CN207942896U - AGV driving units damping device, AGV driving devices and AGV trolleies - Google Patents
AGV driving units damping device, AGV driving devices and AGV trolleies Download PDFInfo
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- CN207942896U CN207942896U CN201721778146.4U CN201721778146U CN207942896U CN 207942896 U CN207942896 U CN 207942896U CN 201721778146 U CN201721778146 U CN 201721778146U CN 207942896 U CN207942896 U CN 207942896U
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- spring
- agv
- driving
- pull rod
- bottom plate
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- 238000013016 damping Methods 0.000 title claims abstract description 34
- 230000006835 compression Effects 0.000 claims abstract description 26
- 238000007906 compression Methods 0.000 claims abstract description 26
- 238000010521 absorption reaction Methods 0.000 claims abstract description 19
- 230000004888 barrier function Effects 0.000 claims abstract description 15
- 210000004907 gland Anatomy 0.000 claims description 6
- 239000000725 suspension Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 4
- 230000000903 blocking effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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- Vibration Prevention Devices (AREA)
Abstract
The utility model provides a kind of AGV driving units damping device, AGV driving devices and AGV trolleies, and AGV driving unit damping devices include at least one vibration absorption unit, and vibration absorption unit includes：It is fixed on the driving unit of AGV trolleies and is provided with the compression element of through-hole, one end is fixed on the through-hole spring pull rod on the bottom plate of AGV trolleies and across compression element, the other end of spring pull rod is fixed with barrier structure, it is set on spring pull rod and the first spring between compression element and barrier structure, it is set on spring pull rod and is set in the second spring on the first spring and between compression element and barrier structure, the length of first spring is more than second spring, rigidity is less than second spring, the AGV driving units damping device of the utility model is either unloaded or fully loaded driving wheel can be recumbently, effective damping, improve the service life of AGV.
Description
Technical field
The utility model belongs to robot research and development technology field, and in particular to a kind of AGV driving units damping device, AGV
Driving device and AGV trolleies.
Background technology
AGV is the abbreviation of automated guided vehicle, belongs to modern Intelligent logistics equipment, is mainly used for unmanned cargo and carries,
AGV drives vehicle to travel by driving wheel, therefore the shock absorbing characteristics of driving wheel are the key that whole equipments.Previous AGV drivings
Unit damping only has a kind of spring, can only ensure in the case of load driving wheel, driven wheel can recumbently, when unloaded by
It is excessive in the rigidity of spring, cause driving wheel, driven wheel that can recumbently cannot have phenomenon of jolting in Uneven road, encounter
It will appear wheel slip or hanging phenomenon when obstacle.
Utility model content
The utility model is to carry out to solve the above-mentioned problems, and it is an object of the present invention to provide a kind of either unloaded or full
Carry driving wheel can recumbently, effective damping improves the AGV driving units damping device of the service life of AGV, AGV drives
Dynamic device and AGV trolleies.
1. the utility model provides a kind of AGV driving units damping device, it is mounted on the bottom plate of AGV trolleies, it is special
Sign is, including：At least one vibration absorption unit, the vibration absorption unit include：
Compression element is fixed on the driving unit of AGV trolleies, is moved with the moving up and down for driving unit,
It is provided with through-hole on the compression element；
Spring pull rod passes through the through-hole, one end to be fixed on the bottom plate of the AGV trolleies, and the other end is fixed with blocking
Component；
First spring is set on the spring pull rod, between the compression element and the barrier structure；
Second spring, the internal diameter of the second spring are more than the internal diameter of first spring, and the second spring is set in
On the spring pull rod and it is set on first spring, between the compression element and the barrier structure,
Wherein, the length of first spring is more than the length of the second spring, and the rigidity of the second spring is more than
The rigidity of first spring.
Further, it in AGV driving units damping device provided by the utility model, can also have the feature that：
Wherein, the barrier structure includes the nut being fixed on the spring pull rod and second spring gland, the second spring pressure
Lid contacts between the nut and the compression element and with the nut.
Further, it in AGV driving units damping device provided by the utility model, can also have the feature that：
Wherein, it is also arranged on the spring pull rod there are two interior guide sleeve, two interior guide sleeves are located at the two of first spring
The diameter at end, the interior guide sleeve is more than the outer diameter of first spring and the internal diameter less than the second spring.
Further, it in AGV driving units damping device provided by the utility model, can also have the feature that：
Wherein, it is also arranged on the spring pull rod there are two outer bush, two outer bush are located at the two of the second spring
End, the outer bush include hollow cylinder and are arranged on the outside of one end of the hollow cylinder and perpendicular to the open circles
The baffle of column central axes, the outer diameter of the hollow cylinder are less than the internal diameter of the second spring, and the internal diameter of the hollow cylinder is big
In the diameter of the interior guide sleeve, the diameter of the baffle is more than the outer diameter of the second spring.
