CN106143037A - Multistage Omni-mobile suspension fork mechanism and Omni-mobile platform - Google Patents
Multistage Omni-mobile suspension fork mechanism and Omni-mobile platform Download PDFInfo
- Publication number
- CN106143037A CN106143037A CN201610649647.6A CN201610649647A CN106143037A CN 106143037 A CN106143037 A CN 106143037A CN 201610649647 A CN201610649647 A CN 201610649647A CN 106143037 A CN106143037 A CN 106143037A
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- CN
- China
- Prior art keywords
- omni
- multistage
- support
- suspension fork
- power transmission
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/02—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally
- B60G13/04—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally mechanically, e.g. having frictionally-engaging springs as damping elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a kind of multistage Omni-mobile suspension fork mechanism and Omni-mobile platform, this mechanism includes reducing motor, supports support, installing plate, at least three damper, two bearing blocks, shaft coupling, power transmission shaft and omni-directional wheel；Reducing motor and two bearing blocks are installed on support support；Reducing motor connects power transmission shaft by shaft coupling；Power transmission shaft is supported by two bearing blocks；Omni-directional wheel is positioned between two bearing blocks, is fixedly connected on power transmission shaft；Damper includes sleeve end cap, spring, spring spool and push rod；There is inside spring spool step, be provided with push rod, spring, sleeve end cap from top to bottom；Push rod is inverted T-shaped structure, and bottom carries out spacing by the step of spring spool, and top is fixing with installing plate to be connected；Sleeve end cap one end is fixing with spring spool to be connected, and the other end is fixed on support support.The present invention can improve design, efficiency of assembling, adapts to the scraggly operating mode in road surface, and has preferable elasticity under unloaded and heavily loaded operating mode.
Description
Technical field
The invention belongs to intelligent storage logistics field, be particularly used for Omni-mobile AGV.
Background technology
At present, the mechanism moduleization of Omni-mobile AGV is not mature enough, and design, assembling are convenient not；Driver element and car body
Integration, during use, the flatness requirement on many road surfaces is higher, and the motion of Omni-mobile AGV is that the vector of four-wheel motion closes
Becoming, if ground flat degree is inadequate, wheel is unsettled, and body movement direction is by out of hand.
Content of the invention
In order to improve design, efficiency of assembling, the scraggly operating mode in adaptation road surface, and under unloaded and heavily loaded operating mode all
Having preferable elasticity, the present invention provides a kind of multistage Omni-mobile suspension fork mechanism and Omni-mobile platform.
It is an object of the invention to be achieved through the following technical solutions: a kind of multistage Omni-mobile suspension fork mechanism, including
Reducing motor, support support, installing plate, at least three damper, two bearing blocks, shaft coupling, power transmission shaft and omni-directional wheel；Its
In, described reducing motor and two bearing blocks are installed on support support；Reducing motor connects power transmission shaft by shaft coupling, will
Power passes to power transmission shaft；Power transmission shaft is supported by two bearing blocks；Omni-directional wheel is positioned between two bearing blocks, is fixedly connected on
On power transmission shaft；Described damper includes sleeve end cap, spring, spring spool and push rod；Inside described spring spool, there is step,
It is provided with push rod, spring, sleeve end cap from top to bottom；Push rod is inverted T-shaped structure, and bottom is limited by the step of spring spool
Position, top is fixing with installing plate to be connected；Sleeve end cap one end is fixing with spring spool to be connected, and the other end is fixed on support support
On.
Further, power transmission shaft being bonded ring flange, omni-directional wheel is fixing with ring flange to be connected.
Further, this mechanism also includes increasing block, and bearing block is fixed on support support by increasing block.
Further, described sleeve end cap is inverted T-shaped structure, and bottom surface is fixed on support support, and top is enclosed within spring housing
In cylinder, threaded with spring spool.
Further, described damper is four, lays respectively at four corner points of installing plate lower surface.
Further, omni-directional wheel is distributed in the center of four dampers, and the pressure distribution of such car body is more uniform, stress feelings
Condition is preferable.
