A modular AGV independent suspension device and its application

Abstract

The present invention relates to a modular AGV independent suspension device and its application, including a driving motor, a driving wheel, a driving bracket, a spring, a connecting guide shaft, a shock-absorbing bracket and a fixed support, wherein the driving wheel is fixedly installed inside the driving bracket, the driving motor is installed outside the driving bracket and connected to the driving wheel, one end of the shock-absorbing bracket is connected to the driving bracket through a connecting guide shaft, the spring is sleeved on the connecting guide shaft, and the other end of the shock-absorbing bracket is connected to the fixed support. The present invention adjusts the compression amount of the shock-absorbing spring by adjusting the nut to achieve the adjustment of the shock-absorbing parameters, adapts to various complex road surfaces, has a good shock-absorbing effect, and the suspension device is independent of the overall structure, has a simple structure, and is easy to disassemble and maintain.

Description

Technical Field

[0001] The invention relates to a modular AGV independent suspension device and application thereof, belonging to the technical field of AGV. Background Art

[0002] The current magnetic tape guided AGV (Automated Guided Vehicle, AGV for short) is mainly based on differential drive. The AGV suspension system often adopts a cross-rod suspension system or a linear bearing suspension system. The cross-rod suspension system or the linear bearing suspension system is prone to uneven operation during use. On the one hand, it leads to insufficient adhesion of the drive wheel, which causes the drive wheel to slip or hang in the air when encountering uneven ground, and the vehicle has poor stability. On the other hand, the uneven operation also causes the suspension system to wear out faster, thereby reducing the life of the entire suspension system. This puts forward strict requirements on the adjustment and replacement of the suspension installed on the drive wheel. In the increasingly complex scheduling system, the stability of AGV operation is very important to the scheduling system.

[0003] The Chinese patent document (publication number CN208602592U) discloses a drive wheel suspension shock absorption mechanism for AGV, wherein a slider fixing plate is fixedly connected to the upper surface of the suspension shock absorption mounting plate, and a plurality of sliders are installed on the side of the slider fixing plate close to the drive wheel, and two guide rods are installed on the suspension shock absorption mounting plate, and a locking nut, a first spring limit washer, a rectangular spring, a second spring limit washer, and a spring fixing seat are arranged on the guide rods from top to bottom. The shock absorption part of the suspension shock absorption mechanism is installed near the drive wheel, and the structure is relatively compact, and the shock absorption effect on the drive wheel is good, but the overall shock absorption effect on the AGV is poor, and the structure is relatively complex, and installation and maintenance are relatively inconvenient. Summary of the invention

[0004] In view of the shortcomings of the prior art, the present invention provides a modular AGV independent suspension device, which has a simple and compact structure, smooth operation, good shock absorption effect, provides greater adhesion to the drive wheels, has good adaptability to complex road surfaces, and adopts modular installation, with the drive part and the shock absorption part integrated in one design, which is easy to disassemble and maintain.

[0005] The present invention also provides a working method of the above-mentioned modular AGV independent suspension device.

[0006] The technical solution of the present invention is as follows:

[0007] A modular AGV independent suspension device comprises a driving motor, a driving wheel, a driving bracket, a spring, a connecting guide shaft, a shock absorbing bracket and a fixed support. The driving wheel is fixedly installed inside the driving bracket, the driving motor is installed outside the driving bracket and connected to the driving wheel, one end of the shock absorbing bracket is connected to the driving bracket through the connecting guide shaft, the spring is sleeved on the connecting guide shaft, and the other end of the shock absorbing bracket is connected to the fixed support.

[0008] Preferably, the upper end of the connecting guide shaft is a threaded structure and is equipped with an adjusting nut.

[0009] Preferably, the shock-absorbing bracket is connected to the AGV body via mounting bolts.

[0010] Preferably, the support shaft C is installed at one end of the driving bracket and passes through the connector between the shock-absorbing bracket and the fixed support.

[0011] Preferably, the driving motor is mounted on the outside of the driving bracket via a motor mounting plate.

[0012] Preferably, the driving wheel and the connecting shaft are fixed by two flat keys.

[0013] Preferably, one end of the driving wheel is fixed by a stepped shaft, and the other end is fixed by a shaft sleeve, and both ends of the connecting shaft are fixed by deep groove ball bearings and bearing end covers.

[0014] Preferably, the drive motor transmission shaft and the drive wheel connecting shaft are fixed by a flat key connection.

[0015] Preferably, the support shaft B is installed at one end of the shock-absorbing bracket and is slidably connected to the connecting guide shaft through a clearance fit with the slider.

[0016] Preferably, the support shaft A is installed at the other end of the driving bracket and is connected to the connecting guide shaft through a pin.

