Mecanum wheel damping structure

Abstract

A Mecanum wheel damping structure comprises a mounting plate, a connecting plate support and a spring support, the front end of the mounting plate is rotationally connected with the connecting plate support through a first rotating shaft, the connecting plate support is fixedly mounted on a frame through a bolt, and the rear end of the mounting plate is rotationally connected with one end of a hydro-pneumatic spring through a second rotating shaft. A fisheye bearing is mounted at the other end of the hydro-pneumatic spring and is rotationally connected with a spring support through a third rotating shaft; the spring support is fixedly mounted on the frame through bolts, the speed reducer and the driving motor are mounted on the left side face of the mounting plate, the Mecanum wheel is arranged on the right side face of the mounting plate, the driving shaft is fixedly mounted in the middle of the Mecanum wheel, the driving shaft of the driving motor is in transmission connection with an input shaft of the speed reducer, and an output shaft of the speed reducer is coaxially connected with the driving shaft. The Mecanum wheel damping structure of the AGV overcomes the defects in the prior art, the whole Mecanum wheel damping structure of the AGV is more compact, and the installation size of the Mecanum wheel damping structure can be greatly reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to material transfer equipment technical field, concretely relates to a mecanum wheel damping structure. BACKGROUND

[0002] In the mecanum wheel AGV carries goods operation, uneven road makes mecanum wheel suspension or skidding leads to AGV to lose kinetic energy or be lifted by the obstacle when carrying, influence AGV dolly normal operation. To solve this phenomenon, mecanum wheel structure formula AGV needs to adopt damping structure, keeps the driving wheel of AGV dolly friction with the ground all the time and provides kinetic energy for AGV, and complex working condition can also advance steadily.

[0003] At present, the damping structure of the common mecanum wheel AGV dolly mainly is rear swing bridge, hydraulic suspension, spring suspension etc., and different connection forms are designed according to different structure forms. The swing bridge structure adopts rear swing bridge, so the vehicle body is three-point support, and this structure needs to increase a set of swing bridge to the vehicle body and needs to install a set of bearing support on the mecanum wheel. The hydraulic suspension mainly needs to increase a hydraulic cylinder and a set of hydraulic system. The spring suspension mainly increases a set of spring damping structure, but the above-mentioned three forms all have the problems of complex structure, large installation size and high cost. UTILITY MODEL CONTENTS

[0004] In view of the deficiencies of the prior art, the utility model provides a mecanum wheel damping structure, which overcomes the deficiencies of the prior art, is reasonable in design, makes the mecanum wheel damping structure of the whole AGV dolly more compact, and greatly reduces the installation size of the mecanum wheel damping structure.

[0005] To achieve the above object, the utility model is realized by the following technical scheme:

[0006] A mecanum wheel damping structure, comprising a mounting plate, a connecting plate support and a spring support, the front end of the mounting plate is rotationally connected with the connecting plate support through a first rotating shaft, the connecting plate support is fixedly installed on a vehicle frame through bolts, the rear end of the mounting plate is provided with a U-shaped hinged seat, one end of an oil gas spring is rotationally connected in the U-shaped hinged seat through a second rotating shaft, the other end of the oil gas spring is fixedly installed with a fish-eye bearing, and the fish-eye bearing is rotationally connected with the spring support through a third rotating shaft. The spring support is fixedly installed on the vehicle frame through bolts,

[0007] A speed reducer and a driving motor are installed on the left side surface of the mounting plate respectively, a mecanum wheel is arranged on the right side surface of the mounting plate, a driving shaft is fixedly installed in the middle of the mecanum wheel, the driving shaft of the driving motor is in transmission connection with the input shaft of the speed reducer, and the output shaft of the speed reducer is coaxially connected with the driving shaft.

[0008] Preferably, the rear side of the connecting plate support is provided with a first hinge seat, the first rotating shaft passes through and is rotationally connected with the first hinge seat, and a first retaining ring is arranged between the inner side surface of the first hinge seat and the outer surface of the mounting plate.

[0009] Preferably, the outer side surface of the first hinge seat is provided with a baffle plate mounted by bolts, and the outer surface of the two ends of the first rotating shaft is provided with a positioning groove in which the baffle plate is clamped.

[0010] Preferably, the rear side of the spring support is provided with a second hinge seat, the third rotating shaft passes through and is rotationally connected with the second hinge seat, and a second retaining ring is arranged between the inner side surface of the second hinge seat and the outer side surface of the fish-eye bearing.

[0011] Preferably, the front end and the rear end of the mounting plate are fixedly embedded with copper sleeves, and the first rotating shaft and the second rotating shaft are movably mounted in the copper sleeves, respectively.

[0012] Preferably, the end of the driving shaft away from the speed reducer passes through the Mecanum wheel and is fixedly mounted with an end cover.