A kind of Omni-mobile platform, including four multistage Omni-mobile suspension fork mechanisms, is positioned at two multistage omnidirectionals at diagonal angle
The omni-directional wheel rotation direction of mobile suspension fork mechanism is identical, and the omni-directional wheel of two adjacent multistage Omni-mobile suspension fork mechanisms is oppositely oriented.
Further, this platform includes support board, and four multistage Omni-mobile suspension fork mechanisms are arranged on four of support board
Corner point.
Beneficial effects of the present invention is as follows: the motion of Omni-mobile platform is by four-wheel motion synthesis, in case of ground is rough and uneven in surface,
Cannot ensure that all wheel moment land, have spring inside multistage Omni-mobile suspension fork mechanism, spring is in compressive state, in case of
Ground is uneven, and spring force can guarantee that the wheel moment touches with ground, has enough frictional force.Easy accessibility, multistage entirely
Can individually fit together to mobile suspension fork mechanism, car body individually fits together, and last car load assembles.Design simplifies, multistage
Omni-mobile suspension fork mechanism is the core of Omni-mobile platform, and car load only needs four multistage Omni-mobile suspension fork mechanisms, facilitates whole
Car designs.Damper is arranged in the inside supporting support by this mechanism, and structure comparison is compact, and car load center of gravity is low, and car body runs relatively
Steadily.When using four dampers, omni-directional wheel is distributed in the center of four dampers, and the pressure distribution of such car body will compare
Uniformly, stressing conditions is preferable.Under extreme fortuitous event, multistage Omni-mobile suspension fork mechanism is unsettled, but can ensure that multistage
Omni-mobile suspension fork mechanism and the integraty of car body, both will not separate with car body.
Brief description
Fig. 1 is multistage Omni-mobile suspension fork mechanism structural representation；
Fig. 2 is partial exploded view；
Fig. 3 is the sectional view of damper；
Fig. 4 is the multistage Omni-mobile suspension fork mechanism position view of Omni-mobile platform；
Fig. 5 is the side view of Omni-mobile platform；
In figure, the 1st, reducing motor supports support the 2nd, installing plate the 3rd, damper and the 4th, increases the 6th, shaft coupling the 7th, the transmission of block the 5th, bearing block
Axle the 8th, omni-directional wheel the 9th, sleeve end cap 4-1, spring 4-2, spring spool 4-3, push rod 4-4.
Detailed description of the invention
With specific embodiment, the present invention is described in further detail below in conjunction with the accompanying drawings.
As shown in Figure 1, 2, the present invention provide one multistage Omni-mobile suspension fork mechanism, including reducing motor the 1st, supports prop up
Frame the 2nd, installing plate the 3rd, at least three damper the 4th, two bearing block the 6th, shaft coupling the 7th, power transmission shafts 8 and omni-directional wheel 9；Wherein, described subtract
Speed motor 1 and two bearing blocks 6 are installed on support support 2；Reducing motor 1 connects power transmission shaft 8 by shaft coupling 7, will be dynamic
Power passes to power transmission shaft 8；Power transmission shaft 8 is supported by two bearing blocks 6；Omni-directional wheel 9 is positioned between two bearing blocks 6, the company of fixing
It is connected on power transmission shaft 8；As it is shown on figure 3, described damper 4 includes sleeve end cap 4-1, spring 4-2, spring spool 4-3 and push rod
4-4；Inside described spring spool 4-3, there is step, be provided with push rod 4-4, spring 4-2, sleeve end cap 4-1 from top to bottom；Push rod
4-4 is inverted T-shaped structure, and bottom carries out spacing by the step of spring spool 4-3, and top is fixing with installing plate 3 to be connected；Socket end
Lid 4-1 one end is fixing with spring spool 4-3 to be connected, and the other end is fixed on support support 2.Pressure is uniform to subtracting by installing plate 3
The push rod 4-4 of shake device 4, push rod 4-4 compression spring 4-2, thus play the purpose of buffering, keep omni-directional wheel 9 when running into pit
Grab ground ability.
Further, power transmission shaft 8 being bonded ring flange, omni-directional wheel 9 is fixing with ring flange to be connected.
Further, this mechanism also includes increasing block 5, and bearing block 6 is fixed on support support 2 by increasing block 5.
