Mecanum wheel multi-rigidity spring suspension for heavy-load omnidirectional mobile platform

Abstract

The invention provides a Mecanum wheel multi-rigidity spring suspension for a heavy-load omnidirectional mobile platform. The suspension comprises a first A-type spring assembly and a second A-type spring assembly with the same structure, and is characterized in that the first A-type spring assembly comprises an upper-layer spring, a lower-layer spring, a vibration isolation block and an A-type guide column; a transverse plate of the vehicle body connecting support is connected to the upper surface of the bottom of a first mounting groove of the vibration isolation block through the upper-layer spring, the lower surface of the bottom of the first mounting groove of the vibration isolation block is connected to a first suspension mounting base through the lower-layer spring, and the A-shaped guide column sequentially penetrates through the transverse plate, the upper-layer spring, the first mounting groove, the lower-layer spring and the first suspension mounting base. The top end of the A-shaped guide column is fixedly connected to the transverse plate through an upper adjusting nut, the bottom end of the A-shaped guide column is fixedly connected to the first suspension mounting base through a lower adjusting nut, and the vibration isolation block can move up and down between the transverse plate and the first suspension mounting base. Vibration generated by the ground is transmitted to the heavy-load omni-directional moving platform through the A-type spring assembly, and finally the vibration is small.

Description

technical field [0001] The invention belongs to the field of AGV heavy-duty mobile platforms, in particular to a Mecanum wheel multi-stiffness spring suspension for heavy-duty omnidirectional mobile platforms. Background technique [0002] In the field of heavy-duty omnidirectional mobile platforms, omnidirectional wheels represented by mecanum wheels are widely used due to their variety and flexibility of motion. During the use of the heavy-duty omnidirectional mobile platform, the vibration of the Mecanum wheel caused by the impact of the ground will affect the stability of the heavy-duty omnidirectional mobile platform, which in turn will affect the use of the heavy-duty omnidirectional mobile platform and reduce the impact of the heavy-duty omnidirectional mobile platform. Therefore, it is necessary to ensure the stability of the heavy-duty omnidirectional mobile platform and reduce the vibration of the omnidirectional mobile platform during use; this puts higher require...

AI Technical Summary

Problems solved by technology

[0004] 1. The suspension adopts first-order springs. During the operation of the heavy-duty omnidirectional mobile platform, the vibration of the mecanum wheel during the rotation process and the impact of the outside world on the mecanum wheel and the vibration of the wheel train itself, the existing spring suspension Vibration and impact are weakened by the first-order spring, and the impact after weakening is not zero. When it directly acts on the heavy-duty omnidirectional mobile platform, vibration will still occur. For the working environment that requires precision, the performance will be reduced and the heavy-duty omnidirectional movement will be affected. Availability of the platform

[0005] 2. The length of the suspension spring in the prior art cannot be changed. When the load is different, the compression of the spring is different, and the horizontal position of the AGV will have large fluctuations, which will have a large impact on the production and assembly process

The suspension spring has no pre-compression, and the vibration amplitude generated during the transfer process is relatively large and the stability is poor

[0006] 3. The spring suspension in the prior art has no buffer damping device. When vibration occurs due to impact, no buffer damping device will cause the generated vibration to attenuate slowly, and the combination of vibration and vibration will produce more complex vibration. For the working environment that requires precision , can not be used, reduce the performance, reduce the life of the heavy-duty omnidirectional mobile platform

[0007] 4. The spring coefficient of the prior art is not variable, and when the load span is large, the spring coefficient is not variable, and different loads have different requirements for the spring coefficient. When the spring coefficient is too large and the actual load is small, the suspension effect is relatively small. Poor, the vibration of the platform is still large; the spring constant is too small, and when the load is large, the spring is in a state of large compression, and the life of the spring will be severely shortened

[0008] 5. The fixing method of the spring guide rod in the prior art is: the lower end of the guide rod is fixed on the chassis through the guide rod fixing mechanism; the spring is arranged on the guide rod above the spring fixing device, and the fixing method of the spring guide rod is fixed at the bottom, The upper end is suspended in the air, and the fixing method is unstable. When a large radial force occurs, the guiding direction of the guide rod will deviate, which will reduce the life of the spring guide rod

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