Further, it in AGV driving units damping device provided by the utility model, can also have the feature that：
Wherein, the vibration absorption unit is two, and two vibration absorption units are separately positioned on the both sides of the driving unit.
The utility model additionally provides a kind of AGV driving devices, which is characterized in that including：Driving unit, including：Two
It is separately fixed on the bottom plate of AGV trolleies the suspended bearer of the both sides of the fluting of " convex " font, slided with described two suspended bearers
The motor mounting plate of dynamic connection, the motor being fixedly connected with the motor mounting plate are fixedly connected with the motor shaft of the motor
Driving wheel, the motor shaft of the motor is fixedly connected across the motor mounting plate with the driving wheel, the driving wheel with
The motor is located at the both sides of the motor mounting plate；And
Above-mentioned AGV driving unit damping devices, are fixed on the bottom plate of AGV trolleies.
The utility model additionally provides a kind of AGV trolleies, which is characterized in that including：Bottom plate；
Two above-mentioned AGV driving devices, are separately positioned on the both sides of the bottom plate；And
At least three driven wheels, the driven wheel are arranged in the bottom plate bottom side of AGV trolleies.
The utility model has the following advantages that：
AGV driving unit damping devices involved by the utility model, because being arranged the first bullet on spring pull rod
Spring and second spring, second spring are set on the first spring, and the length of the first spring is more than the length of second spring, therefore
When compression element moves up compressed spring, the first spring is compressed first, the rigidity of the first spring is small, in zero load, the first bullet
Spring can also be compressed, and can be that driving wheel applies a downward power by compressed first spring, which makes driving wheel always
Keep preferably contacting with ground, avoid only there are one spring when because spring rate is excessive, and spring can't in zero load
Compressed, so as to cause driving wheel recumbently cannot can have phenomenon of jolting in Uneven road, will appear when encountering obstacle
Wheel slip or hanging phenomenon, the rigidity of second spring are more than the rigidity of second spring, and in full load, the first spring is first pressed
Contracting, to a certain extent after, second spring is compressed, larger negative therefore, it is possible to bear since the rigidity of second spring is larger
It carries, and can be that driving wheel applies a downward power by compressed first spring and second spring, which makes driving wheel
It keeps preferably contacting with ground always, therefore, no matter it is unloaded or fully loaded, when AGV encounters uneven ground, can ensure
Driving unit reduces vibration, and ensure that driving wheel, universal wheel recumbently smoothly can cross barrier along play above and below suspended bearer
Hinder and pit.
AGV driving devices involved by the utility model, because the AGV driving unit dampings using the utility model fill
It sets, therefore, no matter it is unloaded or fully loaded, when AGV encounters uneven ground, it can ensure driving unit along on suspended bearer
Lower play reduces vibration, and ensures that driving wheel, universal wheel recumbently can smoothly surmount obstacles and pit.
AGV trolleies involved by the utility model, because using the AGV driving devices of the utility model, therefore, no matter it is empty
It carries or fully loaded, when AGV encounters uneven ground, can ensure driving unit along play above and below suspended bearer, reduction is shaken
It is dynamic, and ensure that driving wheel, universal wheel recumbently can smoothly surmount obstacles and pit.
Description of the drawings
Fig. 1 is the structural schematic diagram of AGV driving units damping device in the embodiments of the present invention；
Fig. 2 is the front sectional view of AGV driving units damping device in the embodiments of the present invention；
Fig. 3 is the front sectional view of AGV driving units damping device full load in the embodiments of the present invention；
Fig. 4 is the structural schematic diagram of AGV driving devices in the embodiments of the present invention；
Fig. 5 is the structural schematic diagram of another angle of AGV driving devices in the embodiments of the present invention；And
Fig. 6 is the structural schematic diagram of AGV trolleies in the embodiments of the present invention.
Specific implementation mode
In order to make the technical means, creative features, achievement of purpose, and effectiveness of the utility model be easy to understand, with
Lower embodiment combination attached drawing makees the AGV driving units damping device of the utility model, AGV driving devices and AGV trolleies specific
It illustrates.
<Structure one>
As shown in Figure 1, Figure 2, Figure 3 shows, AGV driving units damping device is mounted on the bottom plate of AGV trolleies, is effectively subtracted
Shake, and no matter AGV trolleies can land in unloaded and full load driving wheel, improve the service life of AGV.
