阅读说明：本技术 一种重载agv用多级减震器及重载agv (Multistage shock absorber for heavy-load AGV and heavy-load AGV ) 是由 陈智博 袁延凯 于 2019-12-17 设计创作，主要内容包括：本发明公开了一种重载AGV用多级减震器,其包括多组减震组件,且所有的所述减震组件串联安装,每组减震组件均具备弹性元件,且任意两组减震组件的弹性元件的弹性系数均不相同。本发明的重载AGV用多级减震器及重载AGV,通过设置软硬程度不同的多级减震组件,可克服AGV轻载与重载两种工况下主动轮与地面附着力不能兼顾的矛盾,避免AGV的主动轮与地面附着力不足导致打滑的现象发生,结构简单,稳定可靠。(The invention discloses a multi-stage shock absorber for a heavy-load AGV, which comprises a plurality of groups of shock absorption assemblies, wherein all the shock absorption assemblies are installed in series, each group of shock absorption assemblies is provided with an elastic element, and the elastic coefficients of the elastic elements of any two groups of shock absorption assemblies are different. According to the multi-stage damper for the heavy-load AGV and the heavy-load AGV, the multi-stage damping assemblies with different hardness degrees are arranged, so that the contradiction that the adhesive force between the driving wheel and the ground cannot be considered under the light-load working condition and the heavy-load working condition of the AGV can be overcome, the phenomenon of slipping caused by insufficient adhesive force between the driving wheel of the AGV and the ground is avoided, and the structure is simple, stable and reliable.)

1. The utility model provides a heavily loaded AGV is with multistage bumper shock absorber, its characterized in that, it includes multiunit damper, and all damper establishes ties the installation, and every group damper all possesses elastic element, and arbitrary two sets of damper's elastic element's elastic coefficient is all inequality.

2. The multiple stage shock absorber for a heavy loaded AGV of claim 1 further comprising a primary shock absorbing assembly and a secondary shock absorbing assembly;

the primary damping assembly and the secondary damping assembly are respectively provided with a primary elastic element and a secondary elastic element, and the elastic coefficient of the primary elastic element is smaller than that of the secondary elastic element.

3. The multi-stage shock absorber for a heavy load AGV of claim 2, wherein said primary and secondary shock absorbing assemblies share a primary housing;

the primary damping assembly further comprises a primary sliding block in sliding connection with the primary shell, and the primary elastic element is arranged between the primary sliding block and the primary shell;

the primary damping assembly further comprises a secondary shell; the second-stage shell is sleeved outside the first-stage shell and is in sliding connection with the first-stage shell, and the second-stage elastic element is arranged between the first-stage shell and the second-stage shell.

4. The multiple-stage shock absorber of claim 3, wherein said primary housing extends into said secondary housing at one end and is formed with an outer shoulder, and said secondary housing is secured at an end to a secondary end cap that limits said outer shoulder.

5. The multiple stage shock absorber for a heavy loaded AGV of claim 3, wherein the end of said primary housing extending into said secondary housing is formed with a through hole and an inside shoulder;

the first-level shock absorption assembly further comprises a connecting piece, the connecting piece is provided with a rod portion and a shoulder portion, the shoulder portion is arranged outside the first-level shell, and the rod portion penetrates through the through hole and is fixedly connected with the first-level sliding block.

6. The multiple stage shock absorber for a heavy loaded AGV of claim 2 wherein said primary spring element has a spring rate that differs from a spring rate of said secondary spring element by at least an order of magnitude.

7. The multi-stage shock absorber for a heavy loaded AGV of claim 2 wherein said secondary resilient member is an infinite spring.

8. A heavy-duty AGV, comprising the multi-stage shock absorber of any one of claims 1-7, further comprising a frame, a drive pulley and a driven pulley; the two driving wheels are symmetrically arranged on two sides of the middle part of the frame; four driven wheels are arranged at four corners of the frame; the action wheel and/or follow the driving wheel with be provided with between the frame heavily carry multistage bumper shock absorber for AGV.

Technical Field

The invention relates to the technical field of AGV, in particular to a multi-stage damper for a heavy-load AGV and the heavy-load AGV.

Background

Present all kinds of automatic navigation AGV widely used in industry and life, if transfer robot, storage robot etc, current mobile robot generally adopts differential drive control, two differential drive wheels have been arranged to the centre on the automobile body, two universal wheels have respectively been arranged around the automobile body, a total 6 wheels of whole car, because the condition that the robot went ground to have injustice, do not skid in order to guarantee that the drive wheel has sufficient adhesive force, mostly be drive wheel configuration spring structure, let the spring compress tightly the drive wheel and then guarantee that drive wheel and ground have sufficient adhesive force. However, if the spring force is too large, the mobile robot can be jacked up when the mobile robot is unloaded; if the spring force is too small, the driving wheel will slip when the load is heavy, so in order to ensure that the driving wheel will not slip when the load is heavy, the self weight of the mobile robot must be made heavy.

