CN114454736A - Mobile platform and mobile charging robot - Google Patents
Mobile platform and mobile charging robot Download PDFInfo
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- CN114454736A CN114454736A CN202210227798.8A CN202210227798A CN114454736A CN 114454736 A CN114454736 A CN 114454736A CN 202210227798 A CN202210227798 A CN 202210227798A CN 114454736 A CN114454736 A CN 114454736A
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- 230000007246 mechanism Effects 0.000 claims abstract description 87
- 239000000725 suspension Substances 0.000 claims abstract description 45
- 238000003860 storage Methods 0.000 claims abstract description 11
- 239000006096 absorbing agent Substances 0.000 claims description 24
- 230000035939 shock Effects 0.000 claims description 24
- 238000004891 communication Methods 0.000 claims description 7
- 238000004519 manufacturing process Methods 0.000 description 7
- 239000000463 material Substances 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000005728 strengthening Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
-
- 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
- B60G13/001—Arrangements for attachment of dampers
- B60G13/005—Arrangements for attachment of dampers characterised by the mounting on the axle or suspension arm of the damper unit
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/18—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram
- B60G3/20—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram all arms being rigid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
- B60G2204/10—Mounting of suspension elements
- B60G2204/12—Mounting of springs or dampers
- B60G2204/128—Damper mount on vehicle body or chassis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
- B60G2204/10—Mounting of suspension elements
- B60G2204/14—Mounting of suspension arms
- B60G2204/149—Mounting of rigid axle on wheel knuckle
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
Abstract
The moving platform comprises a frame mechanism, a suspension mechanism and wheel sets, wherein the frame mechanism is connected with the wheel sets through the suspension mechanism, the frame mechanism is connected with a plurality of suspension mechanisms, each wheel set comprises a plurality of wheels, and a single suspension mechanism is connected with a single wheel; the frame mechanism comprises a main body frame, the main body frame comprises a cross beam, a main beam and a supporting beam, the cross beam is connected with the main beam, and the main beam is connected with the supporting beam; the wheel set is connected with a driving motor, and a plurality of wheels are respectively connected with a single driving motor; the wheel set is further connected with a direction mechanism, the direction mechanism at least comprises one, the wheel set comprises a front wheel set and a rear wheel set, the front wheel set is connected with a single direction mechanism through a suspension mechanism, and the rear wheel set is also connected with the single direction mechanism through the suspension mechanism. The mobile charging robot comprises the mobile platform and an electric power storage assembly, and the mobile platform is connected with the electric power storage assembly. The invention has flexible movement and larger load.
Description
Technical Field
The invention belongs to the technical field of trackless vehicles, and particularly relates to a mobile platform and a mobile charging robot.
Background
Along with the continuous development of automobile technology, the technology of the mobile platform is more and more advanced, but the existing mobile platform is often huge, is not flexible enough, is difficult to move in narrow roads, is particularly difficult to realize small-range directions, has low load-carrying capacity, and becomes larger and larger along with the improvement of the load-carrying capacity. Especially for the mobile charging robot which is developed rapidly for charging new energy vehicles at present, the road surface of a parking lot is not smooth and wide, and great limitation is caused to the robot which is not flexible enough.
Therefore, a mobile platform and a mobile charging robot with large load and flexible movement are needed.
Disclosure of Invention
The invention aims to provide a mobile platform and a mobile charging robot, and aims to solve the technical problems that the mobile platform is not large enough in load and not flexible enough to move.
In order to solve the technical problems, the specific technical scheme of the invention is as follows:
the mobile platform comprises a frame mechanism, suspension mechanisms and wheel sets, wherein the frame mechanism is connected with the wheel sets through the suspension mechanisms, the frame mechanism is connected with a plurality of the suspension mechanisms, each wheel set comprises a plurality of wheels, and each suspension mechanism is connected with one wheel; the frame mechanism comprises a main body frame, the main body frame comprises a cross beam, a main beam and a supporting beam, the cross beam is connected with the main beam, and the main beam is connected with the supporting beam; the wheel set is connected with a driving motor, and a plurality of wheels are respectively connected with a single driving motor; the wheel set is still connected with the steering mechanism, steering mechanism includes one at least, the wheel set includes front wheel group and rear wheel group, the front wheel group is connected with singly through suspension mechanism steering mechanism, the rear wheel group also is connected with singly through suspension mechanism steering mechanism, suspension mechanism's swizzle inclination is 0.
