Suspension mechanism of heavy-load Mecanum wheel and automatic guide carrier

Abstract

The utility model provides a suspension mechanism of a heavy-load Mecanum wheel and an automatic guide carrier, and belongs to the technical field of mobile platforms, the suspension mechanism comprises a first connecting plate, the Mecanum wheel, a second connecting plate, a driving piece and an elastic piece, the first connecting plate is provided with a speed reducer, the driving piece is connected with the input end of the speed reducer, and the second connecting plate is provided with a second connecting plate; the Mecanum wheel is installed at the output end of the speed reducer through a rotating shaft, the driving part drives the Mecanum wheel to rotate through the speed reducer, the second connecting plate is slidably installed on the first connecting plate through a guide rail sliding block structure, the top face of the second connecting plate is connected with the vehicle body, and the elastic part is arranged between the first connecting plate and the second connecting plate; the driving piece drives the Mecanum wheel to rotate through the speed reducer, the first connecting plate and the second connecting plate are matched through a guide rail sliding block structure, the effects of guiding and bearing external torque are achieved, the torque is borne by the two connecting plates, the strength of the connecting plates is easier to guarantee, and deformation is not prone to occurring.

Description

Technical Field

[0001] The utility model relates to the technical field of mobile platforms, in particular to a heavy-load Mecanum wheel suspension mechanism and an automatic guided transport vehicle. Background Art

[0002] The Mecanum wheel is a wheel that moves in an omnidirectional manner. This omnidirectional movement is based on the principle of a central wheel with many rollers located around the hub. These angled peripheral rollers convert part of the hub steering force into a hub normal force. Depending on the direction and speed of the respective hubs, these forces ultimately produce a resultant force vector in any desired direction, thereby ensuring that the platform can move freely in the direction of the final resultant force vector without changing the direction of the hub itself.

[0003] Most of the current Mecanum wheel independent suspensions use springs as elastic elements, and set a smooth rod and a linear bearing between the vehicle body and the Mecanum wheel. The sliding fit between the smooth rod and the linear bearing can play a role in guiding and bearing external torque.

[0004] When the Mecanum wheel passes over an uneven road surface, it will generate horizontal torque, and all the torque acts on the bare rod. The bare rod has a bad force form and is prone to bending. Utility Model Content

[0005] Therefore, the technical problem to be solved by the utility model is to overcome the defect in the prior art that horizontal torque is generated when passing through an uneven road surface, the torque acts entirely on the bare rod, the force form of the bare rod is not good, and bending is easy to occur, thereby providing a heavy-load Mecanum wheel suspension mechanism and an automatic guided vehicle.

[0006] In order to solve the above technical problems, the utility model provides a suspension mechanism for a heavy-duty Mecanum wheel, comprising: a first connecting plate, on which a reducer is arranged;

[0007] A Mecanum wheel is mounted on the output end of the reducer via a rotating shaft;

[0008] A second connecting plate is slidably mounted on the first connecting plate through a guide rail slider structure, and a top surface of the second connecting plate is used to be connected to the vehicle body;

[0009] A driving member, wherein a driving end of the driving member is connected to an input end of the reducer, and the driving member is used to drive the Mecanum wheel to rotate;

[0010] An elastic member is disposed between the first connecting plate and the second connecting plate, and has an elastic force that causes the first connecting plate and the second connecting plate to move away from each other.

[0011] Optionally, the first connecting plates are symmetrically arranged with two of them, the two first connecting plates are connected by a horizontal plate, and a through groove for installing the reducer is formed between the two first connecting plates.

[0012] Optionally, the sides of the two first connecting plates that are close to each other each have a platform structure for mounting the horizontal plate.

[0013] Optionally, it further includes: a vertical plate installed between the two first connecting plates and the horizontal plate.

[0014] Optionally, there are two vertical plates that are symmetrically arranged.

[0015] Optionally, the elastic member is a compression spring, and there are at least two compression springs arranged at intervals.

