CN217650850U - Floating mechanism and ground ox AMR with same - Google Patents
Floating mechanism and ground ox AMR with same Download PDFInfo
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- CN217650850U CN217650850U CN202222022109.8U CN202222022109U CN217650850U CN 217650850 U CN217650850 U CN 217650850U CN 202222022109 U CN202222022109 U CN 202222022109U CN 217650850 U CN217650850 U CN 217650850U
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Abstract
The utility model relates to a floating mechanism and a ground cattle AMR with the same, wherein, the floating mechanism is suitable for being installed on a chassis of the ground cattle AMR and comprises a balance plate, a walking wheel and a shock absorber; the two opposite ends of the balance plate can swing up and down; the two walking wheels are respectively fixed at the bottoms of the two opposite ends of the balance plate and can respectively move up and down along with the two opposite ends of the balance plate; the bumper shock absorbers are two, the axes are vertically arranged, and the top ends of the bumper shock absorbers are fixedly connected with the bottoms of the two opposite ends of the balance plate respectively. When the frame chassis moves, the space positions of the two walking wheels can be effectively adjusted by the balance plates which can swing up and down at the two opposite ends, the bumping condition caused by road conditions is effectively relieved, the phenomenon that the walking wheels slip due to the fluctuation of the ground is prevented, and the adaptability of the frame chassis to the fluctuated road surface and the stability during walking are improved. The two shock absorbers effectively reduce the swing amplitude of the two opposite ends of the balance plate, and further improve the adaptability of the frame chassis to the rough road surface and the walking stability.
Description
Technical Field
The utility model relates to a ground ox AMR technical field especially relates to a relocation mechanism and have its ground ox AMR.
Background
The underground ox, also called manual hydraulic carrier, is a convenient, flexible, heavy-duty and durable goods carrier. In a plurality of process links in fields such as manufacturing and storage commodity circulation, it can assist the manpower to carry out the transfer of goods position, can use manpower sparingly greatly, and it is long to reduce the goods position and shift consuming time. With the development of automation and intelligence in the warehousing industry, the antomatic Mobile Robot AMR (automated Mobile Robot) was produced, which can further save manpower. AMR of a ground cow integrates functions of environment perception, dynamic path planning, behavior control, execution and the like, is different from an AGV (automatic Guided Vehicle), has a visual navigation mode or/and a laser navigation mode, is higher in positioning accuracy, higher in flexibility degree, strong in self-obstacle avoidance capability, stronger in adaptability to a scene, and does not need to construct and modify the use scene. The multi-equipment cooperative operation mode and the man-machine cooperative operation mode can be realized, and the requirement of machine cluster scheduling is met.
The metro AMR generally includes a fork chassis and a frame chassis. The pallet fork chassis is two, sets up side by side. The frame chassis is one and is fixed at one common end of the two pallet fork chassis. The two fork chassis and the chassis of the frame are combined to form the underground AMR chassis which is of a [ -shaped structure as a whole. The stability of the chassis of the frame during moving has a great influence on the stability of the AMR of the ground cattle during moving.
Therefore, how to improve the stability of the frame chassis of the AMR of the cattle during walking becomes a technical problem to be solved urgently in the field.
SUMMERY OF THE UTILITY MODEL
When the frame chassis walking for solving ox AMR, the relatively poor problem of stationarity, the utility model provides a relocation mechanism and have its ox AMR.
The floating mechanism provided for realizing the purpose of the utility model is suitable for being installed on a chassis of a metro AMR, and comprises a balance plate, a traveling wheel and a shock absorber;
the two opposite ends of the balance plate can swing up and down;
the two walking wheels are respectively fixed at the bottoms of the two opposite ends of the balance plate and can respectively move up and down along with the two opposite ends of the balance plate;
the bumper shock absorbers are two, the axes are all vertically arranged, and the top ends of the bumper shock absorbers are fixedly connected with the bottoms of the two opposite ends of the balance plate respectively.
In some embodiments, each of the road wheels is a universal wheel.
In some of these embodiments, the balance plate includes a connecting section and a fixing section;
the two fixing sections are respectively fixed at two opposite ends of the connecting section, one of the two fixing sections is fixed with the walking wheel and the other shock absorber at the bottom, and the other fixing section is fixed with the other walking wheel and the other shock absorber at the bottom.
