阅读说明：本技术 一种新型agv舵轮双连杆减振方法及减振装置 (Novel AGV steering wheel double-link vibration damping method and device ) 是由 王好男 乔健 杨景卫 于 2019-10-16 设计创作，主要内容包括：本发明提供一种新型AGV舵轮双连杆减振方法,在AGV舵轮上端设置两个对称的减振组件；每个减振组件由上顶板、阻尼式弹簧减振器、与AGV舵轮连接的固定座和连杆机构组成；连杆机构与固定座形成平行四边形结构；该双连杆减振方法采用两个对称的减振组件,在AGV舵轮行驶过程中,每个减振组件通过平行四边形结构的对边平行且等速的方式保证与上顶板连接的连杆机构和阻尼式弹簧减振器保持竖直方向互相平行状态,并采用阻尼式弹簧减振器与平行四边形结构结合的方式,使得两个对称的减振组件同时对在行驶过程中的AGV舵轮进行减振,以实现AGV舵轮稳定行驶。本发明还提供一种双连杆减振装置。本发明能够实现保证AGV舵轮通过不同坡度时能安全稳定工作的目标。(The invention provides a novel AGV steering wheel double-link damping method, wherein two symmetrical damping assemblies are arranged at the upper end of an AGV steering wheel; each vibration reduction assembly consists of an upper top plate, a damping type spring vibration absorber, a fixed seat connected with an AGV steering wheel and a connecting rod mechanism; the connecting rod mechanism and the fixed seat form a parallelogram structure; according to the double-connecting-rod vibration reduction method, two symmetrical vibration reduction assemblies are adopted, in the running process of the AGV rudder wheel, each vibration reduction assembly guarantees that a connecting rod mechanism and a damping type spring vibration absorber which are connected with an upper top plate keep a mutually parallel state in the vertical direction through a mode that opposite sides of a parallelogram structure are parallel and are at the same speed, and a mode that the damping type spring vibration absorber and the parallelogram structure are combined is adopted, so that the two symmetrical vibration reduction assemblies simultaneously reduce vibration of the AGV rudder wheel in the running process, and the AGV rudder wheel can run stably. The invention also provides a double-connecting-rod vibration damper. The invention can realize the aim of ensuring that the AGV steering wheel can work safely and stably when passing through different slopes.)

1. A novel AGV steering wheel double-link vibration damping method is characterized in that: two symmetrical vibration reduction assemblies are arranged at the upper end of the AGV steering wheel; each vibration reduction assembly consists of an upper top plate, a damping type spring vibration absorber, a fixed seat connected with an AGV steering wheel and a connecting rod mechanism; one end of the damping type spring shock absorber is hinged with the upper top plate, and the other end of the damping type spring shock absorber is hinged with the connecting rod mechanism; the connecting rod mechanism is hinged with the fixed seat and one end, far away from the damping type spring shock absorber, of the upper top plate respectively; the link mechanism and the fixed seat form a parallelogram structure;

according to the double-connecting-rod vibration reduction method, two symmetrical vibration reduction assemblies are adopted, in the running process of the AGV rudder wheel, each vibration reduction assembly guarantees that a connecting rod mechanism and a damping type spring vibration absorber which are connected with an upper top plate keep a mutually parallel state in the vertical direction through a mode that opposite sides of a parallelogram structure are parallel and are at the same speed, and a mode that the damping type spring vibration absorber and the parallelogram structure are combined is adopted, so that the two symmetrical vibration reduction assemblies simultaneously reduce vibration of the AGV rudder wheel in the running process, and the AGV rudder wheel can run stably.

2. The novel AGV steering wheel double-link damping method according to claim 1, wherein: the connecting rod mechanism comprises a connecting rod a, a connecting rod b and a connecting rod c which are hinged with the fixed seat; one end of the connecting rod a is hinged with the damping type spring shock absorber, and the other end of the connecting rod a is hinged with the connecting rod c; one end of the connecting rod c, which is far away from the connecting rod a, is hinged with the upper top plate; two ends of the connecting rod b are respectively hinged with the fixed seat and the connecting rod c; the connecting rod c is parallel to the damping type spring shock absorber, and the connecting rod a is parallel to the connecting rod b; the connecting rod a, the connecting rod b, the connecting rod c and the fixed seat form a parallelogram structure;

in the running process of the AGV steering wheel, each vibration reduction assembly is guaranteed to keep a mutually parallel state in the vertical direction by a connecting rod c and a damping type spring vibration absorber which are connected with an upper top plate in a mode that opposite sides of a parallelogram structure are parallel and are at the same speed, and the mode that the damping type spring vibration absorbers are combined with the parallelogram structure is adopted, so that the vibration reduction assemblies in two symmetries simultaneously reduce vibration of the AGV steering wheel in the running process, and the AGV steering wheel can run stably.