[0013] The utility model provides a kind of Mecanum wheel damping structure.It has the following beneficial effects: by adopting oil-gas spring as damping component, to effectively realize buffering and damping effect, to improve the stability of AGV car when walking.In addition, by the supporting effect of oil-gas spring, the carrying capacity of the entire AGV car can also be enhanced, so that it can cope with heavier load and more complex road conditions.By adopting oil-gas spring as damping component, the Mecanum wheel damping structure of the entire AGV car is more compact, and compared with the rear swing bridge, hydraulic suspension, spring suspension and other ways in the prior art, the installation size of Mecanum wheel damping structure can be greatly reduced. BRIEF DESCRIPTION OF DRAWINGS

[0014] In order to more clearly illustrate the technical scheme of the utility model or the prior art, the following will briefly introduce the drawings needed to be used in the description of the prior art.

[0015] Figure 1 For the structure of the utility model Figure 1 ;

[0016] Figure 2 For the structure of the utility model Figure 2 ;

[0017] Figure 3 For the plane structure of the utility model

[0018] Figure 4 For Figure 3A-A cross-sectional structure schematic diagram in the middle of

[0019] Figure 5 For Figure 3 B-B cross-sectional structure schematic diagram in the middle of

[0020] Figure label explanation:

[0021] 1, mounting plate; 2, connecting plate support; 3, spring support; 4, first pivot; 5, U-shaped hinge seat; 6, second pivot; 7, oil gas spring; 8, fish eye bearing; 9, third pivot; 10, speed reducer; 11, drive motor; 12, Mecanum wheel; 13, drive shaft; 14, first hinge seat; 15, first blocking ring; 16, baffle; 17, second hinge seat; 18, second blocking ring; 19, copper sleeve; 20, end cover. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical scheme and advantages of the utility model more clear, the technical scheme in the utility model will be described clearly and completely below in combination with the drawings in the utility model.

[0023] Example one, as Figures 1-5 shown, a Mecanum wheel damping structure, including mounting plate 1, connecting plate support 2 and spring support 3, mounting plate 1 front end is rotatably connected with connecting plate support 2 through first pivot 4, connecting plate support 2 is fixedly installed on the frame through bolt, the rear end of mounting plate 1 is provided with U-shaped hinge seat 5, one end of oil gas spring 7 is rotatably connected in U-shaped hinge seat 5 through second pivot 6, the other end of oil gas spring 7 is fixedly installed with fish eye bearing 8, fish eye bearing 8 is rotatably connected with spring support 3 through third pivot 9;Spring support 3 is fixedly installed on the frame through bolt,

[0024] The left side of mounting plate 1 is respectively provided with speed reducer 10 and drive motor 11, and the right side of mounting plate 1 is provided with Mecanum wheel 12, and drive shaft 13 is fixedly installed in the middle of Mecanum wheel 12, the drive shaft of drive motor 11 is in transmission connection with the input shaft of speed reducer 10, and the output shaft of speed reducer 10 is coaxially connected with drive shaft 13.

[0025] Working principle:

[0026] In the installation, by installing the connecting plate support 2 and the spring support 3 on the corresponding positions of the frame of the AGV respectively, in the use process, the driving motor 11 can be directly controlled to operate to drive the Mecanum wheel 12 to rotate, and then drive the whole AGV to move, and when the Mecanum wheel 12 is lifted by the obstacle in the walking process, the mounting plate 1 is lifted by the obstacle at this time, and then the vibration is transmitted to the oil gas spring 7 through the mounting plate 1, so that the effective buffering and damping effect can be realized through the oil gas spring 7. To effectively improve the stability of the AGV when walking. In addition, through the supporting action of the oil gas spring 7, the carrying capacity of the whole AGV can also be enhanced, so that it can cope with heavier load and more complex road conditions.

[0027] In addition, in the embodiment, by adopting the oil gas spring 7 as the damping component, the Mecanum wheel damping structure of the whole AGV is more compact, and compared with the rear swing bridge, hydraulic suspension, spring suspension and other modes in the prior art, the installation size of the Mecanum wheel damping structure can be greatly reduced, and in addition, since the two ends of the oil gas spring 7 are directly connected with the mounting plate 1 and the spring support 3 through the second rotating shaft 6 and the third rotating shaft 9 respectively, different strength oil gas springs 7 can be selected according to different load AGV. Therefore, compared with the prior art, the application range of the utility model is larger, and the processing and assembly cost is reduced.

[0028] In the embodiment, the first hinge seat 14 is arranged on the rear side of the connecting plate support 2, the first rotating shaft 4 penetrates through the first hinge seat 14 and is rotationally connected with the first hinge seat 14, the first blocking ring 15 is arranged between the inner side surface of the first hinge seat 14 and the outer surface of the mounting plate 1, and the first blocking ring 15 is sleeved on the outer surface of the first rotating shaft 4. The baffle plate 16 is installed on the outer side surface of the first hinge seat 14 through bolts, and the positioning groove is arranged on the outer surface of the two ends of the first rotating shaft 4, and the baffle plate 16 is clamped in the positioning groove.

