CN112208652A - Integral AGV follow-up suspension mechanism and use its AGV - Google Patents
Integral AGV follow-up suspension mechanism and use its AGV Download PDFInfo
- Publication number
- CN112208652A CN112208652A CN202011164186.6A CN202011164186A CN112208652A CN 112208652 A CN112208652 A CN 112208652A CN 202011164186 A CN202011164186 A CN 202011164186A CN 112208652 A CN112208652 A CN 112208652A
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- agv
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- slewing bearing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D27/00—Connections between superstructure or understructure sub-units
- B62D27/02—Connections between superstructure or understructure sub-units rigid
- B62D27/023—Assembly of structural joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses an integral AGV follow-up suspension mechanism and an AGV using the same, wherein the suspension mechanism comprises a slewing bearing and a limiting device, the slewing bearing is connected between two mutually independent sub-frames of the AGV, the limiting device is arranged between the two mutually independent sub-frames of the AGV, and the limiting device is used for limiting the relative position between the two sub-frames; wherein AGV includes frame and wheel, and the frame includes two relatively independent branch frames, and two branch frames divide the frame for first branch frame and second respectively, all install the wheel on first branch frame and the second divide the frame, and first branch frame and second divide to be connected with slewing bearing between the frame, and first branch frame and second divide to be equipped with stop device between the frame. Its purpose is in order to provide a simple structure, with low costs and the strong integral AGV follow-up mechanism that hangs and use its AGV that commonality.
Description
Technical Field
The invention relates to the field of AGV, in particular to a suspension mechanism suitable for AGV and an AGV using the same.
Background
In order to ensure that the AGVs adapt to the unevenness of the ground in the running process, a suspension system is arranged on most of the AGVs. The suspension system of present AGV adopts wheel limit bridge type or articulated bridge type mostly. The wheel-side bridge type suspension is characterized in that a spring or a hydraulic cylinder is used as a telescopic mechanism, and wheels mounted on the suspension are enabled to be in contact with the ground all the time actively or passively. The articulated bridge type suspension refers to the layout of a traditional forklift, and a plane is determined according to the geometric principle of three-point support, namely three points which are not on the same straight line. The concrete form is as follows: two-wheeled respectively with AGV frame rigid connection, another two-wheeled is installed on an articulated bridge, articulated bridge again with frame single-point rigid connection to reach three point support between messenger AGV and ground, in order to adapt to the ground uneven.
The following problems exist with current AGV suspension systems: the wheel-side bridge or articulated bridge suspension mechanism is too complex to find a standardized product with simple structure to replace. The wheel-side bridge type suspension has good adaptability but higher cost; the articulated bridge is low cost, but has poor versatility.
Disclosure of Invention
The invention aims to provide an integral AGV follow-up suspension mechanism which is simple in structure, low in cost and high in universality and an AGV using the same.
The integral AGV follow-up suspension mechanism comprises a slewing bearing and a limiting device, wherein the slewing bearing is connected between two mutually independent sub-frames of the AGV, the limiting device is arranged between the two mutually independent sub-frames of the AGV, and the limiting device is used for limiting the relative position between the two sub-frames.
According to the integral AGV follow-up suspension mechanism, the limiting device comprises limiting pins and limiting grooves, the limiting pins and the limiting grooves are respectively arranged on the two sub-frames, and the limiting pins are located in the limiting grooves.
According to the integral AGV follow-up suspension mechanism, the number of the limiting pins and the number of the limiting grooves are two, the two limiting pins are respectively arranged on two opposite sides of the slewing bearing, the two limiting grooves are also respectively arranged on two opposite sides of the slewing bearing, the two limiting grooves and the two limiting pins are arranged in a one-to-one correspondence mode, and the limiting pins are located in the corresponding limiting grooves.
According to the integral AGV follow-up suspension mechanism, the limiting groove is arc-shaped, and the arc-shaped circle center of the limiting groove is located on the central axis of the slewing bearing.
