CN220363184U

CN220363184U - Intelligent charging robot suspension structure and robot

Info

Publication number: CN220363184U
Application number: CN202321787695.3U
Authority: CN
Inventors: 苏星硕; 李森燚; 马俊松; 戴昌志
Original assignee: Changzhou University
Current assignee: Changzhou University
Priority date: 2023-07-07
Filing date: 2023-07-07
Publication date: 2024-01-19
Anticipated expiration: 2033-07-07

Abstract

The utility model relates to the technical field of robots and discloses an intelligent charging robot suspension structure, which comprises a chassis structure and wheels arranged on the periphery of the chassis structure, wherein the suspension structure is arranged at the bottom of the chassis structure so as to be capable of connecting a plurality of wheels on the same side through the suspension structure; the suspension structure comprises a plurality of connecting columns and a suspension plate, wherein the plurality of connecting columns are arranged on two sides of the suspension plate, one ends of the plurality of connecting columns are respectively connected with the suspension plate, the other ends of the plurality of connecting columns are connected with wheels on the same side, the suspension plate is provided with a vehicle body connecting piece, the vehicle body connecting piece is suitable for being connected with a chassis structure, the vehicle body connecting piece is movably arranged on the suspension plate, and the chassis structure is suitable for relative movement between the vehicle body connecting piece and the wheels. According to the utility model, the suspension activity is adjusted according to the bump degree and the unevenness of the road surface, so that better suspension control can be provided, the vibration and bump feeling of the vehicle on a bump road section are reduced, and the accuracy and reliability of control are improved.

Description

Intelligent charging robot suspension structure and robot

Technical Field

The utility model relates to the field of robots, in particular to an intelligent charging robot suspension structure. In addition, the utility model also relates to a robot.

Background

In the intelligent mobile charging robot, the chassis is often subject to an ascending slope or an excessive deceleration strip, and the like, so that a large amount of power is consumed, and even insufficient force is often caused to cause the chassis to fail to pass. The current AGV chassis of the intelligent mobile charging robot has high dependence on the ground, lacks stability during running, is easy to cause excessive jolt or inclination of a vehicle body, cannot be adjusted in real time according to the road surface condition without a suspension system, and cannot slow down or offset jolt and unevenness of the road surface; and the shock absorbing capacity of the complex road section and the deceleration strip is limited, and larger power can be lost when the complex road section passes through the road section, and even an inexhaustible risk point can be generated.

In view of this, there is a need to design an intelligent charging robot suspension structure to meet customer needs.

Disclosure of Invention

The technical problem to be solved by the first aspect of the utility model is to provide an intelligent charging robot suspension structure capable of ensuring running stability.

In order to solve the technical problem, a first aspect of the present utility model provides an intelligent charging robot suspension structure, which comprises a chassis structure and wheels arranged on the periphery of the chassis structure, wherein the suspension structure is arranged at the bottom of the chassis structure so as to be capable of connecting a plurality of wheels on the same side through the suspension structure;

the suspension structure comprises a plurality of connecting columns and a suspension plate, wherein a plurality of connecting columns are arranged on two sides of the suspension plate, one ends of the connecting columns are respectively connected with the suspension plate, the other ends of the connecting columns are connected with wheels on the same side, a vehicle body connecting piece is arranged on the suspension plate and is suitable for being connected with a chassis structure, the vehicle body connecting piece is movably arranged on the suspension plate, and the chassis structure is suitable for relatively moving between the vehicle body connecting piece and the wheels.

Preferably, the suspension structures are symmetrically arranged on both sides of the chassis structure.

Further preferably, the vehicle body connection members on the suspension plates that are symmetrically disposed with respect to an axis in a longitudinal direction of the chassis structure.

Preferably, connecting rods are arranged between the suspensions which are symmetrically arranged, and two ends of each connecting rod are respectively connected with the vehicle body connecting pieces arranged on two sides of the chassis structure, so that the suspension plates can be driven to synchronously move through the vehicle body connecting pieces.

Further preferably, the connection end of the connection post and the suspension plate is adapted to rotate in a first direction, the connection end of the connection post and the wheel is adapted to rotate in a second direction, and the first direction is perpendicular to the second direction.

Preferably, a hanging mounting seat is arranged between the hanging plate and the connecting column, and the hanging plate is rotatably connected with the hanging mounting seat, so that the hanging plate can rotate in the horizontal direction through hanging mounting.

Still preferably, the suspension plate is provided with a mounting groove, the vehicle body connecting piece is arranged in the mounting groove and is suitable for sliding in the mounting groove, the vehicle body connecting piece is provided with a plurality of positioning bolts, and the positioning bolts are suitable for propping against the plate surface of the suspension plate so as to be positioned in the mounting groove.