In some specific embodiments, the two shock absorbers are a first shock absorber and a second shock absorber respectively;
the first shock absorber includes a first spring;
the axis of the first spring is vertically arranged, and the top end of the first spring is abutted against the bottom end face of one end of the balance plate;
the second shock absorber includes a second spring;
the axis of the second spring is vertically arranged, and the top end of the second spring is abutted against the bottom end face of the other end of the balance plate.
In some embodiments, one end of the balance plate is provided with a first threaded hole, and the opposite end is provided with a second threaded hole;
the first shock absorber further comprises a first guide cylinder, a first limiting plate, a first adjusting screw and a first limiting screw;
the axis of the first guide cylinder is vertically arranged, the top end and the bottom end of the first guide cylinder are of open structures, and the inner wall of the first guide cylinder is provided with threads;
the lower part of the first spring is arranged in the first guide cylinder in a penetrating way;
the first limiting plate is arranged in the first guide cylinder, the plane of the first limiting plate is perpendicular to the axis of the first guide cylinder, and the top end face of the first limiting plate is abutted against the bottom end of the first spring;
the axis of the first adjusting screw is vertically arranged, the side wall of the upper part of the first adjusting screw is also provided with the thread, the first adjusting screw is in threaded connection with the inner wall of the first guide cylinder through the thread, and the top end of the first adjusting screw is abutted against the bottom end face of the first limiting plate;
the axis of the first limiting screw is vertically arranged, penetrates through the first threaded hole, and the lower part of the first limiting screw penetrates through the first spring;
the second shock absorber further comprises a second guide cylinder, a second limiting plate, a second adjusting screw and a second limiting screw;
the axis of the second guide cylinder is vertically arranged, the top end and the bottom end of the second guide cylinder are of an opening structure, and the inner wall of the second guide cylinder is provided with the threads;
the lower part of the second spring is arranged in the second guide cylinder in a penetrating way;
the second limiting plate is arranged in the second guide cylinder, the plane of the second limiting plate is perpendicular to the axis of the second guide cylinder, and the top end surface of the second limiting plate is abutted against the bottom end of the second spring;
the axis of the second adjusting screw is vertically arranged, the side wall of the upper part of the second adjusting screw is also provided with the thread, the second adjusting screw is in threaded connection with the inner wall of the second guide cylinder through the thread, and the top end of the second adjusting screw is abutted against the bottom end face of the second limiting plate;
the axis of the second limiting screw is vertically arranged, penetrates through the second threaded hole, and the lower portion of the second limiting screw penetrates through the second spring.
The AMR of the ground cattle with the floating mechanism based on the same conception comprises a fork chassis, a frame chassis and the floating mechanism provided by any one of the specific embodiments;
the two pallet fork chassis are arranged in parallel;
the frame chassis is one and is fixed at one common end of the two fork chassis, and the opposite ends are respectively provided with a abdicating hole for the two travelling wheels of the floating mechanism to pass through;
the floating mechanism is integrally arranged above the frame chassis, and the middle part of the balance plate is rotationally connected with one side of the frame chassis so as to enable the two opposite ends of the balance plate to swing up and down.
The utility model has the advantages that: the utility model discloses a relocation mechanism is through setting up balance plate, walking wheel and bumper shock absorber, and when the frame chassis was walked, the spatial position of two walking wheels was adjusted effectively to the balance plate that relative both ends can the luffing motion for two walking wheels are located the coplanar altogether, effectively alleviate the condition of jolting that road conditions caused, prevent that the ground fluctuation from causing the phenomenon of walking wheel skidding to take place, have improved the frame chassis to the adaptability on fluctuation road surface and the stationarity when walking. The two shock absorbers effectively reduce the swing amplitude of the two opposite ends of the balance plate, and further improve the adaptability of the frame chassis to the undulating road surface and the running stability.
Drawings
Fig. 1 is a schematic structural view of some embodiments of a floating mechanism according to the present invention;
FIG. 2 is a cross-sectional view of a first shock absorber in the floating mechanism shown in FIG. 1, taken along an axial direction;
fig. 3 is a schematic structural diagram of some embodiments of AMR with a floating mechanism according to the present invention.