The AGV comprises a frame and wheels, wherein the frame comprises two relatively independent sub-frames which are respectively a first sub-frame and a second sub-frame, the wheels are arranged on the first sub-frame and the second sub-frame, the slewing bearing is connected between the first sub-frame and the second sub-frame, and the limiting device is arranged between the first sub-frame and the second sub-frame.
According to the AGV, the limiting device comprises a limiting pin and a limiting groove, the limiting groove is formed in the first sub-frame, the limiting pin is arranged on the second sub-frame, and the limiting pin is located in the limiting groove.
In the AGV, the number of the limiting pins and the number of the limiting grooves are two, the two limiting pins are respectively arranged on two opposite sides of the rotary support, the two limiting grooves are also respectively arranged on two opposite sides of the rotary support, the two limiting grooves and the two limiting pins are arranged in a one-to-one correspondence manner, and the limiting pins are positioned in the corresponding limiting grooves.
According to the AGV, the limiting groove is arc-shaped, and the arc-shaped circle center of the limiting groove is located on the central axis of the slewing bearing.
According to the AGV, the limiting device comprises a limiting pin and a limiting groove, the limiting pin is arranged on the first sub-frame, the limiting groove is arranged on the second sub-frame, and the limiting pin is located in the limiting groove.
According to the AGV, the number of the limiting pins and the number of the limiting grooves are two, the two limiting pins are respectively arranged on two opposite sides of the slewing bearing, the two limiting grooves and the two limiting pins are arranged in a one-to-one correspondence mode, the limiting pins are located in the corresponding limiting grooves, the limiting grooves are arc-shaped, and the arc-shaped circle centers of the limiting grooves are located on the central axis of the slewing bearing.
The integral AGV follow-up suspension mechanism and the AGV using the same are different from the prior art in that the AGV frame is divided into two independent sub-frames, and the two sub-frames are connected by using the slewing bearing, namely the two sub-frames can rotate relatively. Besides, a limiting device is arranged between the two sub-frames and is used for limiting the relative position between the two sub-frames, namely, the relative rotation of the two sub-frames is limited within a certain angle range. Because the two sub-frames can rotate relatively, when the contact point of any sub-frame and the ground is sunken or raised, the sub-frame can swing along with the contact point (namely rotate relative to the other sub-frame). Benefiting from the limiting device, the two sub-frames can only relatively rotate within a certain angle range, so that the bottom supporting phenomenon of the AGV frame caused when the rotating distance is larger than the ground clearance of the AGV frame is avoided. Therefore, the invention has the advantages of simple structure, low cost and strong universality.
The invention will be further explained with reference to the drawings.
Drawings
FIG. 1 is a side view of an AGV utilizing an integrated AGV follow-up suspension of the present invention;
FIG. 2 is a perspective view of an AGV using an integrated AGV follow-up suspension of the present invention (with wheels hidden);
FIG. 3 is a schematic view of the structure of the spacing pin and the spacing groove of the present invention.
Detailed Description
As shown in fig. 1 and fig. 2 and 3, the integrated AGV follow-up suspension mechanism of the present invention includes a rotary support 3 and a limiting device, wherein the rotary support 3 is connected between two independent carriages of an AGV, the limiting device is disposed between the two independent carriages of the AGV, and the limiting device is used for limiting the relative position between the two carriages. The two independent sub-frames can rotate relatively through the slewing bearing 3, and the sub-frames rotate around the central axis of the slewing bearing 3 when rotating.
The slewing bearing 3 is a large bearing capable of bearing a comprehensive load, and comprises an inner ring and an outer ring, when the slewing bearing is connected between two sub-frames, one sub-frame is fixedly connected to the inner ring, and the other sub-frame is fixedly connected to the outer ring, so that the two sub-frames can rotate relatively. Since the slewing bearing 3 is a prior art, detailed description of the specific structure and the operation principle thereof is omitted.
As shown in fig. 1 and fig. 2 and 3, the integrated AGV follow-up suspension mechanism of the present invention includes a limiting device including a limiting pin 4 and a limiting groove 5, wherein the limiting pin 4 and the limiting groove 5 are respectively disposed on two sub-frames, and the limiting pin 4 is located in the limiting groove 5.