Further, the direction mechanism comprises direction machines and direction connecting rods, the direction machines are connected with the direction connecting rods, at least one direction connecting rod is connected with each direction machine, and each direction connecting rod is connected with each suspension mechanism.
The frame mechanism further comprises a hanging frame, the main body frame is connected with the hanging frame, a first hanging part is arranged on the main body frame, a second hanging part is arranged on the hanging frame, and the first hanging part is detachably connected with the second hanging part; the hanging rack comprises a supporting rod and a hanging rod, the supporting rod is connected with the hanging rod, the hanging rod is connected with the hanging piece II, the supporting rod comprises a secondary rod and a main rod, and the secondary rod is connected with the main rod.
Further, suspension mechanism includes yoke, lower yoke and direction subassembly, go up the yoke with the direction subassembly is connected, lower yoke with the direction subassembly is connected, go up and be provided with the recess on the yoke, the recess is used for dodging the girder, the girder passes the recess, it includes swing arm main part, bent portion one and bent portion two to go up the yoke, the swing arm main part with bent portion one is connected, the swing arm main part with bent portion two is connected.
Further, go up the yoke and still include last fork spare one and last fork spare two, bent portion one with go up fork spare one and be connected, bent portion two with go up fork spare two and be connected, it is provided with one at least to go up fork spare two, bent portion one with the connected mode of last fork spare one includes fixed connection or swing joint, bent portion two with the connected mode of last fork spare two also includes fixed connection or swing joint.
Furthermore, still be provided with the shock absorber on the lower yoke, the shock absorber is provided with at least one, the lower extreme of shock absorber with the lower yoke is connected, the shape after lower yoke and shock absorber are connected is "people" font.
Further, the direction assembly comprises a steering knuckle and a direction rocker arm, and the steering knuckle is detachably connected with the direction rocker arm; the upper fork arm is connected with the steering knuckle, the upper fork arm is connected with the upper portion of the steering knuckle through the first upper fork piece, the lower fork arm is connected with the middle portion of the steering knuckle, and the wheels are connected with the lower portion of the steering knuckle.
Furthermore, a plurality of connecting holes are formed in the middle of the steering knuckle and used for being connected with the directional rocker arm, and the connecting holes are symmetrically distributed on two sides of the steering knuckle.
Furthermore, the mobile platform also comprises a control component and a communication component, wherein the control component is connected with the communication component;
the control assembly comprises a master controller, a motor controller, a direction controller, a brake controller and a parking controller, wherein the master controller is connected with the motor controller, the driving motor is respectively connected with one motor controller, the direction controller is respectively connected with one direction controller, the brake controller is connected with a brake, the brake is respectively connected with one brake controller, and the parking controller is connected with a control parking system.
The mobile charging robot comprises a mobile platform and a power storage assembly, wherein the mobile platform is connected with the power storage assembly, and the power storage assembly is arranged above the mobile platform.
The invention has the following advantages: the wheels are respectively connected with the single driving motor, so that the mobile platform can distribute different power to the wheels at different positions according to requirements, various rotation capabilities of the mobile platform are optimized, the moving capability of the mobile platform on uneven ground is increased, the influence of the problems of suspension of the wheels and the like of the mobile platform is avoided, and the flexibility of the mobile platform during moving is enhanced; and a plurality of driving motors enhance the output power of the platform and increase the load carrying capacity. The front wheel set is connected with a single direction mechanism through the suspension mechanism, and the rear wheel set is also connected with a single direction mechanism through the suspension mechanism, so that the front wheel set and the rear wheel set can realize access to rotation, the mobile platform has multi-direction capacity, the turning radius of the mobile platform is reduced, and the flexibility of the mobile platform in moving is enhanced.
Other features and advantages of the present invention will be disclosed in more detail in the following detailed description of the invention and the accompanying drawings.
Drawings
FIG. 1 is a schematic structural view of the carriage mechanism of the present invention;
FIG. 2 is a schematic structural view of the main body frame of the present invention;
FIG. 3 is an isometric view of the carrier structure of the present invention;
FIG. 4 is a front view of the mounting bracket structure of the present invention;
FIG. 5 is a schematic structural view of the suspension mechanism;
FIG. 6 is a schematic structural view of the body frame and suspension mechanism of the present invention;
FIG. 7 is a top plan view of the upper yoke structure of the present invention;
FIG. 8 is a side view of the upper yoke structure of the present invention;
FIG. 9 is an isometric view of the overall construction of the mounting system;
FIG. 10 is a schematic structural view of the connecting rod assembly;
fig. 11 is a structural sectional view of the body frame and the suspension mechanism of the present invention.