In the drawings, 100, a floating mechanism; 110. a balance plate; 111. a connecting section; 1111. a first mounting seat; 112. a fixed section; 120. a traveling wheel; 131. a first shock absorber; 1311. a first spring; 1312. a first guide cylinder; 1313. a first limit plate; 1314. a first adjusting screw; 1315. a first limit screw; 132. a second shock absorber; 200. a pallet fork chassis; 300. a frame chassis; 310. a hole of abdication; 320. a second mounting seat.
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.
Examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.
In the description of the present invention, it should be understood that the terms "top", "bottom", "inner", "outer", "axis", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description of the present invention or to simplify the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," "engaged," "hinged," and the like are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other suitable relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
Referring to fig. 1 and 2, a floating mechanism 100, adapted to be mounted on a frame chassis 300 of a metro AMR, includes a balance plate 110, road wheels 120, and shock absorbers. Opposite ends of the balance plate 110 can swing up and down. The two walking wheels 120 are respectively fixed at the bottom of the opposite ends of the balance plate 110 and can respectively move up and down along with the opposite ends of the balance plate 110. The bumper shock absorber is two, and the equal vertical setting of axis, the top respectively with the bottom fixed connection at the relative both ends of balance plate 110.
In this embodiment, the balance plate 110 can support two road wheels 120 when the floating mechanism 100 is integrally mounted on the frame chassis 300 of the AMR. The middle portion of the balance plate 110 can be rotatably coupled to one side of the frame chassis 300 so that opposite ends of the balance plate 110 can swing up and down. When the frame chassis 300 moves, the two walking wheels 120 can be effectively adjusted by the balance plate 110 with two opposite ends capable of swinging up and down, so that the two walking wheels 120 are positioned in the same plane, the bumping condition caused by road conditions is effectively relieved, the phenomenon that the walking wheels slip caused by ground fluctuation is prevented, and the adaptability of the frame chassis 300 and the ground Newton AMR chassis to the bumpy road surface and the walking stability are improved. The two shock absorbers effectively reduce the swing amplitude of the two opposite ends of the balance plate, and further improve the adaptability of the frame chassis 300 and the ground cattle AMR chassis to the undulating road surface and the running stability. Moreover, the balance plate 110 is integrally strip-shaped, which is beneficial to realizing lightweight design, reducing the loss of raw materials and saving the manufacturing cost of the balance plate 110. The whole structure is simple, the manufacturing cost is low, and the balance effect is good.
In some embodiments of the present invention, each road wheel 120 is a universal wheel. Therefore, the flexibility of the frame chassis 300 and the AMR of the ground cattle during steering is improved.
In some embodiments of the present invention, the balance board 110 includes two connecting sections 111 and two fixing sections 112, wherein the two fixing sections 112 are respectively fixed to two opposite ends of the connecting section 111, one of the two fixing sections is fixed with one walking wheel 120 and one shock absorber, and the other fixing section is fixed with the other walking wheel 120 and the other shock absorber. The middle portion of the connecting section 111 can be rotatably connected to the top of one side of the frame chassis 300.
In some embodiments of the present invention, the two dampers are the first damper 131 and the second damper 132, wherein the first damper 131 comprises a first spring 1311, the axis of the first spring 1311 is vertically disposed, and the top end is abutted against the bottom end surface of one end of the balance plate 110. The second damper 132 includes a second spring whose axis is vertically arranged, and whose top end abuts against the bottom end face of the other end of the balance plate 110. The first spring 1311 and the second spring are matched with each other, so that the swing amplitudes of the two opposite ends of the balance plate 110 can be effectively reduced, and the stability of the frame chassis 300 and the AMR during movement is improved.