[0017] A working method of a modular AGV independent suspension device comprises the following steps:

[0018] The modular AGV independent suspension device is installed on the lower part of the AGV through the bolts on the shock-absorbing bracket. A trial run is carried out first. The entire AGV is driven by the drive motor to move. When encountering a bumpy ground, the drive wheel bumps up and down, driving the drive bracket to move up and down. The spring performs a stretching movement to support the shock-absorbing bracket, so that the shock-absorbing bracket performs a small-scale movement around the support axis C to ensure that the AGV is not affected by the road surface and runs smoothly. After running for a distance, the adjustment nut is adjusted up and down according to the shock absorption situation during the AGV movement to achieve the best shock absorption effect.

[0019] The beneficial effects of the present invention are:

[0020] 1) The modular AGV independent suspension device of the present invention adjusts the compression amount of the shock-absorbing spring by adjusting the nut to achieve adjustment of the shock-absorbing parameters, is adaptable to various complex road surfaces, and has a good shock-absorbing effect.

[0021] 2) The modular AGV independent suspension device of the present invention adopts a modular design. The suspension device is independent of the overall structure, has a simple structure, and is easy to disassemble and maintain.

[0022] 3) The modular AGV independent suspension device of the present invention adopts a purely mechanical structure, which can withstand most of the pressure of the AGV and has a good overall shock absorption effect on the AGV when encountering potholes on the road. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A three-dimensional diagram of the modular AGV independent suspension device

[0024] Figure 2 The structure diagram of the shock-absorbing bracket for the modular AGV independent suspension device

[0025] Figure 3 A three-dimensional diagram of the drive section of the modular AGV independent suspension device

[0026] Figure 4 Sectional view of the drive connection for the modular AGV independent suspension device

[0027] Figure 5 A top view of the overall installation of the modular AGV independent suspension device

[0028] Figure 6 The overall installation view of the modular AGV independent suspension device

[0029] Among them: 1. Drive motor; 2. Motor mounting plate; 3. Drive wheel; 4. Drive bracket; 5. Support shaft A; 6. Spring; 7. Connecting guide shaft; 8. Adjusting nut; 9. Support shaft B; 10. Shock-absorbing bracket; 11. Mounting screw; 12. Support shaft C; 13. Fixed support; 14. Connecting shaft; 15. Flat key; 16. Deep groove ball bearing. DETAILED DESCRIPTION

[0030] The present invention will be further described below by way of embodiments in conjunction with the accompanying drawings, but is not limited thereto.

[0031] Embodiment 1:

[0032] like Figure 1-6 As shown, this embodiment provides a modular AGV independent suspension device, including a driving motor 1, a driving wheel 3, a driving bracket 4, a spring 6, a connecting guide shaft 7, a shock-absorbing bracket 10 and a fixed support 13, the driving wheel 3 is installed inside the driving bracket 4, the driving motor 1 is installed outside the driving bracket 4 and connected to the driving wheel 3, one end of the shock-absorbing bracket 10 is connected to the driving bracket 4 through the connecting guide shaft 7, the spring 6 is sleeved on the connecting guide shaft 7, and the other end of the shock-absorbing bracket 10 is connected to the fixed support 13.

[0033] Among them, the driving wheel 3 is installed inside the driving bracket 4 through the connecting shaft 14, the inside of the driving wheel 3 and the connecting shaft 14 are connected and fixed by a flat key 15, one end of the outer side is fixed by a stepped shaft, and the other end is fixed by a sleeve, and both ends of the connecting shaft 14 are fixed by deep groove ball bearings 16 and bearing end covers. The driving motor 1 is fixedly installed on the outside of the driving bracket 4 through the motor mounting plate 2, and the lower end of the shock-absorbing bracket 10 and the fixed support 13 are both provided with semicircular openings. The support shaft C12 is installed at one end of the driving bracket 4, and the two sides pass through the closed circular opening formed by the connection between the shock-absorbing bracket 10 and the fixed support 13, so as to provide support force for the shock-absorbing bracket 10, and at the same time ensure that the shock-absorbing bracket 10 moves slightly with the vibration of the spring 6.

[0034] A support shaft A5 is installed at the other end of the driving bracket 4. The support shaft B9 is clamped on one end of the shock-absorbing bracket 10 through two fixing blocks. The support shaft B9 and the connecting guide shaft 7 are matched through the clearance of the slider and are slidably connected. The slider passes through the connecting guide shaft 7 and is fixed to the middle position of the connecting guide shaft 7 through an elastic retaining ring. The connecting guide shaft 7 and the support shaft A5 are connected through a pin. The lower end of the connecting guide shaft 7 is a U-shaped opening, which is bridged on the support shaft A5. A closed space is formed by the pin to ensure the activity space of the spring 6. The spring 6 is sleeved on the outside of the connecting guide shaft 7.

