Differential drive AGV linkage suspension system based on bridge type structure

Abstract

The invention provides a differential drive AGV linkage suspension system based on a bridge type structure, and relates to the technical field of vehicle structures, the differential drive AGV linkage suspension system comprises an AGV chassis, a differential drive suspension assembly is arranged on the AGV chassis, a lubricating assembly is arranged in the center of the differential drive suspension assembly, and the lubricating assembly is used for lubricating the differential drive suspension assembly. Damping assemblies are arranged at the front and rear ends of the AGV chassis, and a collision protection assembly is arranged at the front end of the AGV chassis; the system further comprises a lubrication monitoring assembly which is used for monitoring and adjusting the lubrication assembly. The technical problems that a differential suspension structure lacks a lubricating structure, and manual lubrication and maintenance are poor in timeliness and tedious are solved.

Description

Technical Field

[0001] The invention belongs to the field of vehicle structures, and in particular relates to a differential drive AGV linkage suspension system based on a bridge structure. Background Art

[0002] Differential drive AGV is an automatic guided vehicle that adopts differential drive. Its working principle is based on the principle of differential. By controlling the speed difference of two independent drive motors, the steering and movement of the vehicle are realized. Since the differential drive AGV has only two drive wheels, it is necessary to ensure that its drive wheels are always on the ground and maintain stable operation. The necessity of the suspension system cannot be ignored. The suspension system can effectively absorb the vibration caused by uneven ground and keep the body stable, thereby ensuring good contact between the drive wheels and the ground, and improving the travel stability and reliability of the AGV.

[0003] The existing AGV suspension system usually lacks a lubrication mechanism. After the AGV suspension system has been running for a period of time, it needs to be manually lubricated and maintained. It is impossible to lubricate the suspension system in time according to the operating conditions of the suspension system, and the maintenance process is relatively cumbersome. Summary of the invention

[0004] The present invention provides a differential drive AGV linkage suspension system based on a bridge structure, which is used to solve at least one technical problem raised in the above background technology.

[0005] In order to solve the above technical problems, the present invention discloses a differential drive AGV linkage suspension system based on a bridge structure, comprising: an AGV chassis, a differential drive suspension assembly is arranged on the AGV chassis, a lubrication assembly is arranged at the center of the differential drive suspension assembly, the lubrication assembly is used to lubricate the differential drive suspension assembly, a shock absorbing assembly is arranged at the front and rear ends of the AGV chassis, and a collision protection assembly is arranged at the front end of the AGV chassis;

[0006] Also included is a lubrication monitoring component, which is used to monitor and adjust the lubrication component.

[0007] Preferably, the differential drive suspension assembly includes three groups of U-shaped support seats, and the three groups of U-shaped support seats are bolted to the AGV chassis. The U-shaped support seat at the front end of the AGV chassis is rotatably connected to the symmetrical driven bridge frame through bearings, and both ends of the symmetrical driven bridge frame are bolted to driven universal wheels. The U-shaped support seats on both sides of the AGV chassis are rotatably connected to the asymmetrical active bridge frame through bearings, one end of the asymmetrical active bridge frame is bolted to the active universal wheel, and the other end of the asymmetrical active bridge frame is provided with a driving structure.

[0008] Preferably, the driving structure includes a fixing card, the fixing card is bolted to the asymmetric active bridge, a driving motor is sleeved in the fixing card, and a driving wheel is installed at the output end of the driving motor.

[0009] Preferably, the shock absorbing assembly includes a stabilizing seat, which is symmetrically fixedly connected to the front and rear ends of the AGV chassis, and shock absorbing arms are bolted to the two stabilizing seats. Both ends of the shock absorbing arms are hinged to hydraulic damping columns, and the other end of the hydraulic damping column is bolted to a supporting base. The supporting base is arranged above the AGV chassis, and an elastic compression member is sleeved on the hydraulic damping column.

[0010] Preferably, the lubrication assembly includes an oil storage tank, which is bolted on the AGV chassis, a refueling pipe is provided on the top of the oil storage tank, a sealing valve body is connected to the inner thread of the refueling pipe, a sealing core is penetrated through and slidably connected to the sealing valve body, a compression elastic member 2 is provided between the sealing core and the sealing valve body, a sealing retaining ring is fixedly connected to the bottom of the sealing core, the sealing retaining ring and the sealing valve body abut against each other, a telescopic sleeve is slidably connected to the refueling pipe, the telescopic sleeve penetrates and is fixedly connected to the supporting base, a plurality of oil distribution pipes are penetrated and fixed on the side of the oil storage tank, the other ends of the plurality of oil distribution pipes are connected to oil pump cylinders, the plurality of oil pump cylinders are respectively arranged on one side of the U-shaped supporting seat, the plurality of oil pump cylinders are bolted to the AGV chassis, and the plurality of oil pump cylinders are provided with oil pumping structures.

