of the handset and the load taken up by this is essentially derived via the independent wheel suspensions to the travel surface and / or the traction drive to the travel surface pressing force is substantially independent of the load received by the handset. The advantage here is that bumps cause no deterioration of the friction conditions between the wheel and travel surface.

In an advantageous embodiment, the traction drive on two separately drivable drive wheels,
in particular wherein each of the drive wheels is drivable by a respective electric motor or by a respective geared motor. The advantage here is that the steering angle in the manner of a tank drive, in particular so differential drive, is controllable, ie in particular by at least temporarily non-synchronous, in particular mutually different, speed curves of the two drive wheels.

In an advantageous embodiment, four independent, in particular identical, independent wheel suspensions are attached to the frame of the mobile part,
in particular wherein the base plates of the independent wheel suspensions are arranged at corners of an imaginary rectangle and / or the base plates of the independent wheel suspensions are arranged in a common plane. The advantage here is that high stability can be achieved.

Further advantages emerge from the subclaims. The invention is not limited to the combination of features of the claims. For the expert, further meaningful combination possibilities of claims and / or individual claim features and / or features of Description and / or figures, in particular from the task and / or the task by comparison with the prior art task.

The invention will now be explained in more detail with the aid of schematic illustrations:

In the 1 An independent wheel suspension of a mobile part is shown in an oblique view, the independent wheel suspension having a parallel mechanism.

In the 2 an associated top view is shown.

In the 3 the parallel mechanism of the independent suspension is shown separately.

As shown in the figures, the independent suspension has a wheel 1 on, which is intended to roll on the travel surface. The wheel rotation axis of the wheel 1 is thus parallel to the traversing surface of the handset.

The wheel 1 is about a pivot bearing 10 on a flange part 9 arranged, wherein the pivot bearing axis of the pivot bearing 10 aligned parallel to the normal direction.

Two bearing part 8th are spaced apart on the flange part 9 arranged.

In the storage part 8th is a second axis of rotation 12 rotatably mounted.

The two second axes of rotation 12 are aligned parallel to each other and each in a bearing block 3 rotatably mounted, each on a base plate 4 are attached, which is attached to the frame of the handset.

Also on the base plate 4 are adjustment units 6 attached to each of which a spring-damper unit 5 , in particular the housing part of the spring-damper unit 5 , supports.

The respective spring-damper unit 5 , In particular, the respective relative to the housing part linearly movable piston arranged 13 , is at its from the adjustment unit 6 opposite end portion connected via a respective bearing with a respective bolt, which in a recess of a respective lever part 7 is pressed.

The piston 13 is movable by means arranged in the housing part and supported there spring, so that the piston 13 then over the bolt the lever part 7 from the adjustment unit 6 pushes.

Because the lever part 7 rotatably mounted on a second axis of rotation 12 , is a first axis of rotation, which on the lever part 7 on the side facing away from the bolt side of the second axis of rotation 12 arranged is pivoted to the travel surface.

The first axis of rotation 11 is also in a warehouse part 8th taken so that during the pivoting movement this also moves to the travel surface.

The bearing part 8th is on the flange part 9 attached, which is a pivot bearing 10 picks up on which a wheel 1 is arranged rotatably mounted.

The wheel 1 is preferably designed as a role, so that the flange 9 including pivot bearing 10 with wheel 1 together as a bearing role acts. Here is the wheel 1 arranged on the traversing surface unrollable, wherein the orientation of the axis of rotation of the wheel 1 done by moving the handset.

The handset also has a steerable traction drive, which is rotatably mounted on the frame of the handset via a further pivot bearing. The direction of travel is determined by the traction drive, which is pressed by a spring member against the travel surface with a predetermined contact pressure. The spring part is supported on the frame of the handset. The traction drive is designed in the manner of a tank drive, so with at least two separately driven drive wheels, wherein by means of controlling the speed difference of the two separately driven drive wheels, a change in the steering angle is controllable.

The frame of the handset is therefore pulled by the traction drive. The pivot bearing can be locked so that the position of the frame relative to the traction drive can be fixed.

There are at least four independent wheel suspensions on the frame 1 arranged, also four base plate 4 ,

The weight of the handset including a load taken up on the upper side of the handset is essentially determined by the independent wheel suspensions and in particular their wheels 1 derived to the traversing surface. The traction drive is therefore only pressed onto the travel surface with the specified force, i.e. it is operated independently of the load.

Using the respective adjustment unit 6 is that of the spring damper unit 5 generated spring force adjustable. The spring force is preferably set such that both spring-damper units 5 generate an equal spring force of the independent wheel suspension.

To a parallel displacement of the bearing roller, in particular so the bearing parts 8th including flange part 9 , Pivot bearing 10 and wheel 1 to allow, is a pivoting part 2 provided that a third axis of rotation 31 and a fourth axis of rotation 32 receives and rotatably supports.

Since all rotary axes ( 11 . 12 . 31 . 32 ) are aligned parallel to each other and the lever length at the pivoting part 2 , ie the distance from the third to the fourth axis of rotation ( 31 . 32 ), the lever length between the first axis of rotation 11 and the second axis of rotation 12 is similar, a parallel mechanism is realized. Thus, the flange part 9 parallel to the base plate 4 displaceable.

The swivel part 2 is by means of the third axis of rotation 31 rotatable on the base plate 4 arranged. This is another bearing block 30 provided, which the third axis of rotation 31 receives and rotatably supports.