[0035] Embodiment 2:

[0036] A modular AGV independent suspension device, the structure of which is as described in Example 1, except that: the shock-absorbing bracket 10 is fixed to the bottom of the AGV by 6 bolts, and the AGV adopts Figure 6 The structure shown forms a modular design of the entire suspension device through the shock-absorbing bracket 10, which is independent of the AGV and convenient for subsequent repair and maintenance.

[0037] Embodiment 3:

[0038] A modular AGV independent suspension device has a structure as described in Example 2, except that two adjustment nuts 8 are installed at the upper end of the connecting guide shaft 7, and the compression amount of the adjustment spring 6 is adjusted by moving the upper and lower positions of the adjustment nuts 8 to achieve adjustment of the shock absorption parameters.

[0039] Embodiment 4:

[0040] A working method of the modular AGV independent suspension device as described in Embodiments 1-3, wherein the working steps are as follows:

[0041] The modular AGV independent suspension device is installed on the lower part of the AGV through the bolts on the shock-absorbing bracket 10. A trial run is carried out first. The entire AGV is driven to move by the driving motor 1. When encountering a bumpy ground, the driving wheel 3 bumps up and down, driving the driving bracket 4 to move up and down. The spring 6 performs a stretching movement to support the shock-absorbing bracket 10, so that the shock-absorbing bracket 10 performs a small-scale movement around the support axis C12 to ensure that the AGV is not affected by the road surface and runs smoothly. After running for a distance, the nut 8 is adjusted up and down according to the shock absorption condition during the movement of the AGV to achieve the best shock absorption effect.

Claims

1. A modular AGV independent suspension device, comprising a drive motor, a drive wheel, a drive bracket, a spring, a connecting guide shaft, a shock absorbing bracket and a fixed support, characterized in that: The driving wheel is fixedly installed inside the driving bracket, the driving motor is installed outside the driving bracket and connected to the driving wheel, one end of the shock-absorbing bracket is connected to the driving bracket through a connecting guide shaft, the spring is sleeved on the connecting guide shaft, and the other end of the shock-absorbing bracket is connected to the fixed support; the lower end of the shock-absorbing bracket and the fixed support are both provided with semicircular openings, the support shaft C is installed at one end of the driving bracket, and the two sides pass through the closed circular opening formed by the connection between the shock-absorbing bracket and the fixed support; the shock-absorbing bracket is fixed to the bottom of the AGV by 6 bolts; The upper end of the connecting guide shaft is a threaded structure, and an adjusting nut is installed. The compression amount of the spring is adjusted by moving the adjusting nut up and down; the lower end of the connecting guide shaft is a U-shaped opening, which is straddled on the support shaft A, and a closed space is formed by a pin; the support shaft A is installed at the other end of the driving bracket, and is connected to the connecting guide shaft through a pin; the support shaft B is installed at one end of the shock-absorbing bracket, and is slidably connected to the connecting guide shaft through a slider clearance fit; the slider passes through the connecting guide shaft and is fixed to the middle position of the connecting guide shaft through an elastic retaining ring; The shock-absorbing bracket is connected to the AGV body through mounting bolts; The support shaft C is installed at one end of the driving bracket and passes through the connecting body between the shock absorbing bracket and the fixed support.

2. A modular AGV independent suspension device as claimed in claim 1, characterized in that: The driving motor is installed on the outside of the driving bracket through the motor mounting plate.

3. A modular AGV independent suspension device as claimed in claim 1, characterized in that: The driving wheel and the connecting shaft are fixed by two flat keys. One end of the driving wheel is fixed by a stepped shaft, and the other end is fixed by a bushing. Both ends of the connecting shaft are fixed by deep groove ball bearings and bearing end covers.

4. A modular AGV independent suspension device as claimed in claim 2, characterized in that: The driving motor transmission shaft and the driving wheel connecting shaft are connected and fixed by a flat key.

5. A method for operating the modular AGV independent suspension device according to any one of claims 1 to 4, characterized in that: The modular AGV independent suspension device is installed on the lower part of the AGV through the bolts on the shock-absorbing bracket. A trial run is carried out first. The entire AGV is driven by the drive motor to move. When encountering a bumpy ground, the drive wheel bumps up and down, driving the drive bracket to move up and down. The spring performs a stretching movement to support the shock-absorbing bracket, so that the shock-absorbing bracket performs a small-scale movement around the support axis C to ensure that the AGV is not affected by the road surface and runs smoothly. After running for a distance, the adjustment nut is adjusted up and down according to the shock absorption situation during the AGV movement to achieve the best shock absorption effect.

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