The second aspect of the utility model provides a robot, which adopts the intelligent charging robot hanging structure of the first aspect of the utility model.

Through the above preferable technical scheme, the intelligent charging robot suspension structure can ascend or descend with one wheel of the chassis structure of the vehicle body, then the other wheel on the same side is driven to descend or ascend, when the same side is changed, the chassis structure moves leftwards or rightwards along with the suspension structure connected with the chassis structure, and meanwhile the suspension structure on the other side is driven to ascend or descend correspondingly, so that vibration and bumpy feeling of the vehicle on a bumpy road are reduced.

Additional features and advantages of the utility model will be set forth in the detailed description which follows.

Drawings

FIG. 1 is a perspective view of a bottom suspension structure of an intelligent charging robot in accordance with an embodiment of the present utility model;

FIG. 2 is a bottom view of the bottom of the intelligent charging robot according to an embodiment of the present utility model;

fig. 3 is a perspective view of a suspension structure of an intelligent charging robot according to an embodiment of the present utility model.

Reference numerals illustrate:

1. a chassis structure;

2. a wheel;

3. a hanging structure; 31. a connecting column; 32. a hanging plate; 33. a vehicle body connection member; 34. a connecting rod; 35. hanging a mounting seat; 321. a mounting groove; 331. and positioning bolts.

Detailed Description

The following describes specific embodiments of the present utility model in detail with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the utility model, are not intended to limit the utility model.

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "configured," and "connected" are to be construed broadly, and for example, the term "connected" may be a fixed connection, a removable connection, or an integral connection; either directly or indirectly via an intermediate medium, or in communication with each other or in interaction with each other. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

Referring to fig. 1, an intelligent charging robot suspension structure 3 according to an embodiment of the present utility model includes a chassis structure 1, a plurality of wheels 2 are disposed on a peripheral side of the chassis structure 1, and the suspension structure 3 is disposed at a bottom of the chassis structure 1, so as to be capable of connecting the plurality of wheels 2 on the same side via the suspension structure 3 and driving the plurality of wheels 2 to synchronously move.

Specifically, the suspension structure 3 includes a plurality of connection posts 31 and a suspension plate 32, where a plurality of connection posts 31 are disposed on two sides of the suspension plate 32, one end of each of the plurality of connection posts 31 is connected to the suspension plate 32, the other end is connected to each of the wheels 2 on the same side, and a vehicle body connection member 33 is disposed on the suspension plate 32, where the vehicle body connection member 33 can be connected to the chassis structure 1, and the vehicle body connection member 33 is movably disposed on the suspension plate 32, so that the chassis structure 1 can relatively move with respect to the wheels 2, for example, the wheels 2 on a certain place connected to the vehicle body rise or fall, and then another wheel 2 on the same side is driven to descend or rise, and when the same side is changed, the other side moves leftwards or rightwards along with the wheels 2 on the same side, and the other side also moves correspondingly along with the wheels 2. Finally, that is, when the front wheels 2 are simultaneously lifted, the rear wheels 2 are lowered, and when the front wheels 2 are simultaneously lifted, the rear wheels 2 are lifted.

More specifically, the suspension structures 3 are symmetrically disposed on both sides of the chassis structure 1, and the vehicle body connectors 33 on the symmetrically disposed suspension plates 32 are symmetrically disposed with respect to the longitudinal axis of the chassis structure 1, i.e., the suspension structures 3 are connected to the wheels 2 disposed on the side of the chassis structure 1 on the same side so as to be able to drive the wheels 2 on the same side to move synchronously.

Referring to fig. 2, a connecting rod 34 is provided between symmetrically arranged suspensions, and both ends of the connecting rod 34 are respectively connected with vehicle body connecting pieces 33 provided at both sides of the chassis structure 1, so that the suspension plate 32 can be driven to move synchronously via the vehicle body connecting pieces 33.

Referring to fig. 3, the connection end of the connection post 31 and the suspension plate 32 is adapted to rotate in a first direction, the connection end of the connection rotation and the wheel 2 end is adapted to rotate in a second direction, and the first direction is perpendicular to the second direction. That is, if one end of the connection post 31 is rotated in the vertical direction, the other end of the connection post 31 is rotated in the horizontal direction, and vice versa.