The notation in the figure is: 11. a cross beam; 12. a main beam; 13. a first hanging part; 14. a support beam; 15. an outer secondary bar; 16. a main rod; 17. connecting the secondary rods; 18. a fixing member; 19. a second hanging part; 2. an upper yoke; 21. a swing arm main body; 22. a first curved part; 23. a second curved part; 24. a first upper fork; 25. a second upper fork; 31. a lower yoke; 32. a knuckle; 33. a directional rocker arm; 34. a shock absorber; 41. a transverse connecting rod; 42. a longitudinal link.
Detailed Description
For a better understanding of the objects, structure and function of the invention, reference should be made to the following detailed description taken in conjunction with the accompanying drawings.
The mobile platform, as shown in fig. 1, includes a frame mechanism, a suspension mechanism and a wheel set, the frame mechanism is connected to the wheel set through the suspension mechanism, the frame mechanism is connected to a plurality of the suspension mechanisms, the wheel set includes a plurality of wheels, and a single suspension mechanism is connected to a single wheel. Preferably, the number of the wheels is four, and all four wheels are respectively connected with one suspension mechanism.
The wheel group is connected with a driving motor, and the four wheels are respectively connected with one driving motor. The wheel sets are also connected with a direction mechanism, the direction mechanism at least comprises one wheel set, the wheel sets comprise a front wheel set and a rear wheel set, the front wheel set is connected with a single direction mechanism through the suspension mechanism, and the rear wheel set is also connected with a single direction mechanism through the suspension mechanism; preferably, the number of the direction mechanisms is two, the front wheel set is connected with one direction mechanism through the suspension mechanism, and the rear wheel set is connected with the other direction mechanism through the suspension mechanism.
The front wheel set is connected with a single direction mechanism through the suspension mechanism, and the rear wheel set is also connected with a single direction mechanism through the suspension mechanism, so that the front wheel set and the rear wheel set can rotate, the mobile platform has the capabilities of front and back reversal, pivot steering, oblique movement, parking, conventional steering and the like, the turning radius of the mobile platform is reduced, and the movement performance of the mobile platform is enhanced.
Reversing the front and back, e.g., left turn of the front wheel set and right turn of the rear wheel set, may reduce the turning radius of the mobile platform.
And the pivot steering is realized, namely the two wheels at the front left and the rear right rotate rightwards, the two wheels at the rear left and the front right rotate leftwards, and at the moment, the four wheels rotate around a point in the center of the vehicle body as the circle center.
The four wheels are in the same direction. The horizontal skew mode comprises a transverse moving mode, namely four wheels at the front, the back, the left and the right rotate to a direction perpendicular to the original normal running direction, and the four wheels horizontally and transversely move along the direction perpendicular to the length direction of the vehicle body at the moment, so that the transverse moving function is realized, and the moving platform does not need to back for multiple times when backing into a garage.
The parking, two wheels in the left front and the right back are rotatory left, and two wheels in the left back and the right front are rotatory right, and four wheels all have one side at this moment towards the interior direction of car, make the unable rotation of wheel group, realize the parking function.
And the conventional steering comprises a front wheel steering mode and a rear wheel steering mode. The front wheel steering mode, namely only using the front wheel set to rotate, such as a common automobile steering mode; the rear wheel steering mode, i.e. using only the rear wheel set for rotation, e.g. forklift steering mode.
The wheels are respectively connected with the driving motors, so that the mobile platform can distribute different power to the wheels at different positions according to the requirements, various rotating capacities of the mobile platform are optimized, the moving capacity of the mobile platform on uneven ground is increased, the influence of the problems of suspension of the wheels and the like of the mobile platform is avoided, and the flexibility of the mobile platform during moving is enhanced; and a plurality of driving motors enhance the output power of the platform and increase the load carrying capacity of the mobile platform.
The direction mechanism comprises a direction machine and a direction connecting rod, the direction machine is connected with the direction connecting rod, at least one direction connecting rod is connected with a single direction machine, and the single direction connecting rod is connected with a single suspension mechanism. Preferably, the steering gear is connected with two direction connecting rods, and the direction connecting rods are arranged on two sides of the steering gear.