[0011] Preferably, the oil pump structure includes a sealing cover, which is bolted to the oil pump cylinder, a pump pressure tube passing through the sealing cover and rotatably connected, a sealing plug is slidably connected in the pump pressure tube, a pumping tube passes through the sealing plug and slidably connected, connecting holes are provided at both upper and lower ends of the pumping tube, a sealing bead is provided at the bottom of the pump pressure tube, a compression elastic member three is provided between the pumping tube and the sealing bead, the top of the pumping tube is connected to the electric telescopic rod, the electric telescopic rod passes through and is bolted to the pumping tube, and a capillary is connected to one side of the pumping tube.

[0012] Preferably, the collision protection assembly includes a contact cross bar, on which trigger push rods are symmetrically fixedly connected, and both trigger push rods are slidably connected in the trigger sleeve. A compression elastic member four is provided between the trigger push rod and the trigger sleeve, and the trigger sleeve is bolted to the AGV chassis, and the other end of the trigger sleeve is connected to a trigger protection structure.

[0013] Preferably, the trigger protection structure includes an airbag bag, which is bolted to a support base, which is bolted to an AGV chassis, a power supply block is provided on the support base, a trigger sleeve is provided below the airbag bag, the trigger sleeve is fixedly connected to the support base, a connecting piece is provided inside the trigger sleeve, the connecting piece passes through and is slidably connected to the support base, a slot block is fixedly connected to the other side of the support base, the slot block and the connecting piece correspond to each other, a compression elastic member five is provided between the connecting piece and the support base, and the airbag bag and the power supply block are both electrically connected to the slot block.

[0014] Preferably, the lubrication monitoring component includes a control module, a data processing module, a detection module and an execution module, and the detection module includes:

[0015] Temperature sensor: used to detect the working temperature of the bearing on each U-shaped support seat, which is set on one of the bearings of the U-shaped support seat;

[0016] Time sensor: used to detect the working time of the bearing on each U-shaped support seat after the lubricating oil is added once, and it is set on one of the bearings of the U-shaped support seat;

[0017] Photoelectric sensor: used to detect the number of rotations of the bearing on each U-shaped support seat, and is set on the bearing;

[0018] Friction sensor: used to obtain the rotational friction of the bearing on each U-shaped support seat, which is set on one of the bearings of the U-shaped support seat;

[0019] Load sensor: used to obtain the radial load borne by the bearing on each U-shaped support seat, and is set on one of the bearings of the U-shaped support seat;

[0020] A first acquisition unit: used for acquiring the viscosity of the lubricating oil in the bearing on each U-shaped support seat, and arranged on one of the bearings of the U-shaped support seat;

[0021] Counting sensor: used to detect the number of times the bearing on each U-shaped support seat is filled with lubricating oil, and is set on the lubrication component;

[0022] The detection module is electrically connected to the data processing module, the control module is electrically connected to the data processing module and the execution module, and the control module controls the execution module to work based on the data results of the data processing module.

[0023] Preferably, the control module controls the execution module based on the data result of the data processing module, including the following steps:

[0024] Step 1: Calculate the lubrication coefficient I of each U-shaped support bearing based on the parameters of the temperature sensor, the temperature sensor, the photoelectric sensor, the friction sensor, the friction sensor, the first acquisition unit and the counting sensor. t :

[0025] Where: I ti is the lubrication coefficient of the i-th U-shaped support seat bearing, v is the pi, which is 3.14, d is the radius of the bearing, T is the detection value of the temperature sensor, t0 is the optimal working temperature of the bearing, E is the temperature compensation coefficient, X is the detection value of the photoelectric sensor, K is the detection value of the first acquisition unit, F is the detection value of the friction sensor, Ι is the time compensation coefficient, F N is the detection value of the load sensor, and t is the detection value of the time sensor;

[0026] Step 2: Data Processing Module Comparison I t and I t0, when I t t0 Calculate the bearing lubricant filling amount V l , when I t ≥I t0 No processing is done when:

[0027] Where: V l is the bearing lubricating oil filling capacity, V0 is the initial lubricating oil filling amount of the bearing, A is the detection value of the counting sensor, and χ is the reference number of lubricating fillings within the detection cycle;

[0028] Step 3: The control module controls the execution module to drive the lubrication component according to the bearing lubricating oil filling amount V l Add lubricating oil. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0030] Figure 1 The structure of the present invention is schematically shown Figure 1 ;

[0031] Figure 2 The structure of the present invention is schematically shown Figure 2 ;

[0032] Figure 3 The structure of the present invention is schematically shown Figure 3 ;

[0033] Figure 4 It is a structural schematic diagram of the differential drive suspension assembly of the present invention;

[0034] Figure 5 For the present invention Figure 2 A partial enlarged view;

[0035] Figure 6 It is a structural schematic diagram of the oil pump structure of the present invention;

[0036] Figure 7 It is a schematic structural diagram of the collision protection assembly of the present invention.