AGV driving unit damping devices include at least one vibration absorption unit 100, and vibration absorption unit 100 includes：Compression element
110, spring pull rod 120, the first spring 130 and second spring 140.
Compression element 110 is fixed on the driving unit of AGV trolleies, is moved with moving up and down for driving unit, pressure
It is provided with through-hole on contracting component 110.When a vibration absorption unit 100 is arranged in a driving unit, optimal compression element 110 is solid
It is scheduled on the position among driving unit.When two vibration absorption units 100 are arranged in a driving unit, as shown in figure 4, it is optimal,
Compression element 110 is fixed on the both sides of driving unit, is specifically fixed on the both ends of the motor mounting plate 320 of driving unit.With
The direction of Fig. 1, Fig. 2, Fig. 3 are seen, when compression element 110 moves up, first compress the first spring 130, when the first spring 130 compresses
After to a certain extent, second spring 140 is recompressed.
Spring pull rod 120 passes through the through-hole of compression element 110, one end to be fixed on the bottom plate 200 of AGV trolleies, wherein figure
1, a part for the bottom plate 200 of AGV trolleies is only drawn in Fig. 2, Fig. 3, the other end is fixed with barrier structure 150, barrier structure 150
For compressing the first spring 130 and second spring 140.In the present embodiment, barrier structure 150 includes being fixed on spring pull rod
Nut 151 on 120 and second spring gland 152, second spring gland 152 between nut 151 and compression element 110 and
It is contacted with nut 151.Specifically, second spring gland 152 is the cylinder of one end open, it is provided among the bottom of cylinder logical
Hole, cylinder are arranged by through-hole and are fixed on spring pull rod 120, and the open end of cylinder is towards compression element 110.
First spring 130 is set on spring pull rod 120, is located between compression element 110 and blocking structure 150.First bullet
The spring that spring 130 selects rigidity smaller.
The internal diameter of second spring 140 is more than the internal diameter of the first spring 130, and second spring 140 is set on spring pull rod 120
And be set on the first spring 130, between compression element 110 and barrier structure 50.Second spring selects rigidity larger
Spring.The length of first spring 130 is more than the length of second spring 140, and the rigidity of second spring 140 is more than the first spring 130
Rigidity.
In the present embodiment, it is also arranged on spring pull rod 120 there are two interior guide sleeve 131, two interior guide sleeves 131 are located at
The diameter at the both ends of the first spring 130, interior guide sleeve 131 is more than the outer diameter of the first spring 130 and is less than the interior of second spring 140
Diameter, so, interior guide sleeve 131 does not interfere with the first spring 130 and second spring 140 is compressed.Specifically, interior guide sleeve 131 is one end
The cylinder of opening, the opening direction of guide sleeve 131 is opposite in two, and the both ends of the first spring 130 are located in two in guide sleeve 131.
In the present embodiment, it is also arranged on spring pull rod 120 there are two outer bush 141, two outer bush 141 are located at
The both ends of second spring 140.Outer bush 141 include hollow cylinder and be arranged on the outside of one end of hollow cylinder and perpendicular to
The baffle of hollow cylinder central axes, the outer diameter of hollow cylinder are less than the internal diameter of second spring 140, and the internal diameter of hollow cylinder is more than interior
The diameter of guide sleeve 131, the diameter of baffle are more than the outer diameter of second spring 140, thus, the hollow cylinder of outer bush 141 can cover
Be located on spring pull rod 120, and between second spring 140 and interior guide sleeve 131, baffle wedge in the end of second spring 140,
When second spring 140 is compressed, stress surface is provided for second spring 140.
When unloaded, as shown in Fig. 2, since 130 rigidity of the first spring is small, it can also be compressed, avoided in zero load
Only there are one, because spring rate is excessive, and spring can't be compressed in zero load when spring, so as to cause driving wheel cannot
Can phenomenon of jolting recumbently be had in Uneven road, wheel slip or hanging phenomenon are will appear when encountering obstacle.First bullet
130 length of spring is long, is first pressurized, and second spring length is shorter, is in free state.First spring 130 is due to being in pressure
Contracting state, therefore a power can be applied to driving wheel, which makes driving wheel be kept in contact with ground always.When AGV encounters not
When plane earth, ensure that driving unit can reduce vibration, and ensure that driving wheel, universal wheel can along play above and below suspended bearer
Recumbently, it smoothly surmounts obstacles and pit.