Further, described sleeve end cap 4-1 is inverted T-shaped structure, and bottom surface is fixed on support support 2, and top is enclosed within bullet
In spring sleeve 4-3, threaded with spring spool 4-3.
Further, described damper 4 is four, lays respectively at four corner points of installing plate 3 lower surface；Omni-directional wheel 9 points
Cloth is at the center of four dampers 4, and the pressure distribution of such car body is more uniform, and stressing conditions is preferable.
As shown in Figure 4,5, the present invention also provides a kind of Omni-mobile platform, including four multistage Omni-mobile suspension machines
Structure, four multistage Omni-mobile suspension fork mechanisms are fixed with car body by installing plate respectively, or four multistage Omni-mobile suspensions
Mechanism is fixed on four corner points of a support board, load capacity on support board.Two the multistage Omni-mobiles being positioned at diagonal angle hang
Omni-directional wheel 9 rotation direction of frame mechanism is identical, and the omni-directional wheel 9 of two adjacent multistage Omni-mobile suspension fork mechanisms is oppositely oriented.
The course of work of the present invention and principle are as follows:
Reducing motor 1 imparts power to power transmission shaft 8 through shaft coupling 7, and power transmission shaft 8 is supported by bearing block 6.Damper
Sleeve end cap 4-1 in 4 is fixed to support on support 2, and the push rod 4-4 in damper 4 is fixed on installing plate 3, when car body pressure
When on installing plate 3, the spring 4-2 compression of damper 4, four multistage Omni-mobile suspension fork mechanisms are jointly by car body jack-up.When
When having multistage Omni-mobile suspension fork mechanism to run into pit, multistage Omni-mobile suspension fork mechanism is tightly pressed against ground by spring force
On, it is ensured that four-wheel collaborative work.
Claims (8)
1. a multistage Omni-mobile suspension fork mechanism, it is characterised in that: include reducing motor (1), support support (2), installing plate
(3), at least three damper (4), two bearing blocks (6), shaft coupling (7), power transmission shaft (8) and omni-directional wheel (9) etc..Wherein, institute
State reducing motor (1) and two bearing blocks (6) are installed in support support (2)；Reducing motor (1) is by shaft coupling (7) even
Connect power transmission shaft (8), impart power to power transmission shaft (8)；Power transmission shaft (8) is supported by two bearing blocks (6)；Omni-directional wheel (9) position
It between two bearing blocks (6), is fixedly connected on power transmission shaft (8)；Described damper (4) includes sleeve end cap (4-1), spring
(4-2), spring spool (4-3) and push rod (4-4) etc.；Described spring spool (4-3) is internal has step, is provided with top from top to bottom
Bar (4-4), spring (4-2), sleeve end cap (4-1)；Push rod (4-4) is inverted T-shaped structure, and bottom is by spring spool (4-3)
Step carries out spacing, and top is fixing with installing plate (3) to be connected；Sleeve end cap (4-1) one end is fixing with spring spool (4-3) even
Connecing, the other end is fixed in support support (2).
2. one according to claim 1 multistage Omni-mobile suspension fork mechanism, it is characterised in that: the upper bonding of power transmission shaft (8)
Ring flange, omni-directional wheel (9) is fixing with ring flange to be connected.
3. one according to claim 1 multistage Omni-mobile suspension fork mechanism, it is characterised in that: this mechanism also includes increasing
Block (5), bearing block (6) is fixed in support support (2) by increasing block (5).
4. one according to claim 1 multistage Omni-mobile suspension fork mechanism, it is characterised in that: described sleeve end cap (4-
1) being inverted T-shaped structure, bottom surface is fixed in support support (2), and top is enclosed within spring spool (4-3), with spring spool (4-3)
Threaded.
5. one according to claim 1 multistage Omni-mobile suspension fork mechanism, it is characterised in that: described damper (4) is
Four, lay respectively at four corner points of installing plate (3) lower surface.
6. one according to claim 5 multistage Omni-mobile suspension fork mechanism, it is characterised in that: omni-directional wheel (9) is distributed in
The center of four dampers (4).
7. an Omni-mobile platform, it is characterised in that include the multistage Omni-mobile suspension machine described in four claims 1
Structure, omni-directional wheel (9) rotation direction of two the multistage Omni-mobile suspension fork mechanisms being positioned at diagonal angle is identical, and two adjacent multistage omnidirectionals move
The omni-directional wheel (9) of dynamic suspension fork mechanism is oppositely oriented.