[0037] ​In the figure: 1. AGV chassis; 2. Differential drive suspension assembly; 21. U-shaped support seat; 22. Symmetric driven bridge; 23. Driven universal wheel; 24. Asymmetric active bridge; 25. Active universal wheel; 3. Driving structure; 31. Fixing card; 32. Driving motor; 33. Driving wheel; 4. Shock absorber assembly; 41. Stable seat; 42. Shock absorber arm; 43. Hydraulic damping column; 44. Support base; 45. Elastic compression member 1; 5. Lubrication assembly; 51. Oil storage tank; 52. Refueling pipe; 53. Sealing valve body; 54. Sealing core; 55. Compression elastic member 2; 56. Sealing Sealing ring; 57. Telescopic sleeve; 58. Oil distribution pipe; 59. Oil pump cylinder; 6. Oil pump structure; 61. Sealing cover; 62. Pump pressure pipe; 63. Sealing plug; 64. Pumping pipe; 65. Connecting hole; 66. Sealing bead; 67. Compression elastic part three; 68. Electric telescopic rod; 69. Capillary; 7. Collision protection component; 71. Contact cross bar; 72. Trigger push rod; 73. Trigger sleeve; 74. Compression elastic part four; 8. Trigger protection structure; 81. Airbag bag; 82. Support base; 83. Power supply block; 84. Connecting piece; 85. Slot block; 86. Compression elastic part five. DETAILED DESCRIPTION

[0038] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0039] In addition, in the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes, and do not specifically refer to the order or sequence, nor are they used to limit the present invention. They are only used to distinguish components or operations described with the same technical terms, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions and technical features between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0040] The present invention provides the following embodiments

[0041] Example 1

[0042] The embodiment of the present invention provides a differential drive AGV linkage suspension system based on a bridge structure, such as Figure 1-7As shown, it includes: an AGV chassis 1, a differential drive suspension assembly 2 is provided on the AGV chassis 1, a lubrication assembly 5 is provided at the center of the differential drive suspension assembly 2, the lubrication assembly 5 is used to lubricate the differential drive suspension assembly 2, a shock absorbing assembly 4 is provided at the front and rear ends of the AGV chassis 1, and a collision protection assembly 7 is provided at the front end of the AGV chassis 1;

[0043] It also includes a lubrication monitoring component, which is used to monitor and adjust the lubrication component 5.

[0044] The working principle and beneficial effects of the above technical solution are as follows: when the AGV trolley moves forward, the differential drive suspension assembly 2 on the AGV chassis 1 drives the AGV chassis 1 to move forward and turn, and when passing through a rugged road surface, the differential drive suspension assembly 2 maintains contact with the ground through adaptive adjustment. When passing through an undulating road surface, the shock absorbing assembly 4 absorbs vibration energy to absorb the shock of the cargo on the AGV trolley. The lubrication assembly 5 is used to store and add lubricating oil to the differential drive suspension assembly 2. The collision protection assembly 7 is used to absorb the collision energy and reduce the impact on the AGV chassis 1 when the AGV chassis 1 collides. The lubrication monitoring assembly is used to monitor and adjust the lubrication process of the lubrication assembly 5 and the differential drive suspension assembly 2.

[0045] The present invention utilizes the differential drive suspension assembly 2 to drive and steer the AGV chassis 1. This design enables the AGV chassis 1 to automatically adjust the height of each wheel during movement, so that the drive wheel 33 connected to the drive motor 32 can always be in contact with the ground, thereby improving the stability of the movement of the AGV chassis 1, ensuring the movement positioning accuracy, and at the same time enhancing the traffic capacity of the AGV chassis 1 on rugged roads, protecting the drive wheel 33 and the AGV chassis 1 from damage. The design of the shock absorbing assembly 4 ensures the stability of the goods transported by the AGV trolley and avoids the transported goods from being subjected to large bumps. The design of the lubrication assembly 5 can reduce the wear of the differential drive suspension assembly 2 during operation, ensure the sensitivity of the response of the differential drive suspension assembly 2, and avoid the jamming of the differential drive suspension assembly 2 caused by load and dust. The design of the collision protection assembly 7 can avoid damage to the AGV chassis 1 caused by collision impact, effectively block and absorb collision energy, and the design of the lubrication monitoring assembly can add lubricating oil according to the actual situation of the differential drive suspension assembly 2, which not only ensures the effective use of the lubricating oil, but also ensures the timeliness of the lubrication of the differential drive suspension assembly 2.

[0046] Example 2

[0047] On the basis of Example 1, the differential drive suspension assembly 2 includes three groups of U-shaped support seats 21, and the three groups of U-shaped support seats 21 are bolted to the AGV chassis 1. The U-shaped support seat 21 at the front end of the AGV chassis 1 is rotatably connected to the symmetrical driven bridge frame 22 through bearings, and both ends of the symmetrical driven bridge frame 22 are bolted to driven universal wheels 23. The U-shaped support seats 21 on both sides of the AGV chassis 1 are rotatably connected to the asymmetrical active bridge frame 24 through bearings, and one end of the asymmetrical active bridge frame 24 is bolted to the active universal wheel 25, and the other end of the asymmetrical active bridge frame 24 is provided with a driving structure 3.

[0048] The driving structure 3 includes a fixing card 31 , which is bolted to the asymmetric active bridge 24 , and a driving motor 32 is sleeved in the fixing card 31 , and a driving wheel 33 is installed at the output end of the driving motor 32 .