The wheels are also provided with brakes, and at least one brake is arranged on each brake, preferably, two brakes are arranged on each wheel.
As shown in fig. 1, the frame mechanism includes a main body frame and a hanging frame, the main body frame is connected to the hanging frame, a first hanging part 13 is disposed on the main body frame, a second hanging part 19 is disposed on the hanging frame, and the first hanging part 13 is detachably connected to the second hanging part 19. Further, the second hanging part 19 is arranged on the upper portion of the hanging rack, and the main body rack is detachably connected with the upper portion of the hanging rack. The first hanging part 13 and the main beam 12 can be of an integrated structure, so that the main beam 12 can also be directly connected with the second hanging part 19; the first hanging part 13 can also be detachably connected with the main beam 12.
Preferably, the outer boundary of the wheels is located in the outer boundary of the main body frame, so that the structure of the mobile platform is more compact, and the flexibility of the trolley is improved.
As shown in fig. 2, the main frame includes a cross beam 11, a main beam 12 and a support beam 14, the cross beam 11 is connected with the main beam 12, and the main beam 12 is connected with the support beam 14. The main body frame is further provided with a bearing beam 14, the bearing beam 14 is connected with the main beam 12, and the bearing beam 14 enables the vehicle body to have better bearing capacity.
As shown in fig. 3 and 4, the hanging rack includes a support rod and a hanging rod, the support rod is connected to the hanging rod, the hanging rod is connected to the second hanging piece 19, the hanging rod and the second hanging piece 19 may be integrated, and the hanging rod and the second hanging piece 19 may also be detachably connected. The support rod includes a sub rod and a main rod 16, and the sub rod is connected to the main rod 16.
The bracing piece pass through mounting 18 with the carry pole is connected, mounting 18 is used for strengthening the bracing piece with be connected between the carry pole, make the bracing piece with be connected between the carry pole more firm, make moving platform can possess higher bearing capacity.
Inferior pole includes that pole 15 is inferior in the outside and is connected inferior pole 17, inferior pole 15 in the outside with mobile jib 16 is connected, connect inferior pole 17 with mobile jib 16 is connected, it is provided with one at least to connect inferior pole 17.
Inferior pole still includes supplementary inferior pole, supplementary inferior pole with mobile jib 16 is connected, supplementary inferior pole with connect inferior pole 17 and connect, supplementary inferior pole is used for strengthening connect inferior pole 17, make inferior pole with be connected more firmly between the mobile jib 16. Preferably, at least one auxiliary secondary lever is provided.
As shown in fig. 5 and 6, the hanging rack is used for placing chassis components such as a power component and a control component, so that the chassis components are arranged below the main body rack, that is, the upper part of the main body rack is only used for bearing, and the bearing capacity of the main body rack is improved; the first hanging part 13 and the second hanging part 19 are detachably connected, so that the assembly and the disassembly are convenient, and the hanging rack can be directly detached during the maintenance of the chassis assembly, so that the maintenance of the chassis assembly is simpler and more convenient. The chassis assembly is mounted below the main body frame, so that the upper part of the main body frame is flat and can bear heavy objects such as a large battery and the like; the hanging rack only needs to bear the chassis component, high-strength materials are not needed, and the production cost is reduced; the bearing pressure of the main body frame is reduced, and the bearing capacity of the mobile platform is improved.
The suspension mechanism comprises an upper fork arm 2, a lower fork arm 31 and a direction assembly, wherein the upper fork arm 2 is connected with the direction assembly, and the lower fork arm 31 is connected with the direction assembly. Go up and be provided with the recess on the yoke 2, the recess is used for dodging girder 12, girder 12 passes the recess, go up yoke 2 and include swing arm main part 21, bent portion one 22 and bent portion two 23, the one end of swing arm main part 21 with bent portion one 22 is connected, the other end of swing arm main part 21 with bent portion two 23 is connected.
As shown in fig. 7 and 8, a groove is formed in the upper yoke 2, the groove is used for avoiding a main beam 12, and the main beam 12 passes through the groove, so that the height of the chassis of the mobile platform is lower than that of a common mobile platform, the center of gravity of the mobile platform is also lower, the vehicle body is more stable, the ground gripping force is stronger, and the vehicle is more balanced and stable during running; the movable platform is not easy to turn over during steering, so that the controllability is stronger, the safety during steering is better, and the vehicle can be quickly steered without easily turning over when threatened; and the structure of the mobile platform can be more compact, so that the mobile platform can run in a narrow space, and the flexibility of the mobile platform is enhanced.