[0016] Optionally, two mounting plates are symmetrically arranged on the bottom surface of the second connecting plate, guide rails are respectively arranged on the outer side surfaces of the two mounting plates, and the first connecting plate has a sliding block matched with the two guide rails.

[0017] Optionally, a top plate for connecting the elastic member is arranged between the two mounting plates, and the top plate is located below the second connecting plate.

[0018] Optionally, the first connecting plate is provided with an angular contact bearing for replacing the reducer to bear the radial torque of the rotating shaft.

[0019] An automatic guided vehicle comprises: a suspension mechanism of a heavy-duty Mecanum wheel according to any one of the above schemes.

[0020] The technical solution of the utility model has the following advantages:

[0021] 1. The utility model provides a suspension mechanism for a heavy-duty Mecanum wheel. The driving member drives the Mecanum wheel to rotate through a reducer. The first connecting plate and the second connecting plate are matched through a guide rail slider structure to guide and withstand external torque. The torque is borne by the two connecting plates, and the strength of the connecting plates is easier to ensure and is not easily deformed.

[0022] 2. The heavy-duty Mecanum wheel suspension mechanism provided by the utility model has a more precise guiding of the guide rail slider structure, can withstand large torque, has small friction during the sliding fit process, and has a better use effect.

[0023] 3. The heavy-duty Mecanum wheel suspension mechanism provided by the utility model protects the reducer through an angular contact bearing, so that the reducer can withstand a greater load, thereby increasing the loading capacity. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 A front view of a suspension mechanism of a heavy-duty Mecanum wheel provided in a first embodiment of the utility model;

[0026] Figure 2 for Figure 1 Exploded diagram of

[0027] Figure 3 for Figure 2 Enlarged view of the middle reducer;

[0028] Figure 4 for Figure 2 An enlarged view of the second connecting plate.

[0029] Description of reference numerals:

[0030] 1. First connecting plate; 2. Reducer; 3. Mecanum wheel; 4. Rotating shaft; 5. Second connecting plate; 6. Driving member; 7. Horizontal plate; 8. Through groove; 9. Table structure; 10. Vertical plate; 11. Compression spring; 12. Mounting plate; 13. Guide rail; 14. Slider; 15. Top plate; 16. Angular contact bearing. DETAILED DESCRIPTION

[0031] The technical solution of the utility model will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0032] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0033] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0035] like Figures 1 to 4 As shown, a specific implementation of the suspension mechanism of the heavy-duty Mecanum wheel provided in this embodiment includes: a first connecting plate 1, a Mecanum wheel 3, a second connecting plate 5, a driving member 6 and an elastic member. The first connecting plate 1 is provided with a reducer 2, the driving member 6 is connected to the input end of the reducer 2, the Mecanum wheel 3 is installed on the output end of the reducer 2 through the rotating shaft 4, the driving member 6 drives the Mecanum wheel 3 to rotate through the reducer 2, the second connecting plate 5 is slidably installed on the first connecting plate 1 through the guide rail 13 slider 14 structure, the top surface of the second connecting plate 5 is connected to the vehicle body, the elastic member is arranged between the first connecting plate 1 and the second connecting plate 5, the elastic member has an elastic force that causes the first connecting plate 1 and the second connecting plate 5 to move away from each other, and in this embodiment, the driving member 6 can be a motor.

[0036] In the suspension mechanism of the heavy-duty Mecanum wheel provided in this embodiment, the driving member 6 drives the Mecanum wheel 3 to rotate through the reducer 2, and the first connecting plate 1 and the second connecting plate 5 are matched through the guide rail 13 and the slider 14 structure to play a role in guiding and bearing the external torque. The torque is borne by the two connecting plates, and the strength of the connecting plates is easier to ensure and is not easy to deform.