The spring-damper unit 5 is executed blockable. By means of the blocking, the independent suspension is rigidly executable, so that the weight is proportional to the wheel 1 can be conducted to the travel surface.

As a spring-damper unit 5 a lockable gas spring is preferably used. Alternatively, a spring-hydraulic cylinder combination can also be used, although hydraulic oil must then be provided.

Thus, the independent wheel suspension advantageously each has a parallelogram guide, that is, a mechanism by means of which the lever parts 7 attached load is also held when moving along the path of the lever part at the original angle of inclination in the plane of the lever path.

Particularly advantageous is the invention in a statically indeterminate vehicle, so handset. Because the independent suspension causes an additional degree of freedom, so that reduces the number of static contact points and uneven floors, ie deviations from an ideally flat Verfahrfläche, are actively compensated. However, depending on the operation of the handset is also possible by means of blocking the spring-damper units 5 to increase the stability, especially in the state.

LIST OF REFERENCE NUMBERS

1

wheel

2

pivoting part

3

bearing block

4

baseplate

5

Spring-damper unit

6

adjusting

7

lever part

8th

bearing part

9

flange

10

pivot bearing

11

first axis of rotation

12

second axis of rotation

13

piston

14

joint part

30

another bearing block

31

third axis of rotation

32

fourth axis of rotation

Claims (11)

Mobile unit with independent wheel suspensions, in particular where the mobile part has a traction drive and / or is provided for movement, in particular for automatic driving, on a travel surface, characterized in that the independent wheel suspensions are fastened to the frame, in particular the vehicle frame, of the mobile part, each independent wheel suspension being one of at least one parallelogram guide, in particular a lockable spring-damper unit, for a unit that rotatably supports a wheel 1, in particular a steering roller unit. Handset after Claim 1 , characterized in that the parallelogram guide, in particular in each case, - a lever part which is mounted by means of a first axis of rotation relatively rotatable to the unit and which is mounted by means of a second axis of rotation relatively rotatable to the frame of the mobile part, - and a pivot member which by means of a third axis of rotation is rotatably mounted relative to the frame of the mobile part and which is rotatably supported relative to the unit by means of a fourth axis of rotation, wherein the first, second, third and fourth axes of rotation are aligned parallel to each other and spaced from each other, wherein the distance between the first and second axes of rotation equals the distance between the third and fourth axes of rotation, in particular wherein the plane containing the first and second axes of rotation is parallel to the plane containing the third and fourth axes of rotation. Handset according to at least one of the preceding claims, characterized in that the unit, in particular each independent suspension, each having a flange and a pivot bearing, wherein the wheel is rotatably mounted in a hinge part, which is arranged on the pivot bearing on the flange and relative to the flange is rotatably mounted, wherein the wheel rotation axis, in particular of the wheel, perpendicular to the pivot axis of rotation, in particular of the pivot bearing, is arranged, in particular wherein the pivot bearing axis is aligned parallel to the normal of the traversing surface. Handset according to at least one of the preceding claims, characterized in that the flange part bearing parts are fixed, each bearing part rotatably supports a respective first axis of rotation, wherein each of the first axes of rotation are connected to the lever part or wherein the respective lever part is rotatably mounted on each first axis of rotation , wherein the two first axes of rotation are aligned coaxially with each other. Mobile part according to at least one of the preceding claims, characterized in that a second axis of rotation is rotatably mounted or fastened to each of the lever parts, each of which is rotatably mounted in a respective bearing block 3, each of the bearing blocks being fastened to a base plate of the independent wheel suspension, which is attached to the frame of the handset, in particular wherein the base plate and the frame are made in one piece, in particular in one piece. Mobile part according to at least one of the preceding claims, characterized in that a swivel part is rotatably mounted on the base plate or on the frame of the mobile part by means of the third axis of rotation, the swivel part being rotatably mounted on the bearing parts by means of the fourth axis of rotation, in particular wherein the swivel part is the third Receives axis of rotation, which is rotatably mounted in another bearing block, which is attached to the base plate. Handset according to at least one of the preceding claims, characterized in that the blockable spring-damper unit is in each case supported on an adjusting unit connected to the base plate or with the frame and is connected to a respective lever part, in particular on its side remote from the adjusting unit side, in particular wherein by means of the adjusting unit, a deflection of the spring of the spring-damper unit, in particular and thus a spring force of the spring-damper unit is adjustable. Handset according to at least one of the preceding claims, characterized in that the spring-damper unit as a gas spring, in particular as a lockable gas spring, executable or as a spring-hydraulic cylinder combination. Handset according to at least one of the preceding claims, characterized in that the traction drive is pressed by a supported on the frame of the handset spring part to the travel surface, in particular so that the weight of the handset and the load absorbed by this substantially derived via the independent wheel suspension to the travel surface is and / or the traction drive to the travel surface pressing force is substantially independent of the recorded by the handset load. Handset according to at least one of the preceding claims, characterized in that the traction drive has two separately driven drive wheels, in particular wherein each of the drive wheels of a respective electric motor or by a respective geared motor is driven. Handset according to at least one of the preceding claims, characterized in that the frame of the handset four spaced apart, in particular identical to each other, independent wheel suspensions are fixed, in particular wherein the base plates independent suspensions are arranged at corners of an imaginary rectangle and / or wherein the base plates of the independent suspensions in a common plane are arranged.

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