The direction assembly comprises a steering knuckle 32 and a direction rocker arm 33, the steering knuckle 32 is connected with the direction rocker arm 33, and the steering knuckle 32 is detachably connected with the direction rocker arm 33, so that different direction rocker arms 33 can be replaced according to actual needs during use, and deflection at different angles is realized.
The upper yoke 2 is connected with the upper part of the knuckle 32, the lower yoke 31 is connected with the middle part of the knuckle 32, and the wheel is connected with the lower part of the knuckle 32.
Go up yoke 2 and still include last fork piece 24 and last fork piece two 25, bent portion one 22 with last fork piece one 24 is connected, bent portion two 23 with last fork piece two 25 is connected, last fork piece two 25 is provided with at least one, bent portion one 22 with the connected mode of last fork piece one 24 includes fixed connection or swing joint, bent portion two 23 with the connected mode of last fork piece two 25 also includes fixed connection or swing joint. The first curved part 22 is provided with a connecting hole, the first curved part 22 is connected with the first upper fork piece 24 through the connecting hole, the second curved part 23 is also provided with a connecting hole, and the second curved part 23 is provided with at least one connecting hole. The second curved part 23 is connected with the second upper fork 25 through the connecting hole, and in the embodiment, two second upper forks 25 are provided.
Preferably, the connection mode of the first curved part 22 and the first upper fork 24 is a movable connection, the connection mode of the second curved part 23 and the second upper fork 25 is also a movable connection, so that the length of the upper fork 2 can be adjusted by adjusting the first upper fork 24 according to needs, and the first upper fork 24 and the second upper fork 25 can rotate along with the up-and-down swing of the mobile platform, so that the buffer capacity is good, the problems of vehicle body nodding during braking, head pitching during acceleration and the like can be solved, and the bearing capacity of the mobile platform is also improved.
The side surface of the upper fork arm 2 is concave, and the shape of the swing arm main body 21 is triangular. The swing arm main body 21 is provided with a hollow structure, and the shape of the hollow structure is also triangular. The triangular swing arm main body 21 and the hollow structure can save the manufacturing material of the upper yoke 2, save the manufacturing cost of the upper yoke 2 and increase the firmness of the upper yoke 2.
The lower yoke 31 comprises a swing arm body and a ball head piece, the swing arm body is connected with the ball head piece in a detachable mode, and the lower yoke 31 can select different ball head pieces as required due to detachable connection.
As shown in fig. 9, a shock absorber 34 is further disposed on the lower yoke 31, at least one, preferably two shock absorbers 34 are disposed on the shock absorber 34, the lower end of the shock absorber 34 is connected to the lower yoke 31, and the shock absorbers 34 are disposed on two sides of the first curved portion 22. The lower yoke 31 is provided with lightening holes, the lower yoke 31 is connected with the shock absorber 34 through the lightening holes, and at least one lightening hole is arranged. The side of the lightening hole is provided with a fastening hole, the lower end of the shock absorber 34 is connected with the lower fork arm 31 through a fastening piece, and the fastening piece is connected with the shock absorber 34 through the fastening hole. The fastening hole is simple in structure and convenient to manufacture, so that the lower fork arm 31 can be detachably connected with the shock absorber 34 through the lightening hole, and the production cost is saved.
The main beam 12 of the main body frame is provided with a shock-absorbing connecting piece, the shock-absorbing connecting piece is arranged on the outer side of the main body frame, and the upper end of the shock absorber 34 is connected with the shock-absorbing connecting piece, so that the shock absorber 34 or a suspension assembly can be conveniently disassembled and assembled.
The shock absorber 34 can be used for suppressing the problems of vehicle body nod during braking, pitching during acceleration and the like, and the bearing capacity of the mobile platform is also improved. Be provided with buffer spring on the shock absorber 34, swing arm body one end with the main part frame is connected, the other end of swing arm body with shock absorber 34 connects, makes the shape after lower yoke 31 is connected with shock absorber 34 is "people" font, "people" font structure, under buffer spring's effect, has promoted the cushioning effect of lower yoke 31 with shock absorber 34, has further restrained the automobile body point when braking and the first scheduling problem of pitching up when accelerating, has also further improved moving platform's bearing capacity.
