Mecanum wheel multi-stiffness spring suspension for heavy-load omnidirectional mobile platform

Abstract

The present invention provides a Mecanum wheel multi-rigidity spring suspension for a heavy-loaded omnidirectional mobile platform, including a No. 1 A-type spring assembly and a No. 2 A-type spring assembly with the same structure, the No. 1 A-type spring assembly including an upper spring, a lower spring, a vibration isolation block and an A-type guide column, the cross plate of the vehicle body connection bracket is connected to the upper surface of the bottom of the No. 1 mounting groove of the vibration isolation block through the upper spring, the bottom surface of the No. 1 mounting groove of the vibration isolation block is connected to the No. 1 suspension mounting seat through the lower spring, the A-type guide column passes through the cross plate, the upper spring, the No. 1 mounting groove, the lower spring and the No. 1 suspension mounting seat from top to bottom, and the top end of the A-type guide column is fixedly connected to the cross plate through an upper adjustment nut, the bottom end of the A-type guide column is fixedly connected to the No. 1 suspension mounting seat through a lower adjustment nut, and the vibration isolation block can move up and down between the cross plate and the No. 1 suspension mounting seat. The present invention transmits the vibration generated by the ground to the heavy-loaded omnidirectional mobile platform through the A-type spring assembly, and the final vibration is small.

Description

Technical Field

[0001] The invention belongs to the field of AGV heavy-load mobile platforms, and in particular relates to a Mecanum wheel multi-rigidity spring suspension for a heavy-load omnidirectional mobile platform. Background Art

[0002] In the field of heavy-loaded omnidirectional mobile platforms, omnidirectional wheels represented by Mecanum wheels are widely used for their diverse and flexible movements. During the use of the heavy-loaded omnidirectional mobile platform, the vibration of the Mecanum wheels caused by the impact of the ground will affect the stability of the heavy-loaded omnidirectional mobile platform, thereby affecting the use of the heavy-loaded omnidirectional mobile platform and reducing the life of the heavy-loaded omnidirectional mobile platform; therefore, it is necessary to ensure the stability of the heavy-loaded omnidirectional mobile platform and reduce the vibration of the omnidirectional mobile platform during use; this puts higher requirements on the spring suspension of the heavy-loaded omnidirectional mobile platform, and it is necessary to reduce the impact of the outside world and the wheels on the omnidirectional transfer platform to ensure the stability of the heavy-loaded omnidirectional mobile platform during use. A Mecanum wheel suspension device in patent CN204055151 proposes a structure including a slider bracket and a vertically arranged slide rail, which balances the position of the Mecanum wheel in the vertical direction through the mutually cooperating slide rails and sliders, so that all the Mecanum wheels of all intelligent mobile equipment are on the ground and the force is evenly distributed. Patent CN 108583735 discloses a driving suspension shock-absorbing mechanism for an AGV trolley. The suspension structure adopts a linear guide rail combined with a shock-absorbing spring structure, which makes the suspension structure simple and compact with a high degree of modularization. The suspension shock-absorbing mechanism adopts a linear guide rail mechanism, which makes the entire mechanism have high rigidity in all directions at the same time, strong bearing capacity, can maintain high precision for a long time, and has a long service life.

[0003] Its shortcomings are:

[0004] 1. The suspension adopts a first-order spring. During the operation of the heavy-load omnidirectional mobile platform, the vibration of the Mecanum wheel during rotation and the impact of the external environment on the Mecanum wheel will cause vibration to the wheel system itself. The existing spring suspension reduces the vibration and impact through the first-order spring. The impact after reduction is not zero, and it directly acts on the heavy-load omnidirectional mobile platform, which will still cause vibration. For the working environment requiring precision, the performance is reduced and the practicality of the heavy-load omnidirectional mobile platform is affected.

[0005] 2. The length of the suspension spring in the prior art cannot be changed. When the load is different, the spring compression is different, and the horizontal position of the AGV will have a large fluctuation, which will have a great impact on the production and assembly process. The suspension spring has no pre-compression, and the amplitude generated during the transportation process is large, and the stability is poor.

[0006] 3. The spring suspension of the prior art has no buffer damping device. When it is impacted and vibrates, the lack of a buffer damping device will cause the vibration to decay slowly, and the combination of vibrations will produce more complex vibrations. It cannot be used in working environments that require precision, which reduces its performance and shortens the life of the heavy-load omnidirectional mobile platform.