In some embodiments of the present invention, the first threaded hole is opened at one end of the balance plate 110, and the second threaded hole is opened at the opposite end. As shown in fig. 2, the first shock absorber 131 further includes a first guide cylinder 1312, a first stopper plate 1313, a first adjustment screw 1314, and a first stopper screw 1315. The axis of the first guiding cylinder 1312 is arranged vertically, the top end and the bottom end are of an open structure, and the inner wall is provided with threads. The lower portion of the first spring 1311 is inserted into the first guide tube 1312. The first stopper plate 1313 is disposed in the first guide cylinder 1312, and has a plane perpendicular to the axis of the first guide cylinder 1312, and a top end surface abutting against a bottom end of the first spring 1311. The axis of the first adjusting screw 1314 is vertically arranged, the side wall of the upper part is also provided with threads, the threads are in threaded connection with the inner wall of the first guide cylinder 1312, and the top end of the first adjusting screw abuts against the bottom end surface of the first limit plate 1313. The axis of the first limiting screw 1315 is vertically arranged, passes through the first threaded hole, and the lower part of the first limiting screw penetrates through the first spring 1311. The second shock absorber 132 further includes a second guide cylinder, a second limit plate, a second adjustment screw, and a second limit screw. The axis of the second guide cylinder is vertically arranged, the top end and the bottom end are of open structures, and the inner wall is provided with threads. The lower part of the second spring is arranged in the second guide cylinder in a penetrating way. The second limiting plate is arranged in the second guide cylinder, the plane of the second limiting plate is perpendicular to the axis of the second guide cylinder, and the top end face of the second limiting plate is abutted to the bottom end of the second spring. The axis of the second adjusting screw is vertically arranged, the side wall of the upper portion is also provided with threads, the threads are in threaded connection with the inner wall of the second guide cylinder, and the top end of the second guide cylinder is abutted to the bottom end face of the second limiting plate. The axis of the second limiting screw is vertically arranged and penetrates through the second threaded hole, and the lower part of the second limiting screw penetrates through the second spring. The first stop screw 1315 acts to stop the first spring 1311, and the second stop screw acts to stop the second spring. Note that the bottom end of the first guide cylinder 1312 and the bottom end of the second guide cylinder are fixed to the top end surface of the frame chassis 300. The degree of compression of the first spring 1311 can be adjusted by screwing the first adjustment screw 1314, and the degree of compression of the second spring can be adjusted by screwing the second adjustment screw, thereby improving the shock absorbing effect.
Referring to fig. 3, the present invention further provides a ground craft AMR with a floating mechanism, which comprises a fork chassis 200, a frame chassis 300 and the floating mechanism provided in any of the above embodiments. Wherein, the pallet fork chassis 200 is two, and the parallel arrangement is provided. The frame chassis 300 is fixed to a common end of the two fork chassis 200, and two opposing ends are respectively provided with a yielding hole 310 for two traveling wheels of the floating mechanism to pass through. The floating mechanism is integrally arranged above the frame chassis 300, and the middle part of the balance plate is rotationally connected with one side of the frame chassis 300, so that the two opposite ends of the balance plate can swing up and down.
In this embodiment, two fork chassis 200 and one frame chassis 300 are combined to form a metro AMR chassis. A second mounting seat 320 of a hollow structure is provided on the top of the frame chassis 300 near one side of the two fork chassis 200. A first mounting seat 1111 is arranged at the bottom of the connecting section of the balance plate. The first mounting seat 1111 is disposed in the second mounting seat 320, and the middle portion of the first mounting seat 1111 is rotatably connected to two opposite sidewalls of the second mounting seat 320 through a rotating shaft. The middle of the first mounting seat 1111 is provided with a mounting hole for the rotating shaft to pass through, and a shaft sleeve is arranged in the mounting hole and sleeved on the rotating shaft. When the pallet fork chassis 200 moves, the balance plates 110, which can swing up and down at the opposite ends, effectively adjust the spatial positions of the two walking wheels 120, effectively relieve the bumping condition caused by road conditions, and improve the adaptability of the frame chassis 300 and the ground ox AMR chassis to the bumpy road surface and the walking stability. Therefore, when the opposite ends of the balance plate 110 swing up and down, the two shock absorbers effectively reduce the swing amplitude of the opposite ends of the balance plate 110, and further improve the adaptability of the frame chassis 300 and the ground cattle AMR chassis to the undulating road surface and the running stability.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," "one specific embodiment," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, a schematic representation of terms does not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above, only be the embodiment of the preferred of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the scope of the disclosure, and all the technical solutions and the concepts of the present invention should be covered within the protection scope of the present invention.
Claims (6)
1. A floating mechanism is characterized by being suitable for being installed on a chassis of a metro AMR and comprising a balance plate, a traveling wheel and a shock absorber;
the two opposite ends of the balance plate can swing up and down;
the two walking wheels are respectively fixed at the bottoms of the two opposite ends of the balance plate and can respectively move up and down along with the two opposite ends of the balance plate;
the bumper shock absorbers are two, the axes are vertically arranged, and the top ends of the bumper shock absorbers are fixedly connected with the bottoms of the two opposite ends of the balance plate respectively.