[0037] like Figure 1 , Figure 2As shown, in the suspension mechanism of the heavy-duty Mecanum wheel provided in this embodiment, there are two symmetrically arranged first connecting plates 1, and the first connecting plates 1 are vertically arranged straight plates. The two first connecting plates 1 are connected by a horizontal plate 7. Bolts pass through the first connecting plates 1 from one side and are threadedly connected to the horizontal plate 7. The number of bolts is two groups, which are respectively located on both sides of the horizontal plate 7. A through groove 8 for installing the reducer 2 is formed between the two first connecting plates 1. The reducer 2 can also be installed in the through groove 8 in the above-mentioned manner. The through groove 8 is open, which is convenient for the installation of the reducer 2, and the first connecting plate 1 is a straight plate, which is convenient for processing and manufacturing. In addition, as an alternative embodiment, the first connecting plate 1 can also be a hollow rectangular plate, and the reducer 2 is installed from the bottom of the first connecting plate 1.

[0038] like Figure 2 , Figure 4 As shown, in the suspension mechanism of the heavy-duty Mecanum wheel provided in this embodiment, the side surfaces of the two first connecting plates 1 close to each other are respectively provided with a platform structure 9 for mounting the horizontal plate 7. The horizontal plate 7 is positioned by the platform structure 9 during installation, which can prevent the horizontal plate 7 from moving downward, making installation more convenient. In addition, as an alternative embodiment, a rubber sheet or the like can also be provided on the inner side of the two first connecting plates 1 to pre-fix the horizontal plate 7 by friction.

[0039] like Figures 1 to 3 As shown, the suspension mechanism of the heavy-duty Mecanum wheel provided in this embodiment further includes: a vertical plate 10, which is installed between the two first connecting plates 1 and the horizontal plate 7. The vertical plate 10 is connected to the first connecting plate 1 and the horizontal plate 7 by bolts. The vertical plate 10 plays the role of an intermediate support, so that the connection between the two first connecting plates 1 is more stable. In addition, as an alternative embodiment, the vertical plate 10 can also be omitted, and the connection between the two first connecting plates 1 is made more stable by increasing the thickness of the horizontal plate 7.

[0040] like Figures 1 to 3 As shown, in the suspension mechanism of the heavy-duty Mecanum wheel provided in this embodiment, there are two symmetrically arranged vertical plates 10, both of which are straight plates with a rectangular opening slot in the middle. The vertical plates 10 are relatively simple to manufacture, light in weight, and have a good use effect. In addition, as an alternative embodiment, the vertical plates 10 can also be an integrated structure, which can be a hollow rectangular plate.

[0041] like Figure 1 , Figure 2 , Figure 4 As shown, in the suspension mechanism of the heavy-duty Mecanum wheel provided in this embodiment, the elastic member can be a compression spring 11, the number of compression springs 11 is set to two, and the spring coefficient is 15.2kg / mm. In addition, as an alternative embodiment, the elastic member can also be a gas spring.

[0042] like Figure 1 , Figure 2 , Figure 4 As shown, in the suspension mechanism of the heavy-duty Mecanum wheel provided in this embodiment, two mounting plates 12 are symmetrically arranged on the bottom surface of the second connecting plate 5, and the two mounting plates 12 extend vertically downward. The outer sides of the two mounting plates 12 are respectively provided with guide rails 13, and the first connecting plate 1 has a slider 14 matched with the guide rail 13. In addition, as an alternative embodiment, the slider 14 can also be arranged on the second connecting plate 5, and the guide rail 13 can be arranged on the first connecting plate 1.

[0043] like Figure 1 , Figure 2 , Figure 4 As shown, in the suspension mechanism of the heavy-duty Mecanum wheel provided in this embodiment, a top plate 15 for connecting the elastic member is arranged between the two mounting plates 12, one end of the elastic member is connected to the top plate 15, and the other end of the elastic member is connected to the horizontal plate 7. The top plate 15 is located below the second connecting plate 5, and the distance between the top plate 15 and the horizontal plate 7 is closer, so the formation of the elastic member can be appropriately reduced, thereby reducing the required manufacturing materials. In addition, as an alternative embodiment, the top plate 15 can also be omitted, and the elastic member can be directly connected to the second connecting plate 5.