[0007] 4. The spring coefficient of the prior art is immutable. When the load range span is large, due to the immutable spring coefficient, different loads have different requirements for the spring coefficient. When the spring coefficient is too large and the actual load is small, the suspension effect is poor and the platform vibration is still large; when the spring coefficient is too small and the load is large, the spring is in a state of large compression and the life of the spring will be seriously shortened.

[0008] 5. The fixing method of the spring guide rod in the prior art is: the lower end of the guide rod is fixed to the chassis through a guide rod fixing mechanism; the spring is arranged on the guide rod above the spring fixing device, and the fixing method of the spring guide rod is that the bottom end is fixed and the upper end is suspended. The fixing method is unstable, and when a large radial force occurs, the guiding direction of the guide rod will deviate, thereby reducing the life of the spring guide rod. Summary of the invention

[0009] In view of this, the present invention aims to propose a Mecanum wheel multi-rigidity spring suspension for a heavy-loaded omnidirectional mobile platform, wherein the vibration generated by the ground is transmitted to the heavy-loaded omnidirectional mobile platform through an A-type spring assembly, and the final vibration generated is smaller; and the final vibration of the heavy-loaded transfer platform is smaller through a B-type spring assembly, thereby meeting the demand for the transfer platform when the precision is higher.

[0010] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0011] A Mecanum wheel multi-rigidity spring suspension for a heavy-load omnidirectional mobile platform comprises a No. 1 A-type spring assembly and a No. 2 A-type spring assembly with the same structure, wherein the No. 1 A-type spring assembly comprises an upper spring, a lower spring, a vibration isolation block and an A-type guide column, wherein a cross plate of a vehicle body connecting bracket is connected to the upper surface of the bottom of a No. 1 mounting groove of the vibration isolation block through an upper spring, wherein the lower surface of the bottom of the No. 1 mounting groove of the vibration isolation block is connected to the No. 1 suspension mounting seat of a wheel mounting plate through a lower spring, wherein the A-type guide column sequentially passes through the cross plate, the upper spring, the No. 1 mounting groove, the lower spring and the No. 1 suspension mounting seat from top to bottom, wherein the top end of the A-type guide column is fixedly connected to the cross plate through an upper adjusting nut, wherein the bottom end of the A-type guide column is fixedly connected to the No. 1 suspension mounting seat through a lower adjusting nut, and the vibration isolation block can move up and down between the cross plate and the No. 1 suspension mounting seat.

[0012] Furthermore, the vibration isolation block includes a vibration isolation plate, a No. 1 mounting groove and a No. 2 mounting groove. The No. 1 mounting groove and the No. 2 mounting groove are respectively fixedly installed at two ends of one side of the vibration isolation plate, and a guide column is respectively provided at two ends of the other side of the vibration isolation plate.

[0013] Furthermore, the wheel mounting plate includes a wheel plate, a No. 1 suspension mounting seat, a No. 2 suspension mounting seat, a No. 1 slider and a No. 2 slider. The No. 1 suspension mounting seat and the No. 2 suspension mounting seat are respectively fixedly mounted on both ends of one side of the wheel plate, the No. 1 suspension mounting seat corresponds to the No. 1 mounting groove, and the No. 2 suspension mounting seat corresponds to the No. 2 mounting groove; one side of the wheel plate is provided with a guide groove corresponding to the two guide columns of the vibration isolation plate; the two guide columns correspond to the two guide grooves in a one-to-one clearance fit to realize the connection between the vibration isolation plate and the wheel mounting plate; the No. 1 slider and the No. 2 slider are fixedly mounted on one side of the wheel plate, and the No. 1 slider and the No. 2 slider are arranged between the two guide grooves.

[0014] Furthermore, the vehicle body connecting bracket includes a horizontal plate, a first vertical plate, a first slide rail and a second slide rail of the second vertical plate, the first vertical plate is fixedly connected to one end of the lower surface of the horizontal plate, the second vertical plate is fixedly connected to the other end of the lower surface of the horizontal plate, the first slide rail is fixedly installed to the inner side of the first vertical plate, and the second slide rail is fixedly installed to the inner side of the second vertical plate.

[0015] One end of the cross plate is connected to the No. 1 suspension mounting seat through a No. 1 A-type spring assembly, and the other end of the cross plate is connected to the No. 2 suspension mounting seat through a No. 2 A-type spring assembly, and the No. 1 slide rail is slidably connected to the No. 1 slider, and the No. 2 slide rail is slidably connected to the No. 2 slider, thereby realizing the connection between the vehicle body connecting bracket and the wheel mounting plate.

[0016] Furthermore, the stiffness coefficient of the upper spring is greater than the stiffness coefficient of the lower spring.

