Automatic guided vehicle (AGV) self-balancing suspension system

Abstract

The invention belongs to the technical field of AGV suspension, and discloses an AGV self-balancing suspension system which is characterized in that the left side and the right side of a fixing plate form a parallelogram mechanism through a first connecting rod, a second connecting rod and a vertical rod, the bottom end of the vertical rod is fixedly connected with a wheel seat, the folded corner of a bent rod is hinged to the fixing plate, one end of the bent rod is located on the outer side of the fixing plate, and the other end of the bent rod is located above the fixing plate; a shock absorber is connected between the ends, located above the fixing plate, of the bent rods on the two sides, the outer ends of the bent rods are connected with a first connecting rod through a third connecting rod, and the third connecting rod is hinged to the bent rods and the first connecting rod. When the vertical rod ascends, the first connecting rod and the second connecting rod swing upwards, the third connecting rod drives the outer end of the bent rod to swing upwards, and the upper end of the bent rod extrudes the shock absorber towards the inner side. According to the scheme, side inclination of the wheels can be effectively restrained in the dynamic jumping process of the wheels, most lifting force on the vehicle body is transmitted to the transverse shock absorbers through the bent rods when the wheels on one side jump up, then the lifting force is transmitted to the connecting rod system and the wheels on the other side, and the height stability of the upper plane of the AGV is guaranteed.

Description

Technical Field

[0001] The present invention belongs to the technical field of AGV suspension, and particularly relates to an AGV self-balancing suspension system. Background Art

[0002] An automated guided vehicle (AGV) is an industrial vehicle that loads goods automatically or manually, travels automatically along a set route or tow a load-carrying trolley to a designated location, and then loads and unloads goods automatically or manually.

[0003] After consulting a large number of AGV suspension system designs, it is found that most of them belong to non-independent suspension designs. This design allows the inclination angles on both sides of the AGV to be transmitted. When the ground is uneven, the top surface of the vehicle body tilts, and the goods carried by the AGV cannot be kept horizontal. The suspension system with double-wheel independent shock absorption designed in Zhao Yingbo's "Design of Outdoor AGV with New Suspension System and Research on Its Key Technologies" from Shenyang University of Technology also has this limitation. Summary of the Invention

[0004] To overcome the above technical problems, the present invention provides an AGV self-balancing suspension system, designs a new suspension system, and reduces the transmission of inclination angles on both sides of the AGV.

[0005] The present invention adopts the following technical solutions: The AGV self-balancing suspension system includes a vertical fixing plate fixedly installed on the body of the automated guided vehicle. On the left and right sides of the fixing plate, a vertical rod is connected through a first connecting rod and a second connecting rod respectively. The fixing plate, the first connecting rod, the second connecting rod, and the vertical rod form a parallelogram mechanism. The bottom end of the vertical rod is fixedly connected to a wheel seat, and a driving wheel is rotatably arranged outside the wheel seat. The fixing plate is also hinged with an L-shaped bent rod. The folding angle of the bent rod is hinged to the fixing plate. One end of the bent rod is located outside the fixing plate, and the other end is located above the fixing plate. A shock absorber is connected between the ends of the two bent rods located above the fixing plate. The end of the bent rod located outside the fixing plate is connected to the first connecting rod through a third connecting rod. The third connecting rod is hinged to both the bent rod and the first connecting rod; when the vertical rod rises, the first connecting rod and the second connecting rod swing upward, the first connecting rod drives the outer end of the bent rod to swing upward through the third connecting rod, and the upper end of the bent rod squeezes the shock absorber inward.

[0006] Preferably, three hinge hole positions are vertically arranged on both sides of the fixing plate, and the bent rod, the second connecting rod, and the first connecting rod are connected in sequence from top to bottom.

[0007] Preferably, a motor and a reducer are installed at the bottom of the wheel seat, and the motor drives the driving wheel through the reducer.

[0008] Preferably, the axial direction of the motor is arranged in the front-rear direction, and the reducer adopts a right-angle planetary reducer.

[0009] Preferably, the second half of the right-angle planetary reducer is located inside the driving wheel.

[0010] Compared with the prior art, the beneficial effects of the present invention are as follows: This solution can effectively suppress the roll of the wheel during the dynamic jump of the wheel. When the AGV travels on an uneven road surface, this solution can cleverly isolate the displacement interference of a single wheel. When a single wheel jumps up, most of the lifting force on the vehicle body is transmitted to the transverse shock absorber through the bent rod, and then transmitted to the link system and wheel on the other side, ensuring the height stability of the upper plane of the AGV. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 is a schematic diagram of the overall structure of the present invention; Figure 2 is the front view of the present invention; Figure 3 is a schematic diagram of the present invention installed on the AGV. Description of reference numerals: 1, fixing plate; 2, first link; 3, second link; 4, third link; 5, vertical rod; 6, bent rod; 7, shock absorber; 8, wheel seat; 9, drive wheel; 10, right-angle planetary reducer; 11, motor. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0012] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, in which the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. Unless otherwise specified, the raw materials and equipment used can be purchased from the market or are commonly used in the art. The methods in the embodiments, unless otherwise specified, are conventional methods in the art. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention.

