Independent suspension mechanism for AGV and heavy-load AGV

Abstract

The invention discloses an independent suspension mechanism for an AGV and the heavy-load AGV. The independent suspension mechanism comprises a driving part, a shock absorber and a swing rod. The driving part is connected with wheels through a transmission shaft; one end of the shock absorber is connected with a frame body, and the other end is hinged to one end of the swing rod; the swing rod sleeves the transmission shaft and can rotate around the transmission shaft; the other end of the swing rod is hinged with the frame body; and the included angle between the shock absorber and the horizontal plane is smaller than a set angle. The shock absorber is approximately horizontally arranged, the frame body does not need to extend towards the upper portion of the driving unit any more, and compared with the vertical shock absorption design, the lower height of the frame body and the better structural rigidity can be achieved; and compared with vertical arrangement, under the condition that the rigidity coefficients of the springs are the same and the weight of the frame body is the same, due to the fact that the force arm is reduced, larger displacement can be generated in the vertical direction, and the better damping effect can be achieved.

Description

Technical field [0001] The present invention relates to the technical field of heavy-duty AGV, and in particular to an independent suspension mechanism for AGV and a heavy-duty AGV. Background technique [0002] The statements in this section merely provide background technical information related to the present invention and do not necessarily constitute prior art. [0003] AGV is a widely used automated transportation equipment with many advantages such as high level of automation, simple and flexible movement, and wide range of applications. Work efficiency can be increased in many fields, and it can even partially or completely replace human operations under certain conditions. This can not only improve the automation level of the production workshop, but also replace human operations under certain high-risk conditions, greatly reducing manual operations. Danger. A highly automated and highly reliable AGV has become an indispensable tool for human production and life. ...

AI Technical Summary

Problems solved by technology

[0005] For four-wheel mobile robots, according to the principle of three points to determine a plane, when moving on uneven ground, there is always one wheel that cannot fully touch the ground, which brings great difficulties to motion control and will cause the main body of the frame to move Unsteady, especially for Mecanum wheel mobile robots

If a wheel does not touch the ground or touches the ground slightly, its direction of motion will change, causing the robot to deviate from the intended route, and it will cause violent swings

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