3. The utility model provides a novel AGV steering wheel double-link damping device which characterized in that: the AGV steering wheel is connected with the AGV steering wheel through the mounting frame and is arranged at the upper end of the AGV steering wheel; the double-connecting-rod vibration damping device consists of two vibration damping components which are symmetrically arranged at the upper end of an AGV steering wheel, wherein each vibration damping component comprises an upper top plate, a damping type spring vibration damper, a fixed seat connected with an installation frame and a connecting rod mechanism; one end of the damping type spring shock absorber is hinged with the upper top plate, and the other end of the damping type spring shock absorber is hinged with the connecting rod mechanism; the connecting rod mechanism is hinged with the fixed seat and one end, far away from the damping type spring shock absorber, of the upper top plate respectively; the connecting rod mechanism and the fixed seat form a parallelogram structure, so that the connecting rod mechanism connected with the upper top plate and the damping type spring shock absorber are ensured to keep a mutually parallel state in the vertical direction through the parallelogram structure, and the damping and stable running of the AGV rudder wheel in the running process are realized.

4. The novel AGV steering wheel double-link damping device of claim 3, wherein: the connecting rod mechanism comprises a connecting rod a, a connecting rod b and a connecting rod c which are hinged with the fixed seat; one end of the connecting rod a is hinged with the damping type spring shock absorber, and the other end of the connecting rod a is hinged with the connecting rod c; one end of the connecting rod c, which is far away from the connecting rod a, is hinged with the upper top plate; and two ends of the connecting rod b are respectively hinged with the fixed seat and the connecting rod c.

5. The novel AGV steering wheel double-link damping device of claim 4, wherein: the connecting rod c is parallel to the damping type spring shock absorber, and the connecting rod a is parallel to the connecting rod b; the connecting rod a, the connecting rod b, the connecting rod c and the fixing seat form a parallelogram structure, so that the connecting rod c connected with the upper top plate and the damping type spring shock absorber are kept in a mutually parallel state in the vertical direction through the parallelogram structure, and the shock absorption of the AGV rudder wheel in the driving process is realized.

6. The novel AGV steering wheel double-link damping device of claim 4, wherein: the connecting rod a is hinged with the fixed seat, the damping type spring shock absorber and the connecting rod c through bearings respectively; the connecting rod b is hinged with the fixed seat and the connecting rod c through bearings respectively; and the connecting rod c and the damping type spring shock absorber are hinged with the upper top plate through bearings respectively.

7. The novel AGV steering wheel double-link damping device of claim 3, wherein: the AGV steering wheel comprises a vehicle body, wheels, a driving motor for driving the wheels to move, a steering mechanism and brakes arranged on the wheels; the driving motor is arranged on the vehicle body and connected with the wheels; the steering mechanism is connected with the vehicle body to drive the vehicle body to steer; the mounting bracket is connected with the vehicle body and is arranged at the upper end of the vehicle body.

8. The novel AGV steering wheel double-link damping device of claim 7, wherein: the steering mechanism comprises a steering motor, a steering pinion and a steering bull gear; the steering motor is connected with the steering pinion; the steering large gear is coaxially connected with the vehicle body and is meshed with the steering small gear.

9. The novel AGV steering wheel double-link damping device of claim 8, wherein: the AGV steering wheel control system further comprises an encoder and an encoder gear, wherein the encoder and the encoder gear are used for feeding back the motion information of the AGV steering wheel; the encoder gear is meshed with the steering gear wheel and is connected with the encoder.

Technical Field

The invention relates to the technical field of automatic navigation mobile robots, in particular to a novel AGV steering wheel double-connecting-rod vibration reduction method and a novel AGV steering wheel double-connecting-rod vibration reduction device.

Background

With the rapid development of industrial robot technology, an automatic navigation robot (AGV) is now widely used in the fields of manufacturing, logistics, transportation, etc. due to its characteristics of rapidness, high efficiency, energy saving, flexibility, etc.

However, most of the currently-used AGV products have high requirements on the ground environment, and when the working road conditions are raised or depressed, the AGV steering wheel cannot meet the normal working requirements. In addition, the damping device who designs to AGV steering wheel damping often only has good damping effect in the vertical direction at present, and when there is great slope and the atress that comes from the equidirectional in the course of the work and assaults in AGV operational environment, present AGV steering wheel damping device has just lost the effect, can appear the damping and not be in order smooth or even block phenomenon such as die, leads to bringing economic huge loss.