[0017] Furthermore, a Mecanum wheel is provided in the middle of the wheel mounting plate, and the Mecanum wheel is fixedly connected to the output end of the drive motor. The Mecanum wheel and the drive motor can move up and down relative to the first slide rail and the second slide rail following the wheel mounting plate.

[0018] Furthermore, the driving motor is a servo motor, model 80ST-M01330.

[0019] The Mecanum wheel multi-rigidity spring suspension for a heavy-load omnidirectional mobile platform includes a No. 1 B-type spring assembly and a No. 2 B-type spring assembly with the same structure. The No. 1 B-type spring assembly includes an inner spring, an outer spring, and a B-type guide column.

[0020] The bottom of the outer spring is fixedly mounted to the No. 1 suspension mounting seat, the cross plate of the vehicle body connecting bracket is connected to the No. 1 suspension mounting seat of the wheel mounting plate through the inner spring, and the inner spring is sleeved inside the outer spring; the B-type guide column passes through the cross plate, the inner spring and the No. 1 suspension mounting seat from top to bottom, and the top of the B-type guide column is fixedly connected to the cross plate through the upper adjusting nut, and the bottom of the B-type guide column is fixedly connected to the No. 1 suspension mounting seat through the lower adjusting nut; the outer diameter of the inner spring is smaller than the outer diameter of the outer spring, and the length of the inner spring is twice the length of the outer diameter spring; the stiffness coefficient of the inner spring is smaller than the stiffness coefficient of the outer spring.

[0021] Furthermore, an inner layer isolation sleeve is provided between the outer layer spring and the inner layer spring for separating the outer layer spring from the inner layer spring; and the outer layer isolation sleeve is sleeved on the outside of the outer layer spring.

[0022] Furthermore, the A-type guide column and the B-type guide column have the same structure, and both are telescopic rods provided with a damping structure.

[0023] Compared with the prior art, the Mecanum wheel multi-rigidity spring suspension for a heavy-load omnidirectional mobile platform described in the present invention has the following advantages:

[0024] (1) The Mecanum wheel multi-rigidity spring suspension for a heavy-load omnidirectional mobile platform described in the present invention uses an A-type spring assembly: the lower spring has a small stiffness, and the vibration generated by the ground is first weakened by the lower spring with a small stiffness, and the weakened vibration is vibrated by the upper spring with a large stiffness. Since the upper spring has a large stiffness, the deformation generated is small, and the vibration weakened by the lower spring can be better absorbed; after the comprehensive action of the second-order spring, the vibration generated by the ground is transmitted to the heavy-load omnidirectional mobile platform and the final vibration generated is small;

[0025] B-type spring assembly: When the heavy-load transfer platform carries a small load, the inner spring with smaller rigidity works; when the load is large, the inner and outer springs work at the same time to increase the stiffness of the inner and outer springs, so that the spring rigidity of the heavy-load transfer platform can be adjusted when carrying different weights; the action of the second-order spring makes the final vibration of the heavy-load transfer platform smaller, meeting the demand for the transfer platform when the precision is higher.

[0026] (2) In the Mecanum wheel multi-rigidity spring suspension for a heavy-load omnidirectional mobile platform described in the present invention, guide rods and guide grooves are provided on the spring and the vibration isolation block to provide a guide for the compression of the spring and the vibration of the vibration isolation block, thereby reducing the influence of stress in different directions of the spring during the compression process on the suspension structure.

[0027] (3) In the Mecanum wheel multi-rigidity spring suspension for the heavy-load omnidirectional mobile platform described in the present invention, when the heavy-load transfer platform carries different weights, the first type of second-order spring is subjected to pressure as a whole, and the final deformation of the spring is the combined result of the two groups of springs with different stiffnesses; in the second type of suspension, when the heavy-load transfer platform carries a smaller weight, the spring with smaller stiffness works; when the load is larger, the two groups of springs work simultaneously to increase the stiffness of the spring; when bearing different weights again, the second-order spring suspension is subjected to more uniform force, which improves the performance of the spring and prolongs its life.

[0028] (4) The Mecanum wheel multi-rigidity spring suspension for a heavy-load omnidirectional mobile platform described in the present invention balances the unbalanced forces of the Mecanum wheels in various directions during use by setting mutually coordinated guide sliders; two sets of active suspensions are evenly distributed on the left and right sides to reduce the damage to the Mecanum wheels and suspensions caused by different forces on the left and right sides; at the same time, the two sets of active suspensions actively change the positions of the Mecanum wheels in the vertical direction, so that all the Mecanum wheels of the heavy-load AGV are on the ground and the force is evenly applied.