Full load, as shown in figure 3, due to load, the first spring 130 and second spring 140 can be compressed, the first spring
130 length are long, are first pressurized, and second spring length is shorter, rear to be pressurized.First spring 130 and second spring 140 are due to place
In compressive state, therefore a power can be applied to driving wheel, which makes driving wheel be kept in contact with ground always.And the second bullet
The rigidity of spring 140 is larger, can bear larger load, therefore, when AGV encounters uneven ground, can ensure driving unit
Along play above and below suspended bearer, reduce vibration, and ensures that driving wheel, universal wheel recumbently can smoothly surmount obstacles and pit.
<Structure two>
As shown in Figure 4, Figure 5, AGV driving devices include driving unit and above-mentioned AGV driving unit damping devices.Driving
Unit includes：The suspended bearer 310 of the both sides of the fluting of " convex " font on two bottom plates 200 for being separately fixed at AGV trolleies, with
The motor mounting plate 320 that two suspended bearers 310 are slidably connected, the motor 330 being fixedly connected with motor mounting plate 320 and electricity
The motor shaft of the driving wheel 340 that the motor shaft of machine 330 is fixedly connected, motor 330 passes through motor mounting plate 320 and driving wheel 340
It is fixedly connected, driving wheel 340 is located at the both sides of motor mounting plate 320 with motor 330.
As shown in figure 5, in the present embodiment, suspended bearer 310 is " L " type, and is provided on " L " type suspended bearer 310
Reinforcing plate 311.As shown in Figure 4, Figure 5, in the present embodiment, the top half of the fluting of " convex " font is one on bottom plate 200
Groove 210, lower half portion are fluting 220.
AGV driving unit damping devices are mounted on the bottom plate 200 of AGV trolleies, in the present embodiment, AGV driving units
Damping device includes two vibration absorption units 100, and two vibration absorption units 100 are located at the both sides of driving unit, specifically, two
The compression element 110 of vibration absorption unit 100 is separately fixed at the both ends of motor mounting plate 320, as motor mounting plate 320 is along outstanding
Hang sliding up and down and moving up and down for bearing 310.
Certainly, AGV driving units damping device can also include a vibration absorption unit 100, optimal, vibration absorption unit 100
Positioned at the centre of driving unit.
<Structure three>
As shown in fig. 6, AGV trolleies 1000 include：The above-mentioned AGV driving devices 300, at least three of bottom plate 200, two from
Driving wheel 400.
The both sides of bottom plate 200 are provided with the fluting in " convex " font, and two AGV driving devices 300 are located at bottom plate 200
Both sides and be arranged at the fluting of bottom plate 200.Driven wheel 400 is arranged in the bottom plate bottom side of AGV trolleies, in the present embodiment,
Driven wheel 400 is four, is separately positioned at four angles of bottom plate 200.
The above embodiment is the preferred case of the utility model, is not intended to limit the scope of protection of the utility model.
Claims (7)
1. a kind of AGV driving units damping device is mounted on the bottom plate of AGV trolleies, which is characterized in that including：It is at least one
Vibration absorption unit, the vibration absorption unit include：
Compression element is fixed on the driving unit of AGV trolleies, is moved with the moving up and down for driving unit, described
Through-hole is provided on compression element；
Spring pull rod passes through the through-hole, one end to be fixed on the bottom plate of the AGV trolleies, and the other end is fixed with barrier structure；
First spring is set on the spring pull rod, between the compression element and the barrier structure；
Second spring, the internal diameter of the second spring are more than the internal diameter of first spring, and the second spring is set in described
On spring pull rod and it is set on first spring, between the compression element and the barrier structure,
Wherein, the length of first spring is more than the length of the second spring, and the rigidity of the second spring is more than described
The rigidity of first spring.
2. AGV driving units damping device according to claim 1, it is characterised in that：
Wherein, the barrier structure includes the nut being fixed on the spring pull rod and second spring gland, second bullet
Spring gland contacts between the nut and the compression element and with the nut.
3. AGV driving units damping device according to claim 1, it is characterised in that：
Wherein, it is also arranged on the spring pull rod there are two interior guide sleeve, two interior guide sleeves are located at first spring
Both ends, the diameter of the interior guide sleeve is more than the outer diameter of first spring and the internal diameter less than the second spring.
4. AGV driving units damping device according to claim 3, it is characterised in that：
Wherein, it is also arranged on the spring pull rod there are two outer bush, two outer bush are located at the second spring
Both ends, the outer bush includes hollow cylinder and is arranged on the outside of one end of the hollow cylinder and perpendicular to the sky
The baffle of heart cylinder central axes, the outer diameter of the hollow cylinder are less than the internal diameter of the second spring, the hollow cylinder it is interior
Diameter is more than the diameter of the interior guide sleeve, and the diameter of the baffle is more than the outer diameter of the second spring.