Disclosure of Invention

The invention aims to overcome the defects in the prior art and provide a novel AGV steering wheel double-connecting-rod vibration damping method and a novel AGV steering wheel double-connecting-rod vibration damping device; the invention can realize the aim of ensuring that the AGV steering wheel can work safely and stably when passing through different slopes, can effectively reduce the production and processing cost of manufacturing enterprises, avoids the loss of the AGV steering wheel and the transported goods caused by road surface bump, and has important significance for realizing the modernization and intellectualization of the manufacturing industry.

In order to achieve the purpose, the invention is realized by the following technical scheme: a novel AGV steering wheel double-link vibration damping method is characterized in that: two symmetrical vibration reduction assemblies are arranged at the upper end of the AGV steering wheel; each vibration reduction assembly consists of an upper top plate, a damping type spring vibration absorber, a fixed seat connected with an AGV steering wheel and a connecting rod mechanism; one end of the damping type spring shock absorber is hinged with the upper top plate, and the other end of the damping type spring shock absorber is hinged with the connecting rod mechanism; the connecting rod mechanism is hinged with the fixed seat and one end, far away from the damping type spring shock absorber, of the upper top plate respectively; the link mechanism and the fixed seat form a parallelogram structure;

according to the double-connecting-rod vibration reduction method, two symmetrical vibration reduction assemblies are adopted, in the running process of the AGV rudder wheel, each vibration reduction assembly guarantees that a connecting rod mechanism and a damping type spring vibration absorber which are connected with an upper top plate keep a mutually parallel state in the vertical direction through a mode that opposite sides of a parallelogram structure are parallel and are at the same speed, and a mode that the damping type spring vibration absorber and the parallelogram structure are combined is adopted, so that the two symmetrical vibration reduction assemblies simultaneously reduce vibration of the AGV rudder wheel in the running process, and the AGV rudder wheel can run stably.

In the scheme, the vibration reduction method can ensure that the AGV steering wheel does not tilt forwards or backwards, the AGV steering wheel can work safely and stably on a large-gradient road condition or a bumpy road surface, and the running stability of the AGV steering wheel in the working process is improved. The invention combines the advantages of the parallelogram mechanism and the damping type spring shock absorber, the damping type spring shock absorber is connected with the link mechanism, when the steering wheel passes through a bumpy road surface, the damping type spring shock absorber and the link mechanism play a role together, the running stability of the AGV steering wheel is ensured, the shock absorption effect is obviously enhanced, and the multi-direction and multi-angle shock absorption target is realized.

The connecting rod mechanism comprises a connecting rod a, a connecting rod b and a connecting rod c which are hinged with the fixed seat; one end of the connecting rod a is hinged with the damping type spring shock absorber, and the other end of the connecting rod a is hinged with the connecting rod c; one end of the connecting rod c, which is far away from the connecting rod a, is hinged with the upper top plate; two ends of the connecting rod b are respectively hinged with the fixed seat and the connecting rod c; the connecting rod c is parallel to the damping type spring shock absorber, and the connecting rod a is parallel to the connecting rod b; the connecting rod a, the connecting rod b, the connecting rod c and the fixed seat form a parallelogram structure;

in the running process of the AGV steering wheel, each vibration reduction assembly is guaranteed to keep a mutually parallel state in the vertical direction by a connecting rod c and a damping type spring vibration absorber which are connected with an upper top plate in a mode that opposite sides of a parallelogram structure are parallel and are at the same speed, and the mode that the damping type spring vibration absorbers are combined with the parallelogram structure is adopted, so that the vibration reduction assemblies in two symmetries simultaneously reduce vibration of the AGV steering wheel in the running process, and the AGV steering wheel can run stably.

The utility model provides a novel AGV steering wheel double-link damping device which characterized in that: the AGV steering wheel is connected with the AGV steering wheel through the mounting frame and is arranged at the upper end of the AGV steering wheel; the double-connecting-rod vibration damping device consists of two vibration damping components which are symmetrically arranged at the upper end of an AGV steering wheel, wherein each vibration damping component comprises an upper top plate, a damping type spring vibration damper, a fixed seat connected with an installation frame and a connecting rod mechanism; one end of the damping type spring shock absorber is hinged with the upper top plate, and the other end of the damping type spring shock absorber is hinged with the connecting rod mechanism; the connecting rod mechanism is hinged with the fixed seat and one end, far away from the damping type spring shock absorber, of the upper top plate respectively; the connecting rod mechanism and the fixed seat form a parallelogram structure, so that the connecting rod mechanism connected with the upper top plate and the damping type spring shock absorber are ensured to keep a mutually parallel state in the vertical direction through the parallelogram structure, and the damping and stable running of the AGV rudder wheel in the running process are realized.