8. a kind of Omni-mobile platform according to claim 7, it is characterised in that this platform includes support board, more than four
Rank Omni-mobile suspension fork mechanism is arranged on four corner points of support board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610649647.6A CN106143037A (en) | 2016-08-09 | 2016-08-09 | Multistage Omni-mobile suspension fork mechanism and Omni-mobile platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610649647.6A CN106143037A (en) | 2016-08-09 | 2016-08-09 | Multistage Omni-mobile suspension fork mechanism and Omni-mobile platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106143037A true CN106143037A (en) | 2016-11-23 |
Family
ID=57329443
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610649647.6A Pending CN106143037A (en) | 2016-08-09 | 2016-08-09 | Multistage Omni-mobile suspension fork mechanism and Omni-mobile platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106143037A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106739903A (en) * | 2016-12-29 | 2017-05-31 | 广州市远能物流自动化设备科技有限公司 | AGV steering wheels drive damping and AGV steering wheel drive devices |
| CN107696817A (en) * | 2017-06-19 | 2018-02-16 | 广东美的智能机器人有限公司 | For automatic guided vehicle drive device and there is its automatic guided vehicle |
| CN108045187A (en) * | 2017-12-15 | 2018-05-18 | 西京学院 | A kind of independent wheel suspension of Omni-mobile platform |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0878381A1 (en) * | 1996-11-19 | 1998-11-18 | Mitsubishi Heavy Industries, Ltd. | Wall surface absorption type moving device and magnet driving method of the wall surface absorption type moving device |
| CN201660344U (en) * | 2010-04-30 | 2010-12-01 | 江苏通用电梯有限公司 | Damping device of elevator |
| CN102963454A (en) * | 2012-10-31 | 2013-03-13 | 上海交通大学 | Dual-sliding shaft floatation supporting mechanism of omnibearing movable AGV (Automatic Guided Vehicle) |
| CN204712815U (en) * | 2015-05-19 | 2015-10-21 | 上海智远弘业机器人有限公司 | A kind of suspension gear for Mecanum wheel sliding platform |
| CN205890446U (en) * | 2016-08-09 | 2017-01-18 | 浙江科钛机器人股份有限公司 | Multistage omnidirectional movement suspension mechanism and omnidirectional movement platform |
-
2016
- 2016-08-09 CN CN201610649647.6A patent/CN106143037A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0878381A1 (en) * | 1996-11-19 | 1998-11-18 | Mitsubishi Heavy Industries, Ltd. | Wall surface absorption type moving device and magnet driving method of the wall surface absorption type moving device |
| CN201660344U (en) * | 2010-04-30 | 2010-12-01 | 江苏通用电梯有限公司 | Damping device of elevator |
| CN102963454A (en) * | 2012-10-31 | 2013-03-13 | 上海交通大学 | Dual-sliding shaft floatation supporting mechanism of omnibearing movable AGV (Automatic Guided Vehicle) |
| CN204712815U (en) * | 2015-05-19 | 2015-10-21 | 上海智远弘业机器人有限公司 | A kind of suspension gear for Mecanum wheel sliding platform |
| CN205890446U (en) * | 2016-08-09 | 2017-01-18 | 浙江科钛机器人股份有限公司 | Multistage omnidirectional movement suspension mechanism and omnidirectional movement platform |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106739903A (en) * | 2016-12-29 | 2017-05-31 | 广州市远能物流自动化设备科技有限公司 | AGV steering wheels drive damping and AGV steering wheel drive devices |
| CN107696817A (en) * | 2017-06-19 | 2018-02-16 | 广东美的智能机器人有限公司 | For automatic guided vehicle drive device and there is its automatic guided vehicle |
| CN107696817B (en) * | 2017-06-19 | 2024-02-06 | 库卡机器人(广东)有限公司 | Driving device for unmanned carrier and unmanned carrier with driving device |
| CN108045187A (en) * | 2017-12-15 | 2018-05-18 | 西京学院 | A kind of independent wheel suspension of Omni-mobile platform |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161123 |