The knuckle 32 middle part is provided with a plurality of connecting holes, the connecting hole is used for connecting the direction rocking arm 33, and is a plurality of the connecting hole symmetric distribution is in the both sides of knuckle 32 makes direction rocking arm 33 can set up to any one side of knuckle 32, four knuckles 32 on the car promptly all can make the structure of complete coincidence, make the preparation need not two sets of moulds during knuckle 32, only need do a pair of mirror image mould for direction rocking arm 33 can, reduced manufacturing cost. One steering rocker 33 or two steering rockers 33 can be arranged on a single steering knuckle 32.
The upper fork arm 2 is connected with the steering knuckle 32, the upper fork arm 2 is connected with the upper part of the steering knuckle 32 through the upper fork piece 24, the lower fork arm 31 is connected with the middle part of the steering knuckle 32, and the wheels are connected with the lower part of the steering knuckle 32.
The kingpin axis of the knuckle 32 passes through the very center of the wheel to which it is connected, and the kingpin inclination of the suspension mechanism is 0 °. This can reduce the skew of moving platform wheel when rotatory for the moving platform is more nimble, realizes pivot and turns to.
The lower portion of the steering knuckle 32 is provided with four through holes, the through holes are symmetrically distributed on two sides of the steering knuckle 32, and the brake is connected with the steering knuckle 32 through a fastening piece. The through holes are symmetrically distributed, so that the steering knuckle 32 can be reused only by one set of die, and the production cost is saved.
The mobile platform also comprises a control component and a communication component, and the control component is connected with the communication component; the communication component is used for transmitting instructions. The control assembly comprises a main controller, a motor controller, a direction controller, a braking controller and a parking controller, the main controller is connected with the motor controller and controls the motor controller, and preferably, the main controller comprises a VCU. The VCU can receive wired instructions such as a steering wheel, an accelerator and the like, and can also receive wireless instructions or instructions from a computer and a controller so as to realize automatic driving.
The four driving motors are respectively connected with one motor controller, the motor controller is used for controlling the driving motors, the two steering gears are respectively connected with one direction controller, the direction controller is used for controlling the steering gears, the eight brakes are respectively connected with one brake controller, the brake controller is used for controlling the brakes, the parking controller is connected with a parking control system, and the parking control system can be a hydraulic parking system. The master controller may be connected with the motor controller, the direction controller, the brake controller, and the parking controller. The driving motor is connected with one motor controller, the steering gear is connected with one steering controller, and the brake is connected with one brake controller, so that the driving motor, the steering gear and the brake can be controlled respectively, and the flexibility of the mobile platform is improved.
The wheel includes wheel hub and wheel body, the wheel body is solid wheel body, solid wheel body can increase moving platform's bearing capacity. The driving motor can be arranged in the wheel hub, and the driving motor can be a wheel hub motor, so that the structure of the mobile platform is more compact, and the flexibility of the mobile platform is improved.
As shown in fig. 10 and 11, the main frame is further provided with a link assembly, the link assembly includes a transverse link 41 and a longitudinal link 42, the transverse link 41 is connected to the longitudinal link 42, the second upper fork 25 of the upper fork arm 2 is connected to the transverse link 41, the transverse link is located above the longitudinal link 42, the transverse link 41 is connected to the main beam 12, the main beam 12 is connected to two ends of the transverse link 41, and the longitudinal links 42 are connected to each other through auxiliary connecting members, so that the bearing capacity of the link assembly is increased, and the bearing capacity of the mobile platform is also increased. The longitudinal connecting rod 42 is provided with a connecting piece, the lower fork arm 31 is connected with the longitudinal connecting rod 42 through the connecting piece, the longitudinal connecting rod 42 is further connected with the cross beam 11, the longitudinal connecting rod 42 is further connected with the supporting beam 14, the cross-shaped structure increases the bearing capacity of the connecting rod assembly, the bearing capacity of the moving platform is also increased, and the large structural strength is achieved through less materials.
The mobile charging robot comprises a mobile platform and a power storage assembly, wherein the mobile platform is connected with the power storage assembly, and the power storage assembly is arranged above the mobile platform.
The invention has higher bearing capacity, the length of the mobile platform is less than 1500mm, the width of the mobile platform is less than 800mm, and the bearing capacity exceeds 900 kg. Preferably, the length of the moving platform is about 1300mm, the width of the moving platform is about 740mm, and the bearing capacity of the moving platform exceeds 900 kg.