[0044] like Figure 1 , Figure 2 As shown, in the suspension mechanism of the heavy-duty Mecanum wheel provided in this embodiment, the first connecting plate 1 is provided with an angular contact bearing 16 for replacing the reducer 2 to bear the radial torque of the rotating shaft 4. The reducer 2 is protected by the angular contact bearing 16, and the reducer 2 can bear a larger load, thereby increasing the loading capacity.

[0045] In addition, if Figures 1 to 4 As shown, this embodiment also provides an automatic guided vehicle, including: the above-mentioned heavy-duty Mecanum wheel suspension mechanism, which realizes guidance and withstands torque through the cooperation of the guide rail 13 and the slider 14, and the guidance is more precise, the force form is better, and the service life is longer.

[0046] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the scope of protection of the present utility model.

Claims

1. A suspension mechanism for a heavy-duty Mecanum wheel, characterized in that: include: A first connecting plate (1), wherein a reducer (2) is arranged on the first connecting plate (1); A Mecanum wheel (3) is mounted on the output end of the reducer (2) via a rotating shaft (4); A second connecting plate (5) is slidably mounted on the first connecting plate (1) via a guide rail (13) and a slider (14), and a top surface of the second connecting plate (5) is used for connecting to a vehicle body; A driving member (6), wherein a driving end of the driving member (6) is connected to an input end of the reducer (2), and the driving member (6) is used to drive the Mecanum wheel (3) to rotate; An elastic member is arranged between the first connecting plate (1) and the second connecting plate (5), and the elastic member has an elastic force that causes the first connecting plate (1) and the second connecting plate (5) to move away from each other.

2. The heavy-duty Mecanum wheel suspension mechanism according to claim 1, characterized in that: The first connecting plates (1) have two symmetrically arranged ones, the two first connecting plates (1) are connected via a horizontal plate (7), and a through groove (8) for mounting the reducer (2) is formed between the two first connecting plates (1).

3. The heavy-duty Mecanum wheel suspension mechanism according to claim 2, characterized in that: The side surfaces of the two first connecting plates (1) that are close to each other are respectively provided with a platform structure (9) for mounting the horizontal plate (7).

4. The heavy-duty Mecanum wheel suspension mechanism according to claim 2, characterized in that: Also includes: A vertical plate (10) is installed between the two first connecting plates (1) and the horizontal plate (7).

5. The heavy-duty Mecanum wheel suspension mechanism according to claim 4, characterized in that: The vertical plates (10) are provided with two symmetrically arranged ones.

6. The heavy-duty Mecanum wheel suspension mechanism according to claim 1, characterized in that: The elastic member is a compression spring (11), and the compression spring (11) has at least two elements arranged at intervals.

7. The heavy-duty Mecanum wheel suspension mechanism according to claim 1, characterized in that: Two mounting plates (12) are symmetrically arranged on the bottom surface of the second connecting plate (5), guide rails (13) are respectively arranged on the outer side surfaces of the two mounting plates (12), and the first connecting plate (1) has a sliding block (14) matched with the two guide rails (13).

8. The heavy-duty Mecanum wheel suspension mechanism according to claim 7, characterized in that: A top plate (15) for connecting the elastic member is arranged between the two mounting plates (12), and the top plate (15) is located below the second connecting plate (5).

9. The suspension mechanism of a heavy-duty Mecanum wheel according to any one of claims 1 to 8, characterized in that: The first connecting plate (1) is provided with an angular contact bearing (16) for replacing the reducer (2) to bear the radial torque of the rotating shaft (4).

10. An automatic guided vehicle, characterized in that: include: A suspension mechanism for a heavy-duty Mecanum wheel as claimed in any one of claims 1 to 9.

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