5. AGV driving units damping device according to claim 1, it is characterised in that：
Wherein, the vibration absorption unit is two, and two vibration absorption units are separately positioned on the both sides of the driving unit.
6. a kind of AGV driving devices, which is characterized in that including：
Driving unit, including：The suspension branch of the both sides of two flutings for being separately fixed on the bottom plate of AGV trolleies " convex " font
Seat, the motor mounting plate being slidably connected with described two suspended bearers, the motor being fixedly connected with the motor mounting plate and institute
The driving wheel that the motor shaft of motor is fixedly connected is stated, the motor shaft of the motor passes through the motor mounting plate and the driving wheel
It is fixedly connected, the driving wheel is located at the both sides of the motor mounting plate with the motor；And
AGV driving unit damping devices described in claim 1-5 any claims, are fixed on the bottom plate of AGV trolleies.
7. a kind of AGV trolleies, which is characterized in that including：
Bottom plate；
AGV driving devices described in two claims 6, are separately positioned on the both sides of the bottom plate；And
At least three driven wheels, the driven wheel are arranged in the bottom plate bottom side of AGV trolleies.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721778146.4U CN207942896U (en) | 2017-12-19 | 2017-12-19 | AGV driving units damping device, AGV driving devices and AGV trolleies |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721778146.4U CN207942896U (en) | 2017-12-19 | 2017-12-19 | AGV driving units damping device, AGV driving devices and AGV trolleies |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207942896U true CN207942896U (en) | 2018-10-09 |
Family
ID=63704202
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721778146.4U Expired - Fee Related CN207942896U (en) | 2017-12-19 | 2017-12-19 | AGV driving units damping device, AGV driving devices and AGV trolleies |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207942896U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109204607A (en) * | 2018-11-09 | 2019-01-15 | 芯球（上海）智能科技有限责任公司 | Hang buffer system |
| CN109823440A (en) * | 2018-12-24 | 2019-05-31 | 松凌智能科技(东莞)有限公司 | Manned AGV |
| CN109820599A (en) * | 2019-03-22 | 2019-05-31 | 重庆金山医疗机器人有限公司 | A kind of driving mechanism and operating table underbody seat for operating table underbody seat |
| CN111267999A (en) * | 2020-03-20 | 2020-06-12 | 西华大学 | AGV driving device |
| CN112248735A (en) * | 2020-11-05 | 2021-01-22 | 天津航天机电设备研究所 | Mecanum wheel multi-stiffness spring suspension for heavy-duty omnidirectional mobile platform |
| CN115183005A (en) * | 2022-08-16 | 2022-10-14 | 陕西航天泵阀科技集团有限公司 | Grey lock pressurized shut-off valve |
-
2017
- 2017-12-19 CN CN201721778146.4U patent/CN207942896U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109204607A (en) * | 2018-11-09 | 2019-01-15 | 芯球（上海）智能科技有限责任公司 | Hang buffer system |
| CN109823440A (en) * | 2018-12-24 | 2019-05-31 | 松凌智能科技(东莞)有限公司 | Manned AGV |
| CN109820599A (en) * | 2019-03-22 | 2019-05-31 | 重庆金山医疗机器人有限公司 | A kind of driving mechanism and operating table underbody seat for operating table underbody seat |
| CN109820599B (en) * | 2019-03-22 | 2024-01-23 | 重庆金山医疗机器人有限公司 | Driving mechanism for operation trolley base and operation trolley base |
| CN111267999A (en) * | 2020-03-20 | 2020-06-12 | 西华大学 | AGV driving device |
| CN111267999B (en) * | 2020-03-20 | 2024-06-04 | 西华大学 | AGV driving device |
| CN112248735A (en) * | 2020-11-05 | 2021-01-22 | 天津航天机电设备研究所 | Mecanum wheel multi-stiffness spring suspension for heavy-duty omnidirectional mobile platform |
| CN115183005A (en) * | 2022-08-16 | 2022-10-14 | 陕西航天泵阀科技集团有限公司 | Grey lock pressurized shut-off valve |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 322000 2nd Floor, Building 14, Kechuang Garden, 968 Xuefeng West Road, Beiyuan Street, Yiwu City, Zhejiang Province Patentee after: Zhejiang Zhong Dao Robot Technology Co.,Ltd. Address before: 230601 Haiheng Building 543 No. 6 Cuiwei Road, Hefei City, Anhui Province Patentee before: ZHONGDAO ROBOT TECHNOLOGY CO.,LTD. |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181009 |