[0049] The working principle and beneficial effects of the above technical solution are as follows: when the AGV trolley is moving, the driving motor 32 is started to drive the driving wheel 33 to rotate, so that the AGV chassis 1 can move. During the movement, the driven universal wheel 23 and the active universal wheel 25 assist the driving wheel 33 to move. When the AGV trolley is traveling on a rough ground, there is a height difference between the two driven universal wheels 23. Under the action of the ground reaction force, the symmetrical driven bridge 22 rotates around the U-shaped support seat 21, so that the two driven universal wheels 23 are in contact with the ground, and the AGV chassis 1 remains stable. When there is a height difference between the driving wheel 33 and the active universal wheel 25, under the action of the ground reaction force, the asymmetric active bridge frame 24 rotates around the U-shaped support seat 21, so that the active universal wheel 25 and the driving wheel 33 are both in contact with the ground, and the driving motor 32 is connected to the asymmetric active bridge frame 24 through the fixing card 31. The driving motors 32 on both sides of the AGV chassis 1 can control the driving wheels 33 to move respectively. By controlling the rotation speed of the driving motor 32, the rotation speed of the driving wheels 33 on both sides of the AGV chassis 1 changes, so that the AGV chassis 1 can move forward and turn;

[0050] The present invention utilizes a symmetrical driven bridge frame 22, an asymmetrical active bridge frame 24 and a U-shaped support seat 21 to realize that when the AGV chassis 1 walks on a rugged road, the driven universal wheel 23, the driving wheel 33 and the active universal wheel 25 follow the ground height for autonomous adjustment, and has a strong ground adaptability, reduces the vibration impact of the rugged ground on the AGV chassis 1, and avoids the collision of the AGV chassis 1 with the ground. In addition, the design can ensure that the driving wheel 33 is in contact with the ground at all times, thereby ensuring the mobility of the AGV trolley, and relatively independently suspends the AGV trolley. Through the connection and support structure, the rigidity of the overall structure is improved, thereby increasing the stability of the AGV trolley's movement, and the differential drive structure of the driving motor 32 ensures the flexibility of the AGV trolley's steering. At the same time, the design of the fixed card 31 and the asymmetrical active bridge frame 24 can ensure that the driving motor 32 follows the driving wheel 33 to move, thereby ensuring both the output of the driving force and the flexibility of the suspension system.

[0051] Example 3

[0052] On the basis of Example 1, the shock absorbing assembly 4 includes a stabilizing seat 41, which is symmetrically fixedly connected to the front and rear ends of the AGV chassis 1. Shock absorbing arms 42 are bolted to the two stabilizing seats 41. Both ends of the shock absorbing arms 42 are hinged to hydraulic damping columns 43. The other end of the hydraulic damping column 43 is bolted to a support base 44. The support base 44 is arranged above the AGV chassis 1, and an elastic compression member 45 is sleeved on the hydraulic damping column 43.

[0053] The beneficial effects of the above technical solution are as follows: when the AGV cart is moving, when it passes over obstacles or depressions, since the AGV chassis 1 adopts a rigid suspension, it will cause the AGV chassis 1 to pitch. The pitching of the AGV chassis 1 will cause vibration to the goods on the AGV cart. Therefore, when the AGV chassis 1 pitches, the stabilizing seat 41 drives the shock absorbing arm 42 to move with the AGV chassis 1, and the shock absorbing arm 42 deforms to absorb the vibration. At the same time, the movement of the shock absorbing arm 42 causes the hydraulic damping column 43 to expand and contract and causes the elastic compression member 45 to deform to absorb the vibration caused by the pitching, so that the support base 44 remains stable. The present invention utilizes the shock absorbing arm 42 and the hydraulic damping column 43 to absorb the vibration caused by the pitching of the AGV chassis 1. This design can absorb the vibration through a two-level shock absorbing structure, gradually reduce the degree of vibration, ensure the stability of the transported goods, and avoid damage to the transported goods caused by vibration.

[0054] Example 4

[0055] On the basis of Example 1, the lubrication assembly 5 includes an oil storage tank 51, which is bolted on the AGV chassis 1. A refueling pipe 52 is provided on the top of the oil storage tank 51. A sealing valve body 53 is connected to the inner thread of the refueling pipe 52. A sealing core 54 is penetrated and slidably connected to the sealing valve body 53. A compression elastic member 55 is provided between the sealing core 54 and the sealing valve body 53. A sealing retaining ring 56 is fixedly connected to the bottom of the sealing core 54. The sealing retaining ring 56 and the sealing valve body 53 abut against each other. A telescopic sleeve 57 is slidably connected to the refueling pipe 52. The telescopic sleeve 57 penetrates and is fixedly connected to the support base 44. A plurality of oil distribution pipes 58 are penetrated and fixed on the side of the oil storage tank 51. The other ends of the plurality of oil distribution pipes 58 are connected to oil pump cylinders 59. The plurality of oil pump cylinders 59 are respectively arranged on one side of the U-shaped support seat 21. The plurality of oil pump cylinders 59 are bolted to the AGV chassis 1, and the plurality of oil pump cylinders 59 are provided with oil pump structures 6.