As shown in fig. 2 and in combination with fig. 3, in the integrated AGV follow-up suspension mechanism of the present invention, two limiting pins 4 and two limiting grooves 5 are provided, the two limiting pins 4 are respectively provided at two opposite sides of the rotary support 3, the two limiting grooves 5 are also respectively provided at two opposite sides of the rotary support 3, the two limiting grooves 5 and the two limiting pins 4 are arranged in a one-to-one correspondence, and the limiting pins 4 are located in the corresponding limiting grooves 5.
In the integral AGV follow-up suspension mechanism, the limiting groove 5 is arc-shaped, and the arc-shaped circle center of the limiting groove 5 is positioned on the central axis of the slewing bearing 3. Thus, when the two sub frames rotate relatively, the limiting pin 4 can slide along the arc-shaped length direction of the limiting groove 5. The size of the central angle of the limiting groove 5 is the maximum angle which can be rotated when the two sub-frames rotate relatively.
As shown in fig. 1 and fig. 2 and 3, the AGV using the integrated AGV follow-up suspension mechanism in the present invention includes a frame and wheels 8, the frame includes two relatively independent sub-frames, the two sub-frames are respectively a first sub-frame 1 and a second sub-frame 2, the wheels 8 are respectively installed on the first sub-frame 1 and the second sub-frame 2, the pivoting support 3 is connected between the first sub-frame 1 and the second sub-frame 2, and the limiting device is arranged between the first sub-frame 1 and the second sub-frame 2. The first sub frame 1 and the second sub frame 2 can make relative rotation movement through the rotary support 3, and the first sub frame 1 or the second sub frame 2 rotates around the central axis of the rotary support 3 when making the rotation movement.
As shown in fig. 1 and fig. 2 and 3, the AGV of the present invention includes a limiting pin 4 and a limiting groove 5, wherein the limiting groove 5 is disposed on the first sub-frame 1, the limiting pin 4 is disposed on the second sub-frame 2, and the limiting pin 4 is disposed in the limiting groove 5.
As shown in fig. 2 and in combination with fig. 3, in the AGV of the present invention, two limiting pins 4 and two limiting grooves 5 are provided, the two limiting pins 4 are respectively provided at two opposite sides of the rotary support 3, the two limiting grooves 5 are also respectively provided at two opposite sides of the rotary support 3, the two limiting grooves 5 and the two limiting pins 4 are arranged in a one-to-one correspondence, and the limiting pins 4 are located in the corresponding limiting grooves 5. The limiting groove 5 is arc-shaped, and the arc-shaped circle center of the limiting groove 5 is positioned on the central axis of the slewing bearing 3. Thus, when the first and second partial frames 1 and 2 are relatively rotated, the stopper pin 4 can slide along the arc-shaped longitudinal direction of the stopper groove 5. The size of the central angle of the limiting groove 5 is the maximum angle which can be rotated when the first sub frame 1 and the second sub frame 2 rotate relatively.
As shown in fig. 3, when the first sub frame 1 and the second sub frame 2 rotate relatively, the limit pin 4 can slide freely in the limit groove 5. However, when the first sub frame 1 and the second sub frame 2 relatively rotate to a certain angle, the limit pin 4 contacts the edge of the limit groove 5, so that the rotation is stopped. Therefore, the limit pin 4 and the limit groove 5 are matched together, and the angle range of relative rotation motion between the two frames can be restricted.
Of course, the arrangement positions of the limit pin 4 and the limit groove 5 can be exchanged, specifically: the limiting pin 4 is arranged on the first sub-frame 1, the limiting groove 5 is arranged on the second sub-frame 2, and the limiting pin 4 is positioned in the limiting groove 5. Limiting pins 4 and limiting grooves 5 are arranged in two, the limiting pins 4 are arranged on two opposite sides of the rotary support 3 respectively, the limiting grooves 5 and the limiting pins 4 are arranged in a one-to-one correspondence mode, and the limiting pins 4 are located in the corresponding limiting grooves 5. The limiting groove 5 is arc-shaped, and the arc-shaped circle center of the limiting groove 5 is positioned on the central axis of the slewing bearing 3.