[0029] (5) The Mecanum wheel multi-rigidity spring suspension for the heavy-load omnidirectional mobile platform described in the present invention is located between the wheel mounting plate and the wheel connecting plate. The spring length between the suspensions can be adjusted by a nut. Different spring pre-compression amounts can be adjusted according to different load requirements, thereby reducing the horizontal position difference of the omnidirectional transfer platform under different loads, reducing the impact on the working environment, and improving the stability of the transfer platform operation.

[0030] (6) The Mecanum wheel multi-rigidity spring suspension for the heavy-load omnidirectional mobile platform described in the present invention can be adjusted from both ends, thereby increasing the convenience of adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0032] Figure 1 A schematic diagram of a Mecanum wheel multi-rigidity spring suspension for a heavy-load omnidirectional mobile platform equipped with a No. 1 A-type spring assembly according to the present invention;

[0033] Figure 2 It is a schematic diagram of the vibration isolation block of the present invention;

[0034] Figure 3 This is a schematic diagram of the vehicle body connecting bracket according to the present invention;

[0035] Figure 4 It is a schematic diagram of the clearance fit between the guide groove and the guide column of the present invention;

[0036] Figure 5 A schematic diagram of a Mecanum wheel multi-rigidity spring suspension for a heavy-load omnidirectional mobile platform equipped with a No. 1 B-type spring assembly according to the present invention.

[0037] Description of reference numerals:

[0038] 1. No. 1 A-type spring assembly; 11. Upper spring; 12. Lower spring; 13. Vibration isolation block; 131. Vibration isolation plate; 132. No. 1 mounting slot; 133. No. 2 mounting slot; 134. Guide column; 14. A-type guide column; 2. No. 1 B-type spring assembly; 21. Inner spring; 22. Outer spring; 23. B-type guide column; 3. Wheel mounting plate; 31. Wheel plate; 32. No. 1 suspension mounting seat; 33. No. 2 suspension mounting seat; 34. No. 1 slider; 35. No. 2 slider; 36. Guide slot; 4. Vehicle body connecting bracket; 41. Horizontal plate; 42. No. 1 vertical plate; 43. No. 2 vertical plate; 44. No. 1 slide rail; 45. No. 2 slide rail; 5. Mecanum wheel; 6. Drive motor. DETAILED DESCRIPTION

[0039] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0040] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0041] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0042] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0043] The multi-rigidity spring suspension of a Mecanum wheel 5 for a heavy-load omnidirectional mobile platform includes a first A-type spring assembly 1 and a second A-type spring assembly of the same structure, wherein the first A-type spring assembly 1 includes an upper spring 11, a lower spring 12, a vibration isolation block 13 and an A-type guide column 14, a transverse plate 41 of a vehicle body connecting bracket 4 is connected to the upper surface of the bottom of a first mounting groove 132 of the vibration isolation block 13 through the upper spring 11, and the lower surface of the bottom of the first mounting groove 132 of the vibration isolation block 13 is connected to the lower spring 1 2 is connected to the No. 1 suspension mounting seat 32 of the wheel mounting plate 3, the A-type guide column 14 passes through the cross plate 41, the upper spring 11, the No. 1 mounting groove 132, the lower spring 12 and the No. 1 suspension mounting seat 32 from top to bottom in sequence, and the top end of the A-type guide column 14 is fixedly connected to the cross plate 41 through an upper adjusting nut, and the bottom end of the A-type guide column 14 is fixedly connected to the No. 1 suspension mounting seat 32 through a lower adjusting nut, and the vibration isolation block 13 can move up and down between the cross plate 41 and the No. 1 suspension mounting seat 32.

[0044] The spring length between the suspensions can be adjusted by nuts, and different spring pre-compression amounts can be adjusted according to different load requirements, thereby reducing the horizontal position difference of the omnidirectional transfer platform under different loads, reducing the impact on the working environment, and improving the stability of the transfer platform operation. The No. 1 A-type spring assembly 1 can be adjusted from both ends to increase the convenience of adjustment; the stiffness coefficient of the upper spring 11 is greater than the stiffness coefficient of the lower spring 12;

[0045] The lower spring 12 has a smaller stiffness, and the vibration generated by the ground will first be weakened by the lower spring 12 with a smaller stiffness. The weakened vibration will vibrate through the upper spring 11 with a larger stiffness. Since the spring stiffness is larger, the deformation generated is smaller, and the vibration weakened by the lower spring 12 can be better absorbed. After the comprehensive action of the second-order spring, the vibration generated by the ground is transmitted to the heavy-load omnidirectional mobile platform and the final vibration generated is smaller.