It is to be understood that the present invention has been described with reference to certain embodiments, and that various changes in the features and embodiments, or equivalent substitutions may be made therein by those skilled in the art without departing from the spirit and scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from the essential scope thereof. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (10)
1. The mobile platform is characterized by comprising a frame mechanism, a suspension mechanism and a wheel set, wherein the frame mechanism is connected with the wheel set through the suspension mechanism, the frame mechanism is connected with a plurality of suspension mechanisms, the wheel set comprises a plurality of wheels, and a single suspension mechanism is connected with a single wheel; the frame mechanism comprises a main body frame, the main body frame comprises a cross beam, a main beam and a supporting beam, the cross beam is connected with the main beam, and the main beam is connected with the supporting beam;
the wheel set is connected with a driving motor, and a plurality of wheels are respectively connected with a single driving motor;
the wheel set is still connected with direction mechanism, direction mechanism includes one at least, the wheel set includes front wheel group and rear wheel group, the front wheel group passes through suspension mechanism is connected with singly direction mechanism, the rear wheel group also passes through suspension mechanism is connected with singly direction mechanism.
2. The mobile platform of claim 1, wherein the steering mechanism comprises a steering gear and a steering link, the steering gear coupled to the steering link, at least one steering link coupled to a single steering gear, and a single steering link coupled to a single suspension mechanism.
3. The mobile platform of claim 2, further comprising a control component and a communication component, the control component being coupled to the communication component;
the control assembly comprises a master controller, a motor controller, a direction controller, a brake controller and a parking controller, wherein the master controller is connected with the motor controller, the driving motor is respectively connected with one motor controller, the direction controller is respectively connected with one direction controller, the brake controller is connected with a brake, the brake is respectively connected with one brake controller, and the parking controller is connected with a control parking system.
4. The mobile platform of claim 2, wherein the frame mechanism further comprises a hanging frame, the main body frame is connected with the hanging frame, a first hanging piece is arranged on the main body frame, a second hanging piece is arranged on the hanging frame, and the first hanging piece is detachably connected with the second hanging piece;
the hanging rack comprises a supporting rod and a hanging rod, the supporting rod is connected with the hanging rod, the hanging rod is connected with the hanging piece II, the supporting rod comprises a secondary rod and a main rod, and the secondary rod is connected with the main rod.
5. The mobile platform of claim 2, wherein the suspension mechanism comprises an upper yoke, a lower yoke and a direction assembly, the upper yoke is connected with the direction assembly, the lower yoke is connected with the direction assembly, a groove is formed in the upper yoke, the groove is used for avoiding a main beam, the main beam passes through the groove, the upper yoke comprises a swing arm main body, a first curve part and a second curve part, the swing arm main body is connected with the first curve part, and the swing arm main body is connected with the second curve part.
6. The mobile platform of claim 5, wherein the upper yoke further comprises a first upper fork and a second upper fork, the first curved portion is connected with the first upper fork, the second curved portion is connected with the second upper fork, at least one of the second upper fork is arranged, the first curved portion is connected with the first upper fork in a fixed or movable manner, and the second curved portion is connected with the second upper fork in a fixed or movable manner.
7. The mobile platform of claim 5, wherein the lower yoke is further provided with at least one shock absorber, the lower end of the shock absorber is connected with the lower yoke, and the shape of the lower yoke after being connected with the shock absorber is herringbone.
8. The mobile platform of claim 6, wherein the steering assembly comprises a knuckle and a steering arm, the knuckle being removably coupled to the steering arm; the upper fork arm is connected with the steering knuckle, the upper fork arm is connected with the upper portion of the steering knuckle through the first upper fork piece, the lower fork arm is connected with the middle portion of the steering knuckle, and the wheels are connected with the lower portion of the steering knuckle.
9. The mobile platform of claim 8, wherein a plurality of connecting holes are formed in the middle of the steering knuckle and used for connecting the steering rocker, and the connecting holes are symmetrically distributed on two sides of the steering knuckle.
10. The mobile charging robot is characterized by comprising the mobile platform of any one of claims 1 to 9 and further comprising an electric storage assembly, wherein the mobile platform is connected with the electric storage assembly, and the electric storage assembly is arranged above the mobile platform.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210227798.8A CN114454736A (en) | 2022-03-08 | 2022-03-08 | Mobile platform and mobile charging robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210227798.8A CN114454736A (en) | 2022-03-08 | 2022-03-08 | Mobile platform and mobile charging robot |
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| CN114454736A true CN114454736A (en) | 2022-05-10 |
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