[0056] The oil pump structure 6 includes a sealing cover 61, which is bolted to the oil pump cylinder 59. A pump pressure pipe 62 is passed through the sealing cover 61 and rotatably connected. A sealing plug 63 is slidably connected in the pump pressure pipe 62. A pumping pipe 64 is passed through the sealing plug 63 and slidably connected. Connecting holes 65 are provided at both the upper and lower ends of the pumping pipe 64. A sealing bead 66 is provided at the bottom of the pump pressure pipe 62. A compression elastic member 67 is provided between the pumping pipe 64 and the sealing bead 66. The top of the pumping pipe 64 is connected to an electric telescopic rod 68. The electric telescopic rod 68 passes through and is bolted to the pumping pipe 64. A capillary 69 is connected to one side of the pumping pipe 64.

[0057] The beneficial effects of the above technical solution are as follows: the lubricating oil is added to the lubrication assembly 5 through the special pipeline, the special pipeline is inserted into the filling pipe 52 through the telescopic sleeve 57, and the sealing core 54 is pushed to slide along the sealing valve body 53, and the sealing core 54 squeezes the compression elastic member 55, and makes the sealing retaining ring 56 break away from the sealing valve body 53, and then the lubricating oil is added to the oil storage tank 51. When the filling is completed, the special pipeline is pulled out, and the sealing core 54 is driven to reset the sealing retaining ring 56 under the action of the compression elastic member 55, and the lubricating oil is discharged from the oil storage tank 51. The oil flows into the pump oil cylinder 59 through the oil distribution pipe 58. When the symmetrical driven bridge frame 22 and the asymmetrical active bridge frame 24 lack lubrication due to rotation on the U-shaped support seat 21, the electric telescopic rod 68 extends, driving the pumping pipe 64 to move downward, and squeezes and compresses the elastic member 3 67. The pumping pipe 64 slides along the sealing plug 63 for a distance, so that the connecting hole 65 is opened. Then, the pumping pipe 64 slides along the pump pressure pipe 62 with the sealing plug 63, and the sealing plug 63 removes the air in the pump pressure pipe 62 from the connecting hole 65 on the pumping pipe 64. The oil is discharged, and then the electric telescopic rod 68 contracts, driving the pumping pipe 64 to move upward, and the pumping pipe 64 slides along the sealing plug 63 for a distance, and the connecting hole 65 is closed by the sealing plug 63. Then the pumping pipe 64 carries the sealing plug 63 and slides along the pumping pipe 62, so that negative pressure is generated at the bottom of the pumping pipe 62. The negative pressure causes the sealing bead 66 to rise, and the lubricating oil is sucked into the pumping pipe 62. After the pressure is balanced, the sealing bead 66 falls and blocks the bottom of the pumping pipe 62. Then the electric telescopic rod 68 extends again, so that the pumping pipe 64 and the sealing bead 66 are repeatedly The sealing plug 63 descends, and the lubricating oil flows in from the connecting hole 65 at the bottom of the pumping tube 64, flows out from the connecting hole 65 at the top, and enters the upper part of the pumping tube 62. Then the electric telescopic rod 68 contracts again, carrying the lubricating oil to rise, and squeezes the lubricating oil in the upper part of the pumping tube 62 into the capillary 69. The bottom of the pumping tube 62 generates negative pressure again, sucking in the lubricating oil, and the lubricating oil falls from the capillary 69 onto the bearing of the U-shaped support seat 21 below. After a certain amount of lubricating oil is discharged, the electric telescopic rod 68 stops. When lubrication is needed again, the above operation is repeated;

[0058] The present invention utilizes a refueling pipe 52 and a telescopic sleeve 57 to connect with the oil storage tank 51. This design can ensure that when the support base 44 and the AGV chassis 1 undergo dynamic movement, the connection between the oil storage tank 51 and the refueling pipe 52 is maintained, thereby avoiding stretching or breaking of the refueling pipe 52 when the support base 44 undergoes dynamic movement. The design of the sealing core 54 and the sealing retaining ring 56 can ensure the sealing of the oil storage tank 51 and avoid leakage of the oil storage tank 51. At the same time, the design of the pump pressure pipe 62, the sealing plug 63 and the pumping pipe 64 can utilize negative pressure and positive pressure to suck the lubricating oil, thereby ensuring both the appropriate amount of extraction of the lubricating oil and the sealing of the lubricating oil extraction process, thereby avoiding waste and leakage of the lubricating oil during filling.

[0059] Example 5

[0060] On the basis of Example 1, the collision protection assembly 7 includes a contact cross bar 71, on which a trigger push rod 72 is symmetrically fixedly connected. Both trigger push rods 72 are slidably connected in a trigger sleeve 73. A compression elastic member 74 is provided between the trigger push rod 72 and the trigger sleeve 73. The trigger sleeve 73 is bolted to the AGV chassis 1, and the other end of the trigger sleeve 73 is connected to a trigger protection structure 8.