[0013] AGV self-balancing suspension system, including a vertical fixing plate 1 fixedly installed on the body of the automatic guided vehicle. Three hinge hole positions are vertically arranged on both sides of the fixing plate 1, and are sequentially connected with a bent rod 6, a second connecting rod 3, and a first connecting rod 2 from top to bottom. On the left and right sides of the fixing plate 1, a vertical rod 5 is connected through the first connecting rod 2 and the second connecting rod 3 respectively. The fixing plate 1, the first connecting rod 2, the second connecting rod 3, and the vertical rod 5 form a parallelogram mechanism. The bottom end of the vertical rod 5 is fixedly connected to a wheel seat 8. The corner of the bent rod 6 is hinged to the fixing plate 1. One end of the bent rod 6 is located outside the fixing plate 1, and the other end is located above the fixing plate 1. The ends of the two bent rods 6 located above the fixing plate 1 are hinged with a horizontally arranged shock absorber 7. The end of the bent rod 6 located outside the fixing plate 1 is connected to the first connecting rod 2 through a third connecting rod 4. The third connecting rod 4 is hinged to both the bent rod 6 and the first connecting rod 2; when the vertical rod 5 rises, the first connecting rod 2 and the second connecting rod 3 swing upward. The first connecting rod 2 drives the outer end of the bent rod 6 to swing upward through the third connecting rod 4, and the upper end of the bent rod 6 squeezes the shock absorber 7 inward. A driving wheel 9 is rotatably arranged on the outside of the wheel seat 8, and a motor 11 is installed at the bottom of the wheel seat 8. The axial direction of the motor 11 is arranged in the front-rear direction. The motor 11 drives and connects the driving wheel 9 through a right-angle planetary reducer 10. In order to reduce the width, the latter half of the right-angle planetary reducer 10 is located inside the driving wheel 9.

[0014] When the driving wheel 9 on one side encounters an obstacle and rises, the wheel seat 8 of the driving wheel 9 and the vertical rod 5 rise, the first connecting rod 2 and the second connecting rod 3 swing upward. The first connecting rod 2 drives the outer end of the bent rod 6 to swing upward through the third connecting rod 4, and the upper end of the bent rod 6 squeezes the shock absorber 7 inward, and transmits the force to the bent rod 6 on the other side through the shock absorber 7, and finally transmits to the driving wheel 9 on the other side; in this way, the lifting force of the single wheel on the vehicle body is weakened, and the inclination of the vehicle body surface is reduced.

[0015] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and deformations can be made to the above embodiments without departing from the principles and purposes of the present invention. The scope of the present invention is defined by the claims and their equivalents.

Claims

1. An AGV self-balancing suspension system, characterized in that, It includes a vertical fixing plate fixedly installed on the body of the automated guided vehicle. On the left and right sides of the fixing plate, a vertical rod is connected through a first connecting rod and a second connecting rod respectively. The fixing plate, the first connecting rod, the second connecting rod and the vertical rod form a parallelogram mechanism. The bottom end of the vertical rod is fixedly connected to a wheel seat, and a driving wheel is rotatably arranged on the outside of the wheel seat. The fixing plate is also hinged with an L-shaped bent rod. The folding angle of the bent rod is hinged to the fixing plate. One end of the bent rod is located outside the fixing plate, and the other end is located above the fixing plate. A shock absorber is connected between the ends of the two bent rods located above the fixing plate. The end of the bent rod located outside the fixing plate is connected to the first connecting rod through a third connecting rod, and the third connecting rod is hinged to both the bent rod and the first connecting rod; when the vertical rod rises, the first connecting rod and the second connecting rod swing upward, and the first connecting rod drives the outer end of the bent rod to swing upward through the third connecting rod, and the upper end of the bent rod squeezes the shock absorber inward.

2. The AGV self-balancing suspension system according to claim 1, characterized in that, Three hinge hole positions are arranged vertically on both sides of the fixing plate, and are connected to the bent rod, the second connecting rod and the first connecting rod in sequence from top to bottom.

3. The AGV self-balancing suspension system according to claim 1, characterized in that, A motor and a reducer are installed at the bottom of the wheel seat, and the motor drives and connects the driving wheel through the reducer.

4. The AGV self-balancing suspension system according to claim 2, characterized in that, The axial direction of the motor is arranged in the front-rear direction, and the reducer adopts a right-angle planetary reducer.

5. The AGV self-balancing suspension system according to claim 3, characterized in that, The second half of the right-angle planetary reducer is located inside the driving wheel.

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