According to the invention, the AGV frame is divided into two independent sub-frames, and the two sub-frames are connected by using the slewing bearing 3, namely the two sub-frames can rotate relatively. Besides, a limiting device (a limiting pin 4 and a limiting groove 5) is arranged between the two sub-frames and is used for limiting the relative position between the two sub-frames, namely, the relative rotation of the two sub-frames is limited within a certain angle range. Because the two sub-frames can rotate relatively, when the contact point of any sub-frame and the ground is sunken or raised, the sub-frame can swing along with the contact point (namely rotate relative to the other sub-frame). Benefiting from the limiting device, the two sub-frames can only relatively rotate within a certain angle range, so that the bottom supporting phenomenon of the AGV frame caused when the rotating distance is larger than the ground clearance of the AGV frame is avoided. Therefore, the invention has the advantages of simple structure, low cost and strong universality.
According to the three-point supporting principle, the AGV can be ensured to adapt to the unevenness of the ground in the running process.
As shown in fig. 1 and in combination with fig. 2, for the first sub-frame 1, two positions 6 are provided for mounting wheels 8 to form two-point contact with the ground, and the other point is connected with the slewing bearing 3, so as to achieve three-point supporting balance; for the second sub-frame 2, two positions 7 are also provided for mounting wheels 8 to be in two-point contact with the ground, and the other point is connected with the slewing bearing 3, so that three-point supporting balance can be achieved. Therefore, the AGV and the ground can ensure four points of simultaneous contact, thereby adapting to the unevenness of the ground. Because the two sub-frames can rotate relatively, when the contact point of any frame and the ground is sunken or raised, the frame can swing along with the contact point. Benefiting from the limit pin 4 and the limit groove 5, the first sub frame 1 and the second sub frame 2 can only relatively rotate within a certain range, so that the condition that the rotating distance is larger than the ground clearance of the AGV frame to cause the AGV frame to support the bottom is avoided.
It can be seen that the first and second partial frames 1, 2 are supported at three points. The principle is that a plane is determined by three points, and each wheel 8 of the whole AGV is ensured to be always contacted with the ground within the angle range of relative rotary motion of the two sub frames. The three points of the first sub-frame 1 are two positions 6 for mounting wheels 8 and the position for connecting the slewing bearing 3; the three points of the second part frame 2 are the two locations 7 for mounting the wheels 8 and the location for connecting the slewing bearing 3.
The invention has the following beneficial effects:
(1) compared with the hinged suspension, the automatic guided vehicle can reduce the design cost of AGV products. The articulated bridge of articulated suspension needs to carry out design calculation according to the size and the load of different AGV, can't find standardized product. By adopting the invention, a product designer can find the slewing bearing 3 meeting the requirements in a standard manual only according to the load and the size of the AGV. Therefore, design time and cost on the AGV suspension can be greatly reduced, and production efficiency is improved.
(2) Compared with wheel-side bridge type suspension, the AGV material suspension device can reduce the material cost of AGV products. It is estimated that the cost of the slewing bearing 3 is about 1/5 to 1/4 of the cost of the cylinder/rail block/coil spring damper used in the wheel-side bridge suspension, for the same AGV load. In the occasion that the AGV suspension does not need to have the active lifting function, the method can become a more economical alternative mode. In a larger-batch production scene, the method can greatly reduce the product cost while realizing the basic function of the AGV adapting to the unevenness of the ground, thereby improving the profit.
(3) The slewing bearing 3 adopted by the invention is a standardized product in the industry. Therefore, the product has the advantages of multiple selectable brands, short product ordering period, good overall quality, high reliability and convenient maintenance.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solution of the present invention by those skilled in the art should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (10)
1. The utility model provides an integral AGV follow-up suspension mechanism which characterized in that: including slewing bearing and stop device, slewing bearing connects between two mutually independent branch car framves of AGV, stop device locates between two mutually independent branch car framves of AGV, stop device is used for injecing two relative position between the branch car frame.
2. The integrated AGV follow-up suspension of claim 1 wherein: the limiting device comprises a limiting pin and a limiting groove, the limiting pin and the limiting groove are respectively arranged on the two sub-frames, and the limiting pin is located in the limiting groove.