[0061] The trigger protection structure 8 includes an airbag bag 81, which is bolted to a support base 82, which is bolted to the AGV chassis 1, a power supply block 83 is provided on the support base 82, a trigger sleeve 73 is provided below the airbag bag 81, the trigger sleeve 73 is fixedly connected to the support base 82, a connecting piece 84 is provided inside the trigger sleeve 73, the connecting piece 84 passes through and is slidably connected to the support base 82, a slot block 85 is fixedly connected to the other side of the support base 82, the slot block 85 corresponds to the connecting piece 84, a compression elastic member 86 is provided between the connecting piece 84 and the support base 82, and the airbag bag 81 and the power supply block 83 are both electrically connected to the slot block 85.

[0062] The beneficial effects of the above technical solution are as follows: when the AGV chassis 1 collides, the contact bar 71 first contacts the collision obstacle. Under the action of inertia, the collision obstacle pushes the contact bar 71 and the trigger push rod 72 to move along the trigger sleeve 73, and squeezes the compression elastic member 4 74 to absorb the impact force between the AGV chassis 1 and the collision obstacle. When the impact force is large enough, the compression elastic member 4 74 is compressed to the extreme, the trigger push rod 72 contacts the connecting piece 84 and is squeezed and pushed. The connecting piece 84 is pushed to be inserted into the slot block 85 and squeezes the compression elastic member 5 86. The circuit in the slot block 85 is connected through the connecting piece 84, and the power supply block 83 supplies power to the airbag package 81. The airbag package 81 releases the airbag, and the airbag contacts the collision obstacle under the fixation of the support base 82 to absorb the energy generated by the collision.

[0063] The present invention utilizes the contact cross bar 71 and the trigger top rod 72 to absorb the impact force when the AGV chassis 1 collides. This design can eliminate the impact force when a slight collision occurs to the AGV chassis 1, and avoid the transmission of the impact force causing structural damage to the AGV chassis 1. At the same time, the design of the airbag bag 81, the connecting piece 84 and the slot block 85 can protect the AGV chassis 1 in the event of a severe collision. The collision protection component 7 adopts a double buffer design, which can effectively protect the AGV cart and its transported goods, that is, avoid excessive reaction to the collision, and avoid ineffective absorption of collision energy.

[0064] Example 6

[0065] Based on Example 1, the lubrication monitoring component includes a control module, a data processing module, a detection module and an execution module, and the detection module includes:

[0066] Temperature sensor: used to detect the working temperature of the bearing on each U-shaped support seat 21, and is arranged on one of the bearings of the U-shaped support seat 21;

[0067] Time sensor: used to detect the working time of the bearing on each U-shaped support seat 21 after the lubricating oil is added once, and it is arranged on one of the bearings of the U-shaped support seat 21;

[0068] Photoelectric sensor: used to detect the number of rotations of the bearing on each U-shaped support seat 21, and is arranged on the bearing;

[0069] Friction force sensor: used to obtain the rotational friction force of the bearing on each U-shaped support seat 21, which is arranged on one of the bearings of the U-shaped support seat 21;

[0070] Load sensor: used to obtain the radial load borne by the bearing on each U-shaped support seat 21, and is arranged on one of the bearings of the U-shaped support seat 21;

[0071] A first acquisition unit: used for acquiring the viscosity of the lubricating oil in the bearing on each U-shaped support seat 21, which is arranged on one of the bearings of the U-shaped support seat 21;

[0072] Counting sensor: used to detect the number of times the bearing on each U-shaped support seat 21 is filled with lubricating oil, and is arranged on the lubrication assembly 5;

[0073] The detection module is electrically connected to the data processing module, the control module is electrically connected to the data processing module and the execution module, and the control module controls the execution module to work based on the data results of the data processing module.

[0074] The control module controls the execution module based on the data results of the data processing module, including the following steps:

[0075] Step 1: Calculate the lubrication coefficient I of each U-shaped support seat 21 bearing based on the parameters of the temperature sensor, the temperature sensor, the photoelectric sensor, the friction sensor, the friction sensor, the first acquisition unit and the counting sensor. t :

[0076] Where: I tiis the lubrication coefficient of the bearing of the i-th U-shaped support seat 21, π is the pi, which is 3.14, d is the radius of the bearing, T is the detection value of the temperature sensor, T0 is the optimal working temperature of the bearing, E is the temperature compensation coefficient, the unit is N·T, X is the detection value of the photoelectric sensor, K is the detection value of the first acquisition unit, F is the detection value of the friction sensor, Ι is the time compensation coefficient, the unit is t -1 , F N is the detection value of the load sensor, and t is the detection value of the time sensor;

[0077] Step 2: Data Processing Module Comparison I t and I t0 , when I t t0 Calculate the bearing lubricant filling amount V l , when I t ≥I t0 No processing is done when:

[0078] Where: V l is the bearing lubricating oil filling capacity, V0 is the initial lubricating oil filling amount of the bearing, A is the detection value of the counting sensor, χ is the reference number of lubricating fillings within the detection cycle, in times;

[0079] Step 3: The control module controls the execution module to drive the lubrication component 5 according to the bearing lubricating oil filling amount V l Add lubricating oil.