Disclosure of Invention

The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides the multistage shock absorber for the heavy-load AGV and the heavy-load AGV, wherein the multistage shock absorber can enable the robot to have better adhesive force with the ground during no-load and load.

The technical scheme is as follows: in order to achieve the purpose, the multi-stage damper for the heavy-duty AGV comprises a plurality of groups of damping assemblies, wherein all the damping assemblies are installed in series, each group of damping assemblies is provided with an elastic element, and the elastic coefficients of the elastic elements of any two groups of damping assemblies are different.

Further, the shock absorber comprises a primary shock absorbing component and a secondary shock absorbing component;

the primary damping assembly and the secondary damping assembly are respectively provided with a primary elastic element and a secondary elastic element, and the elastic coefficient of the primary elastic element is smaller than that of the secondary elastic element.

Further, the primary damping assembly and the secondary damping assembly share a primary shell;

the primary damping assembly further comprises a primary sliding block in sliding connection with the primary shell, and the primary elastic element is arranged between the primary sliding block and the primary shell;

the primary damping assembly further comprises a secondary shell; the second-stage shell is sleeved outside the first-stage shell and is in sliding connection with the first-stage shell, and the second-stage elastic element is arranged between the first-stage shell and the second-stage shell.

Furthermore, one end of the primary shell extends into the secondary shell, an outer side blocking shoulder is formed at the end of the primary shell, and a secondary end cover used for limiting the outer side blocking shoulder is fixed at the end of the secondary shell.

Furthermore, a through hole is formed on the end part of the primary shell, which extends into the secondary shell, and an inner side retaining shoulder is formed on the end part;

the first-level shock absorption assembly further comprises a connecting piece, the connecting piece is provided with a rod portion and a shoulder portion, the shoulder portion is arranged outside the first-level shell, and the rod portion penetrates through the through hole and is fixedly connected with the first-level sliding block.

Further, the spring constant of the primary spring element differs from the spring constant of the secondary spring element by at least an order of magnitude.

Further, the secondary elastic element is an electrodeless spring.

A heavy-load AGV comprises the multi-stage shock absorber for the heavy-load AGV, and further comprises a frame, a driving wheel and a driven wheel; the two driving wheels are symmetrically arranged on two sides of the middle part of the frame; four driven wheels are arranged at four corners of the frame; the action wheel and/or follow the driving wheel with be provided with between the frame heavily carry multistage bumper shock absorber for AGV.

Has the advantages that: according to the multi-stage damper for the heavy-load AGV and the heavy-load AGV, the multi-stage damping assemblies with different hardness degrees are arranged, so that the contradiction that the adhesive force between the driving wheel and the ground cannot be considered under the light-load working condition and the heavy-load working condition of the AGV can be overcome, the phenomenon of slipping caused by insufficient adhesive force between the driving wheel of the AGV and the ground is avoided, and the structure is simple, stable and reliable.

Drawings

FIG. 1 is a structural diagram of a multi-stage damper for heavy-duty AGV according to the present invention;

FIG. 2 is a schematic diagram of the chassis structure of the heavy AGV of the present invention.

In the figure: 1-a primary elastic element; 2-a secondary elastic element; 3-a primary shell; 31-an outer shoulder; 32-inner side shoulder; 4-first-stage sliding block; 5-a secondary shell; 6-secondary end cover; 7-a connector; 71-a stem portion; 72-shoulder stop; 8-a frame; 9-driving wheel; 10-driven wheel.

Detailed Description

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the second feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The multi-stage shock absorber (hereinafter referred to as a shock absorber) for the heavy-load AGV comprises a plurality of groups of shock absorption assemblies, all the shock absorption assemblies are installed in series, each group of shock absorption assemblies is provided with an elastic element, and the elastic coefficients of the elastic elements of any two groups of shock absorption assemblies are different. The meaning of the above-mentioned series installation is that each group of shock absorption components are in series connection, and the acting force received by the two ends of the elastic element of each group of shock absorption components is identical, that is, when the multistage shock absorber receives the pressure, the compression amount of the elastic element of each shock absorption component is different. The structure and principle of the multi-stage damper will be described in detail below mainly with the structure of the two-stage damper.

As shown in fig. 1, the secondary damper includes a primary damping component and a secondary damping component, both of which are installed in series, wherein, the primary damping component and the secondary damping component are respectively provided with a primary elastic element 1 and a secondary elastic element 2, and the elastic coefficient of the primary elastic element 1 is smaller than that of the secondary elastic element 2, here, the primary elastic element 1 and the secondary elastic element 2 are both springs, and because the weight of the goods loaded by the general heavy-duty AGV (typically, such as a storage AGV) is much larger than its own weight, therefore, in order to achieve a better damping effect, the elastic coefficient of the primary elastic element 1 is far smaller than that of the secondary elastic element 2, and the two have at least one order of magnitude difference.