2. The floatation mechanism of claim 1, wherein each of the road wheels is a universal wheel.
3. The float mechanism of claim 1 wherein said balance plate includes a connecting section and a fixed section;
the two fixing sections are respectively fixed at two opposite ends of the connecting section, one of the two fixing sections is fixed with the walking wheel and the other shock absorber at the bottom, and the other fixing section is fixed with the other walking wheel and the other shock absorber at the bottom.
4. A float mechanism according to any one of claims 1 to 3 wherein the two shock absorbers are a first shock absorber and a second shock absorber respectively;
the first shock absorber includes a first spring;
the axis of the first spring is vertically arranged, and the top end of the first spring is abutted against the bottom end face of one end of the balance plate;
the second shock absorber includes a second spring;
the axis of the second spring is vertically arranged, and the top end of the second spring is abutted to the bottom end face of the other end of the balance plate.
5. The floating mechanism according to claim 4, wherein the balance plate has a first threaded hole formed at one end and a second threaded hole formed at an opposite end;
the first shock absorber further comprises a first guide cylinder, a first limiting plate, a first adjusting screw and a first limiting screw;
the axis of the first guide cylinder is vertically arranged, the top end and the bottom end of the first guide cylinder are of open structures, and the inner wall of the first guide cylinder is provided with threads;
the lower part of the first spring is arranged in the first guide cylinder in a penetrating way;
the first limiting plate is arranged in the first guide cylinder, the plane of the first limiting plate is perpendicular to the axis of the first guide cylinder, and the top end face of the first limiting plate is abutted against the bottom end of the first spring;
the axis of the first adjusting screw is vertically arranged, the side wall of the upper part of the first adjusting screw is also provided with the thread, the first adjusting screw is in threaded connection with the inner wall of the first guide cylinder through the thread, and the top end of the first adjusting screw is abutted against the bottom end face of the first limiting plate;
the axis of the first limiting screw is vertically arranged, penetrates through the first threaded hole, and the lower part of the first limiting screw penetrates through the first spring;
the second shock absorber further comprises a second guide cylinder, a second limiting plate, a second adjusting screw and a second limiting screw;
the axis of the second guide cylinder is vertically arranged, the top end and the bottom end of the second guide cylinder are of open structures, and the inner wall of the second guide cylinder is provided with the threads;
the lower part of the second spring is arranged in the second guide cylinder in a penetrating way;
the second limiting plate is arranged in the second guide cylinder, the plane of the second limiting plate is perpendicular to the axis of the second guide cylinder, and the top end surface of the second limiting plate is abutted against the bottom end of the second spring;
the axis of the second adjusting screw is vertically arranged, the side wall of the upper part of the second adjusting screw is also provided with the thread, the second adjusting screw is in threaded connection with the inner wall of the second guide cylinder through the thread, and the top end of the second adjusting screw is abutted against the bottom end face of the second limiting plate;
the axis of the second limiting screw is vertically arranged, penetrates through the second threaded hole, and the lower portion of the second limiting screw penetrates through the second spring.
6. AMR of a ground cow with a floating mechanism, comprising a fork chassis, a frame chassis and a floating mechanism according to any of claims 1 to 5;
the two pallet fork chassis are arranged in parallel;
the frame chassis is one and is fixed at one common end of the two fork chassis, and the opposite two ends are respectively provided with a abdicating hole for the two travelling wheels of the floating mechanism to pass through;
the floating mechanism is integrally arranged above the frame chassis, and the middle part of the balance plate is rotatably connected with one side of the frame chassis, so that the two opposite ends of the balance plate can swing up and down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222022109.8U CN217650850U (en) | 2022-08-02 | 2022-08-02 | Floating mechanism and ground ox AMR with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222022109.8U CN217650850U (en) | 2022-08-02 | 2022-08-02 | Floating mechanism and ground ox AMR with same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217650850U true CN217650850U (en) | 2022-10-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222022109.8U Active CN217650850U (en) | 2022-08-02 | 2022-08-02 | Floating mechanism and ground ox AMR with same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217650850U (en) |
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- 2022-08-02 CN CN202222022109.8U patent/CN217650850U/en active Active
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