[0080] The beneficial effects of the above technical solution are as follows: the differential drive suspension assembly 2 relies on the relative rotation of the bearing on the U-shaped support seat 21 and the symmetrical driven bridge frame 22 and the asymmetrical active bridge frame 24 to achieve adaptive ground height adjustment. However, the dust generated by the AGV trolley during carrying loads and walking will cause the lubricating oil of the bearing on the U-shaped support seat 21 to be consumed, thereby causing the symmetrical driven bridge frame 22 and the asymmetrical active bridge frame 24 to become stuck and blocked, and it is impossible to achieve adaptive adjustment according to the ground in time. Therefore, it is necessary to monitor the lubrication status of the bearing on the U-shaped support seat 21 in real time, and when the bearing on the U-shaped support seat 21 lacks lubrication, lubricating oil should be added to the bearing on the U-shaped support seat 21 in time;

[0081] The present invention utilizes a control module, a data processing module, a detection module and an execution module to perform real-time monitoring of the bearings on the U-shaped support seat 21. This design can ensure the timeliness of the lubrication of the bearings on the U-shaped support seat 21 and the efficient use of lubricating oil, thereby ensuring the stable operation of the AGV trolley.

[0082] ​Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A differential drive AGV linkage suspension system based on a bridge structure, characterized in that: include: An AGV chassis (1), wherein a differential drive suspension assembly (2) is provided on the AGV chassis (1), a lubrication assembly (5) is provided at the center of the differential drive suspension assembly (2), and the lubrication assembly (5) is used to lubricate the differential drive suspension assembly (2), shock absorbing assemblies (4) are provided at the front and rear ends of the AGV chassis (1), and a collision protection assembly (7) is provided at the front end of the AGV chassis (1); It also includes a lubrication monitoring component, which is used to monitor and adjust the lubrication component (5).

2. The differential drive AGV linkage suspension system based on a bridge structure according to claim 1, characterized in that: The differential drive suspension assembly (2) comprises three groups of U-shaped support seats (21), and the three groups of U-shaped support seats (21) are all bolted to the AGV chassis (1). The U-shaped support seat (21) at the front end of the AGV chassis (1) is rotatably connected to a symmetrical driven bridge frame (22) through a bearing, and driven universal wheels (23) are bolted to both ends of the symmetrical driven bridge frame (22). The U-shaped support seats (21) on both sides of the AGV chassis (1) are rotatably connected to an asymmetrical active bridge frame (24) through a bearing, and an active universal wheel (25) is bolted to one end of the asymmetrical active bridge frame (24), and a driving structure (3) is provided at the other end of the asymmetrical active bridge frame (24).

3. The differential drive AGV linkage suspension system based on a bridge structure according to claim 2 is characterized in that: The driving structure (3) comprises a fixing card (31), the fixing card (31) is bolted to the asymmetric active bridge (24), a driving motor (32) is sleeved in the fixing card (31), and a driving wheel (33) is installed at the output end of the driving motor (32).

4. The differential drive AGV linkage suspension system based on a bridge structure according to claim 1, characterized in that: The shock absorbing assembly (4) comprises a stabilizing seat (41) which is symmetrically fixedly connected to the front and rear ends of the AGV chassis (1); shock absorbing arms (42) are bolted to the two stabilizing seats (41); both ends of the shock absorbing arms (42) are hingedly connected to hydraulic damping columns (43); the other end of the hydraulic damping column (43) is bolted to a supporting base (44); the supporting base (44) is arranged above the AGV chassis (1); and an elastic compression member (45) is sleeved on the hydraulic damping column (43).

5. The differential drive AGV linkage suspension system based on a bridge structure according to claim 1, characterized in that: The lubrication assembly (5) comprises an oil storage tank (51), the oil storage tank (51) is bolted on the AGV chassis (1), a refueling pipe (52) is arranged on the top of the oil storage tank (51), a sealing valve body (53) is connected to the refueling pipe (52) through an internal thread, a sealing core (54) is passed through and slidably connected to the sealing valve body (53), a compression elastic member (55) is arranged between the sealing core (54) and the sealing valve body (53), a sealing retaining ring (56) is fixedly connected to the bottom of the sealing core (54), and the sealing retaining ring (56) is connected to the sealing valve body ( 53) are abutted against each other, a telescopic sleeve (57) is slidably connected to the refueling pipe (52), the telescopic sleeve (57) penetrates and is fixedly connected to the support base (44), a plurality of oil distribution pipes (58) are penetrated and fixed to the side of the oil storage tank (51), the other ends of the plurality of oil distribution pipes (58) are connected to the oil pump cylinder (59), the plurality of oil pump cylinders (59) are respectively arranged on one side of the U-shaped support seat (21), the plurality of oil pump cylinders (59) are bolted to the AGV chassis (1), and the plurality of oil pump cylinders (59) are provided with an oil pump structure (6).