In the scheme, the vibration damping device not only can realize the vibration damping target in the vertical direction of a bumpy road surface, but also can realize the vibration damping target when the AGV steering wheel is stressed and impacted under different gradient road conditions or in different directions, so that the running stability of the AGV steering wheel in the working process is improved.

The connecting rod mechanism comprises a connecting rod a, a connecting rod b and a connecting rod c which are hinged with the fixed seat; one end of the connecting rod a is hinged with the damping type spring shock absorber, and the other end of the connecting rod a is hinged with the connecting rod c; one end of the connecting rod c, which is far away from the connecting rod a, is hinged with the upper top plate; and two ends of the connecting rod b are respectively hinged with the fixed seat and the connecting rod c.

The connecting rod c is parallel to the damping type spring shock absorber, and the connecting rod a is parallel to the connecting rod b; the connecting rod a, the connecting rod b, the connecting rod c and the fixing seat form a parallelogram structure, so that the connecting rod c connected with the upper top plate and the damping type spring shock absorber are kept in a mutually parallel state in the vertical direction through the parallelogram structure, and the shock absorption of the AGV rudder wheel in the driving process is realized.

The connecting rod a is hinged with the fixed seat, the damping type spring shock absorber and the connecting rod c through bearings respectively; the connecting rod b is hinged with the fixed seat and the connecting rod c through bearings respectively; and the connecting rod c and the damping type spring shock absorber are hinged with the upper top plate through bearings respectively.

The AGV steering wheel comprises a vehicle body, wheels, a driving motor for driving the wheels to move, a steering mechanism and brakes arranged on the wheels; the driving motor is arranged on the vehicle body and connected with the wheels; the steering mechanism is connected with the vehicle body to drive the vehicle body to steer; the mounting bracket is connected with the vehicle body and is arranged at the upper end of the vehicle body.

The steering mechanism comprises a steering motor, a steering pinion and a steering bull gear; the steering motor is connected with the steering pinion; the steering large gear is coaxially connected with the vehicle body and is meshed with the steering small gear.

The invention also comprises an encoder and an encoder gear, wherein the encoder and the encoder gear are used for feeding back the motion information of the AGV steering wheel; the encoder gear is meshed with the steering gear wheel and is connected with the encoder.

The principle of the invention is as follows: the parallelogram mechanism has the most remarkable characteristics that each pair of parallel opposite sides (the connecting rod a and the connecting rod b, the connecting rod c and the fixed seat) has constant speed, namely the speed and the acceleration of each pair of opposite sides are always the same, each pair of sides are always parallel, and the motion interference phenomenon cannot be generated. The damping type spring shock absorber can bear larger load, has low natural frequency, is suitable for the low-speed and low-frequency working environment of the AGV, has better performance under the condition of extreme temperature, has long service life, and has the characteristics of simplicity and convenience in installation and strong universality.

The damping type spring shock absorber combines the advantages of a parallelogram link mechanism and a damping type spring shock absorber, the damping type spring shock absorber is connected with the link mechanism through a bearing, when an AGV steering wheel passes through a bumpy road surface, the damping type spring shock absorber and the link mechanism play a role together, the running stability of the AGV is ensured, the shock absorbing effect is obviously enhanced, and the multi-direction and multi-angle shock absorbing target is realized.

Compared with the prior art, the invention has the following advantages and beneficial effects: the novel AGV steering wheel double-connecting-rod vibration damping method and the vibration damping device can achieve the aim of ensuring that the AGV steering wheel can safely and stably work when passing through different slopes, can effectively reduce the production and processing cost of manufacturing enterprises, avoid the loss of the AGV steering wheel and the transported goods thereof caused by road surface bumping, and have important significance for realizing the modernization and intellectualization of the manufacturing industry.

Drawings

FIG. 1 is a front view of an AGV steering wheel dual link damping device of the present invention;

FIG. 2 is a left side view of the AGV steering wheel dual link damping device of the present invention;

FIG. 3 is a rear view of the AGV steering wheel dual link damping device of the present invention;

FIG. 4 is a schematic diagram of the AGV steering wheel double-link damping device of the present invention working in a sunken road condition;

FIG. 5 is a schematic diagram of the AGV steering wheel double-link damping device of the present invention working in a raised road condition;

wherein, 1 is a steering motor, 2 is a brake, 3 is wheels, 4 is an encoder, 5 is an encoder gear, 6 is a steering large gear, 7 is a connecting rod a, 8 is a connecting rod b, 9 is a connecting rod c, 10 is a damping type spring shock absorber, 11 is a steering small gear, 12 is an upper top plate, 13 is a driving motor, 14 is a fixed seat, 15 is an installation frame, and 16 is a vehicle body.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.