3. The integrated AGV follow-up suspension of claim 2 wherein: the limiting pin and the limiting groove are respectively set to be two, the limiting pin is respectively arranged on two opposite sides of the slewing bearing, the limiting groove is also respectively arranged on two opposite sides of the slewing bearing, the limiting groove and the limiting pin are arranged in a one-to-one correspondence mode, and the limiting pin is located in the corresponding limiting groove.
4. The integrated AGV follow-up suspension of claim 3 wherein: the limiting groove is arc-shaped, and the arc-shaped circle center of the limiting groove is located on the central axis of the slewing bearing.
5. An AGV using the integrated AGV compliant suspension of any one of claims 1-4, wherein: the wheel-type vehicle-mounted frame comprises a frame and wheels, wherein the frame comprises two relatively independent sub-frames, the two sub-frames are respectively a first sub-frame and a second sub-frame, the wheels are respectively arranged on the first sub-frame and the second sub-frame, the slewing bearing is connected between the first sub-frame and the second sub-frame, and the limiting device is arranged between the first sub-frame and the second sub-frame.
6. The AGV of claim 5, wherein: the limiting device comprises a limiting pin and a limiting groove, the limiting groove is formed in the first sub frame, the limiting pin is arranged on the second sub frame, and the limiting pin is located in the limiting groove.
7. The AGV of claim 6, wherein: the limiting pin and the limiting groove are respectively set to be two, the limiting pin is respectively arranged on two opposite sides of the slewing bearing, the limiting groove is also respectively arranged on two opposite sides of the slewing bearing, the limiting groove and the limiting pin are arranged in a one-to-one correspondence mode, and the limiting pin is located in the corresponding limiting groove.
8. The AGV of claim 7, wherein: the limiting groove is arc-shaped, and the arc-shaped circle center of the limiting groove is located on the central axis of the slewing bearing.
9. The AGV of claim 5, wherein: the limiting device comprises a limiting pin and a limiting groove, the limiting pin is arranged on the first sub-frame, the limiting groove is arranged on the second sub-frame, and the limiting pin is located in the limiting groove.
10. The AGV of claim 9, wherein: limiting pin and spacing groove all establish to two, two slewing bearing's relative both sides are located respectively to the limiting pin, two slewing bearing's relative both sides, two are also located respectively to the spacing groove and two the limiting pin one-to-one arranges, the limiting pin is located corresponding spacing inslot, the spacing groove is the arc, the arc centre of a circle of spacing groove is located slewing bearing's center axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011164186.6A CN112208652A (en) | 2020-10-27 | 2020-10-27 | Integral AGV follow-up suspension mechanism and use its AGV |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011164186.6A CN112208652A (en) | 2020-10-27 | 2020-10-27 | Integral AGV follow-up suspension mechanism and use its AGV |
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| CN112208652A true CN112208652A (en) | 2021-01-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011164186.6A Pending CN112208652A (en) | 2020-10-27 | 2020-10-27 | Integral AGV follow-up suspension mechanism and use its AGV |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116767365A (en) * | 2023-08-22 | 2023-09-19 | 国家林业和草原局哈尔滨林业机械研究所 | Wheel-track combined bridge-winding swing type hilly mountain land working platform |
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| CN210101236U (en) * | 2019-07-09 | 2020-02-21 | 深圳墨影科技有限公司 | Suspension mechanism of omnidirectional mobile platform |
| CN110901318A (en) * | 2019-12-23 | 2020-03-24 | 浙江涛涛车业股份有限公司 | Vehicle suspension system and vehicle |
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| CN101161535A (en) * | 2007-10-22 | 2008-04-16 | 河南科技大学 | A hinged type self-discharging automobile chassis |
| US20200010108A1 (en) * | 2015-01-29 | 2020-01-09 | Bombardier Recreational Products Inc. | Rack and pinion steering system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116767365A (en) * | 2023-08-22 | 2023-09-19 | 国家林业和草原局哈尔滨林业机械研究所 | Wheel-track combined bridge-winding swing type hilly mountain land working platform |
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Application publication date: 20210112 |