The primary damping assembly and the secondary damping assembly share a primary shell 3; specifically, the primary damping assembly further comprises a primary sliding block 4 connected with the primary shell 3 in a sliding manner, the primary elastic element 1 is arranged between the primary sliding block 4 and the primary shell 3, specifically, a primary sliding cavity is arranged in the primary shell 3, the primary sliding block 4 is in sliding fit with the primary sliding cavity, and the primary elastic element 1 is arranged between the end part of the primary sliding block 4 and the bottom of the sliding cavity;

second grade damper still includes second grade casing 5, 5 covers of second grade casing are established outside first grade casing 3 and both sliding connection, second grade elastic element arranges in first grade casing 3 with between the second grade casing 5, also in second grade damper, the second grade slider that is equivalent to of first grade casing 3, its relative elastic sliding through with second grade casing 5 is in order to realize the cushioning effect.

When the AGV is provided with the shock absorber, when the AGV is in no load, the pressure applied to the shock absorber is small, at the moment, the elastic deformation of the secondary elastic element 2 is negligible due to the high elastic coefficient of the secondary elastic element, and at the moment, the primary damping assembly mainly plays a role in damping and guaranteeing the adhesion force between the driving wheel and the ground; when the AGV carries the goods, because the goods of carrying is heavier, and the elastic coefficient of one-level elastic element 1 is less, at this moment, one-level elastic element 1 is compressed to elastic deformation's extreme position, and it can be neglected to the absorbing influence, and secondary damper plays main buffering and shakes and keep the effect of action wheel adhesion force. Therefore, the shock absorber can be compatible with the shock absorption and adhesion force maintenance problems of heavy-load AGV under two conditions of no load and loading.

Specifically, the mounting manner of the primary housing 3 and the secondary housing 5 is specifically as follows: a secondary sliding cavity is formed in the secondary shell 5, one end of the primary shell 3 extends into the secondary sliding cavity, an outer side blocking shoulder 31 is formed at the end of the primary shell, and a secondary end cover 6 used for limiting the outer side blocking shoulder 31 is fixed at the end of the secondary shell 5. The second-stage end cover 6 is screwed at the end part of the second-stage shell 5, so that the sliding of the first-stage shell 3 relative to the second-stage shell 5 can be effectively limited, and the first-stage shell 3 is prevented from being separated from the second-stage sliding cavity. The secondary elastic element 2 is arranged between the end of the primary housing 3 and the bottom of the secondary sliding chamber.

Preferably, the primary damping assembly has the following specific structure: a through hole is formed on the end part of the primary shell 3 extending into the secondary shell 5, and an inner side shoulder 32 is formed on the end part; the primary damping assembly further comprises a connecting piece 7, the connecting piece 7 is provided with a rod part 71 and a shoulder part 72, the shoulder part 72 is arranged outside the primary shell 3, and the rod part 71 penetrates through the through hole and is fixedly connected with the primary sliding block 4 in a threaded connection mode. So, through the effect of keeping off shoulder 72 and one-level casing 3 tip, can restrict the slip displacement of one-level casing 3 and second grade casing 5, prevent that one-level casing 3 from deviating from in the one-level sliding chamber, in addition, set up connecting piece 7 and can prevent that one-level elastic element 1 from deviating from one-level sliding chamber, also prevent that second grade elastic element 2 from getting into one-level sliding chamber.

Preferably, in order to adjust the rigidity of the shock absorber conveniently, the secondary elastic element 2 is an electrodeless spring, that is, the rigidity of the secondary elastic element 2 is adjustable, so that the rigidity of the secondary elastic element 2 in the shock absorber can be changed according to the working condition, and the heavy-load AGV has good use adaptability.

The invention also provides a heavy-load AGV, which comprises the multi-stage shock absorber for the heavy-load AGV, and further comprises a frame 8, a driving wheel 9 and a driven wheel 10, wherein the multi-stage shock absorber is shown in the attached drawing 2; the two driving wheels 9 are symmetrically arranged on two sides of the middle part of the frame 8; four driven wheels 10 are arranged at four corners of the frame 8; action wheel 9 and/or follow driving wheel 10 with be provided with between the frame 8 multiple shock absorber for heavy load AGV, in this embodiment, action wheel 9 and all be equipped with foretell multiple shock absorber for heavy load AGV from driving wheel 10 and between the frame 8.

According to the multi-stage damper for the heavy-load AGV and the heavy-load AGV, the multi-stage damping assemblies with different hardness degrees are arranged, so that the contradiction that the adhesive force between the driving wheel and the ground cannot be considered under the light-load working condition and the heavy-load working condition of the AGV can be overcome, the phenomenon of slipping caused by insufficient adhesive force between the driving wheel of the AGV and the ground is avoided, and the structure is simple, stable and reliable.

The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.