6. The differential drive AGV linkage suspension system based on a bridge structure according to claim 5, characterized in that: The oil pump structure (6) comprises a sealing cover (61), the sealing cover (61) is bolted to the oil pump cylinder (59), a pump pressure pipe (62) is passed through the sealing cover (61) and is rotatably connected, a sealing plug (63) is slidably connected in the pump pressure pipe (62), a pumping pipe (64) is passed through the sealing plug (63) and is slidably connected, a connecting hole (65) is provided at both the upper and lower ends of the pumping pipe (64), a sealing bead (66) is provided at the bottom of the pump pressure pipe (62), a compression elastic member (67) is provided between the pumping pipe (64) and the sealing bead (66), the top of the pumping pipe (64) is connected to an electric telescopic rod (68), the electric telescopic rod (68) is passed through and bolted to the pumping pipe (64), and a capillary tube (69) is connected to one side of the pumping pipe (64).

7. The differential drive AGV linkage suspension system based on a bridge structure according to claim 1, characterized in that: The collision protection assembly (7) comprises a contact cross bar (71), a trigger push rod (72) is symmetrically fixedly connected to the contact cross bar (71), the two trigger push rods (72) are slidably connected in the trigger sleeve (73), a compression elastic member (74) is provided between the trigger push rod (72) and the trigger sleeve (73), the trigger sleeve (73) is bolted to the AGV chassis (1), and the other end of the trigger sleeve (73) is connected to the trigger protection structure (8).

8. The differential drive AGV linkage suspension system based on a bridge structure according to claim 7, characterized in that: The trigger protection structure (8) comprises an airbag bag (81), the airbag bag (81) is bolted to a support base (82), the support base (82) is bolted to an AGV chassis (1), a power supply block (83) is provided on the support base (82), a trigger sleeve (73) is provided below the airbag bag (81), the trigger sleeve (73) is fixedly connected to the support base (82), a connecting piece (84) is provided inside the trigger sleeve (73), the connecting piece (84) penetrates and is slidably connected to the support base (82), a slot block (85) is fixedly connected to the other side of the support base (82), the slot block (85) and the connecting piece (84) correspond to each other, a compression elastic member (86) is provided between the connecting piece (84) and the support base (82), and the airbag bag (81) and the power supply block (83) are both electrically connected to the slot block (85).

9. The differential drive AGV linkage suspension system based on a bridge structure according to claim 1, characterized in that: The lubrication monitoring component includes a control module, a data processing module, a detection module and an execution module. The detection module includes: A temperature sensor: used for detecting the operating temperature of the bearing on each U-shaped support seat (21), and arranged on one of the bearings of the U-shaped support seat (21); A time sensor: used to detect the working time of the bearing on each U-shaped support seat (21) after the lubricating oil is added once, and is arranged on one of the bearings of the U-shaped support seat (21); Photoelectric sensor: used to detect the number of rotations of the bearing on each U-shaped support seat (21), and arranged on the bearing; A friction force sensor: used for obtaining the rotational friction force of the bearing on each U-shaped support seat (21), and arranged on one of the bearings of the U-shaped support seat (21); A load sensor: used for obtaining the radial load borne by the bearing on each U-shaped support seat (21), and arranged on one of the bearings of the U-shaped support seat (21); A first acquisition unit: used for acquiring the viscosity of the lubricating oil in the bearing on each U-shaped support seat (21), and arranged on one of the bearings of the U-shaped support seat (21); A counting sensor: used to detect the number of times the bearing on each U-shaped support seat (21) is filled with lubricating oil, and is arranged on the lubrication assembly (5); The detection module is electrically connected to the data processing module, the control module is electrically connected to the data processing module and the execution module, and the control module controls the execution module to work based on the data results of the data processing module.

10. The differential drive AGV linkage suspension system based on a bridge structure according to claim 9, characterized in that: The control module controls the execution module based on the data results of the data processing module, including the following steps: Step 1: Calculate the lubrication coefficient I of each U-shaped support seat (21) bearing based on the parameters of the temperature sensor, the temperature sensor, the photoelectric sensor, the friction sensor, the friction sensor, the first acquisition unit and the counting sensor. t : Where: I ti is the lubrication coefficient of the bearing of the i-th U-shaped support seat (21), π is the pi ratio, which is 3.14, d is the radius of the bearing, T is the detection value of the temperature sensor, T0 is the optimal working temperature of the bearing, E is the temperature compensation coefficient, X is the detection value of the photoelectric sensor, K is the detection value of the first acquisition unit, F is the detection value of the friction sensor, I is the time compensation coefficient, F N is the detection value of the load sensor, and t is the detection value of the time sensor; Step 2: Data Processing Module Comparison I t and I t0 , when I t <I t0 Calculate the bearing lubricant filling amount V l , when I t ≥I t0 No processing is done when: Where: V l is the bearing lubricating oil filling capacity, V0 is the initial lubricating oil filling amount of the bearing, A is the detection value of the counting sensor, and χ is the reference number of lubricating fillings within the detection cycle; Step 3: The control module controls the execution module to drive the lubrication component (5) according to the bearing lubricant filling amount V l Add lubricating oil.

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