[0029] Therefore, in the installation, after the first hinge seat 14 is clamped to the corresponding position of the mounting plate 1, the baffle plate 16 is clamped to the positioning groove on the outer surface of the first rotating shaft 4 after the first rotating shaft 4 is inserted into the through hole corresponding to the first hinge seat 14 and the mounting plate 1, and the baffle plate 16 is installed and fixed to the outer side surface of the first hinge seat 14 through bolts. Therefore, the clamping and fixing effect of the first rotating shaft 4 can be effectively realized through the baffle plate 16. In addition, the position between the mounting plate 1 and the first hinge seat 14 can be limited through the first blocking ring 15, so that the problem of displacement of the mounting plate 1 along the axial direction of the first rotating shaft 4 can be effectively avoided.

[0030] As a further effective scheme of the embodiment one, the rear side of the spring support 3 is provided with a second hinge seat 17, the third rotating shaft 9 penetrates through the second hinge seat 17 and is rotationally connected with the second hinge seat 17, and a second retaining ring 18 is arranged between the inner side of the second hinge seat 17 and the outer side of the fish-eye bearing 8, and the second retaining ring 18 is sleeved on the outer surface of the third rotating shaft 9. The left and right movement of the fish-eye bearing 8 at the end of the oil-gas spring 7 is effectively limited through the second retaining ring 18, so that the stability of the oil-gas spring 7 during the damping process is effectively ensured.

[0031] As a further effective scheme of the embodiment one, the front end and the rear end of the mounting plate 1 are fixedly embedded with copper sleeves 19, and the first rotating shaft 4 and the second rotating shaft 6 are movably arranged in the copper sleeves 19, respectively. Therefore, when the first rotating shaft 4 and the second rotating shaft 6 rotate, the copper sleeves 19 can bear greater wear and friction, so as to effectively protect the surface of the mounting plate 1 and reduce wear, thereby effectively prolonging the service life of the machine. Moreover, it can also help to reduce the vibration and noise during the operation of the machine, and improve the working stability and reliability of the machine.

[0032] As a further effective scheme of the embodiment one, the end of the driving shaft 13 away from the speed reducer 10 penetrates through the Mecanum wheel 12 and is fixedly provided with an end cover 20, and the inner side of the end cover 20 abuts against the outer side of the Mecanum wheel 12. The axial limiting and fixing effect between the Mecanum wheel 12 and the driving shaft 13 is realized through the end cover 20.

[0033] The above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced by equivalent ones; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A Mecanum wheel damping structure characterized by: The utility model relates to a kind of oil-gas spring suspension systems, including mounting plate (1), connecting plate support (2) and spring support (3), the connecting plate support (2) is fixedly installed on frame by bolt, the rear end of the mounting plate (1) is provided with U-shaped hinged seat (5), one end is rotatably connected in the U-shaped hinged seat (5) by second pivot (6) oil-gas spring (7), the other end of the oil-gas spring (7) is fixedly installed fish eye bearing (8), the fish eye bearing (8) is rotatably connected with spring support (3) by third pivot (9);Spring support (3) is fixedly installed on frame by bolt, The left side of the mounting plate (1) is respectively provided with a speed reducer (10) and a driving motor (11), the right side of the mounting plate (1) is provided with a Mecanum wheel (12), the Mecanum wheel (12) is fixedly installed with a driving shaft (13) in the middle, the driving shaft of the driving motor (11) is in transmission connection with the input shaft of the speed reducer (10), and the output shaft of the speed reducer (10) is coaxially connected with the driving shaft (13).

2. The Mecanum wheel damping structure according to claim 1, characterized in that: The rear side of the connecting plate support (2) is provided with a first hinged seat (14), the first pivot (4) passes through the first hinged seat (14) and is rotatably connected with the first hinged seat (14), and a first blocking ring (15) is arranged between the inner side surface of the first hinged seat (14) and the outer surface of the mounting plate (1).

3. The Mecanum wheel damping structure according to claim 2, characterized in that: The outer side surface of the first hinged seat (14) is provided with a baffle (16) by bolt, and the outer surface of the first pivot (4) is provided with a positioning groove at both ends.

4. The Mecanum wheel damping structure according to claim 1, characterized in that: The rear side of the spring support (3) is provided with a second hinged seat (17), the third pivot (9) passes through the second hinged seat (17) and is rotatably connected with the second hinged seat (17), and a second blocking ring (18) is arranged between the inner side surface of the second hinged seat (17) and the outer side surface of the fish eye bearing (8), and the second blocking ring (18) is sleeved on the outer surface of the third pivot (9).

5. The Mecanum wheel damping structure according to claim 1, characterized in that: The front end and the rear end of the mounting plate (1) are fixedly embedded with a copper bushing (19), and the first pivot (4) and the second pivot (6) are movably installed in the copper bushing (19) respectively.

6. The Mecanum wheel damping structure according to claim 1, characterized in that: The end of the driving shaft (13) away from the speed reducer (10) penetrates out of the Mecanum wheel (12) and is fixedly installed with an end cover (20).

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