Specifically, a suspension mounting seat 35 is further disposed between the suspension plate 32 and the connection post 31, and the suspension plate 32 is rotatably connected with the suspension mounting seat 35, so that the suspension plate 32 can rotate in the horizontal direction through the suspension mounting seat 35, and further, the rotation variation of the chassis structure 1 in the horizontal direction can be adapted.

More specifically, the suspension plate 32 is provided with a mounting groove 321, the vehicle body connecting member 33 is disposed in the mounting groove 321 and is adapted to slide in the mounting groove 321, the vehicle body connecting member 33 is provided with a plurality of positioning bolts 331, and the plurality of positioning bolts 331 are adapted to abut against the plate surface of the suspension plate 32 to position the vehicle body connecting member 33 in the mounting groove 321.

Therefore, through this suspension structure 3 can adjust the activity of hanging according to the degree of jolting and the unevenness on road surface, and then can provide better suspension control, reduce the vibrations and the sense of jolting of car on the highway section of jolting to can provide better car ground connection nature and grabbing ground force, increase accuracy and the reliability of controlling.

A second aspect of the present utility model provides a robot employing the suspension structure of the intelligent charging robot according to the first aspect of the present utility model, and thus has the above-mentioned advantages.

In the description of the present utility model, the descriptions of the terms "one embodiment," "some embodiments," "an implementation," and the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present utility model. In the present utility model, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The preferred embodiments of the present utility model have been described in detail above with reference to the accompanying drawings, but the present utility model is not limited thereto. Within the scope of the technical idea of the utility model, a plurality of simple variants of the technical proposal of the utility model can be carried out, comprising that each specific technical feature is combined in any suitable way, and in order to avoid unnecessary repetition, the utility model does not need to be additionally described for various possible combinations. Such simple variations and combinations are likewise to be regarded as being within the scope of the present disclosure.

Claims

1. An intelligent charging robot suspension structure comprises a chassis structure (1) and wheels (2) arranged on the periphery side of the chassis structure (1), wherein a suspension structure (3) is arranged at the bottom of the chassis structure (1) so as to be capable of connecting a plurality of wheels (2) on the same side through the suspension structure (3); characterized by comprising the following steps:

the utility model provides a chassis structure, including chassis structure (1), chassis structure (1) is equipped with chassis structure (3), suspension structure (3) include a plurality of spliced pole (31) and suspension board (32), the both sides of suspension board (32) are provided with a plurality of spliced pole (31), a plurality of one end of spliced pole (31) respectively with suspension board (32) link to each wheel (2) of homonymy, the other end links to each other, just be equipped with vehicle body connecting piece (33) on suspension board (32), vehicle body connecting piece (33) are suitable for with chassis structure (1) link to each other, just vehicle body connecting piece (33) movably set up on suspension board (32), chassis structure (1) are suitable for via suspension board (32) with wheel (2) relative movement.

2. The intelligent charging robot suspension structure according to claim 1, characterized in that the suspension structure (3) is symmetrically arranged on both sides of the chassis structure (1).

3. The intelligent charging robot suspension structure according to claim 2, wherein the vehicle body connection members (33) on the suspension plates (32) that are symmetrically arranged with respect to an axis in the longitudinal direction of the chassis structure (1).

4. The intelligent charging robot suspension structure according to claim 3, wherein a connecting rod (34) is arranged between the suspensions symmetrically arranged, and two ends of the connecting rod (34) are respectively connected with the vehicle body connecting pieces (33) arranged at two sides of the chassis structure (1) so as to drive the suspension plates (32) to synchronously move through the vehicle body connecting pieces (33).

5. The intelligent charging robot suspension structure according to claim 1, wherein a connection end of the connection post (31) and the suspension plate (32) is adapted to rotate in a first direction, a connection end of the connection post (31) and the wheel (2) is adapted to rotate in a second direction, and the first direction is perpendicular to the second direction.

6. The smart charging robot suspension structure according to any one of claims 1-5, characterized in that a suspension mount (35) is provided between the suspension plate (32) and the connection post (31), the suspension plate (32) being rotatably connected with the suspension mount (35) such that the suspension plate (32) can rotate in a horizontal direction via the suspension mount (35).

7. The intelligent charging robot hanging structure according to claim 6, wherein the hanging plate (32) is provided with a mounting groove (321), the vehicle body connecting piece (33) is arranged in the mounting groove (321) and is suitable for sliding in the mounting groove (321), the vehicle body connecting piece (33) is provided with a plurality of positioning bolts (331), and the positioning bolts (331) are suitable for propping against the plate surface of the hanging plate (32) to be positioned in the mounting groove (321).

8. A robot characterized in that the intelligent charging robot suspension structure according to any one of claims 1 to 7 is employed.