[0046] The vibration isolation block 13 includes a vibration isolation plate 131, a first mounting groove 132 and a second mounting groove 133. The first mounting groove and the second mounting groove 133 are respectively fixed to the two ends of one side of the vibration isolation plate 131. A guide column 134 is respectively provided at the two ends of the other side of the vibration isolation plate 131.

[0047] The wheel mounting plate 3 includes a wheel plate 31, a No. 1 suspension mounting seat 32, a No. 2 suspension mounting seat 33, a No. 1 slider 34 and a No. 2 slider 35. The No. 1 suspension mounting seat 32 and the No. 2 suspension mounting seat 33 are respectively fixedly mounted to the two ends of one side of the wheel plate 31, the No. 1 suspension mounting seat 32 corresponds to the No. 1 mounting groove 132, and the No. 2 suspension mounting seat 33 corresponds to the No. 2 mounting groove 133; one side of the wheel plate 31 is provided with a guide groove 36 corresponding to the two guide columns 134 of the vibration isolation plate 131; two The guide column 134 and the two guide grooves 36 are clearance-matched in a one-to-one manner to realize the connection between the vibration isolation plate 131 and the wheel mounting plate 3; the No. 1 slider 34 and the No. 2 slider 35 are fixedly installed on one side of the wheel plate 31, and the No. 1 slider 34 and the No. 2 slider 35 are arranged between the two guide grooves 36; a guiding effect is provided for the compression of the upper spring 11 and the lower spring 12 and the vibration of the vibration isolation block 13, thereby reducing the influence of stresses in different directions of the upper spring 11 and the lower spring 12 during the compression process on the suspension structure.

[0048] The vehicle body connecting bracket 4 includes a horizontal plate 41, a first vertical plate 42, a second vertical plate 43, a first slide rail 44 and a second slide rail 45. The first vertical plate 42 is fixedly connected to one end of the lower surface of the horizontal plate 41, the second vertical plate 43 is fixedly connected to the other end of the lower surface of the horizontal plate 41, the first slide rail 44 is fixedly installed to the inner side of the first vertical plate 42, and the second slide rail 45 is fixedly installed to the inner side of the second vertical plate 43.

[0049] One end of the cross plate 41 is connected to the No. 1 suspension mounting seat 32 through the No. 1 A-type spring assembly 1, and the other end of the cross plate 41 is connected to the No. 2 suspension mounting seat 33 through the No. 2 A-type spring assembly, and the No. 1 slide rail 44 is slidably connected to the No. 1 slider 34, and the No. 2 slide rail 45 is slidably connected to the No. 2 slider 35, so as to realize the connection between the vehicle body connection bracket 4 and the wheel mounting plate 3. The unbalanced forces of the Mecanum wheels 5 in various directions during use are balanced by the mutually coordinated slide rails and sliders; two sets of active suspensions are evenly distributed on the left and right sides to reduce the damage to the Mecanum wheels 5 and the suspension caused by different forces on the left and right sides; at the same time, the two sets of active suspensions actively change the position of the Mecanum wheels 5 in the vertical direction, so that all the Mecanum wheels 5 of the heavy-loaded AGV are on the ground and evenly stressed.

[0050] A Mecanum wheel 5 is provided in the middle of the wheel mounting plate 3, and the Mecanum wheel 5 is fixedly connected to the output end of the drive motor 6. The Mecanum wheel 5 and the drive motor 6 can move up and down relative to the first slide rail 44 and the second slide rail 45 following the wheel mounting plate 3.

[0051] The driving motor 6 is a servo motor, model 80ST-M01330.

[0052] The multi-rigidity spring suspension of a Mecanum wheel 5 for a heavy-load omnidirectional mobile platform includes a No. 1 B-type spring assembly 2 and a No. 2 B-type spring assembly with the same structure. The No. 1 B-type spring assembly 2 includes an inner spring 21, an outer spring 22, and a B-type guide column 23.

[0053] The bottom of the outer spring 22 is fixedly mounted to the No. 1 suspension mounting seat 32, the transverse plate 41 of the vehicle body connecting bracket 4 is connected to the No. 1 suspension mounting seat 32 of the wheel mounting plate 3 through the inner spring 21, and the inner spring 21 is sleeved inside the outer spring 22; the B-type guide column 23 passes through the transverse plate 41, the inner spring 21 and the No. 1 suspension mounting seat 32 from top to bottom, and the top end of the B-type guide column 23 is fixedly connected to the transverse plate 41 through the upper adjusting nut, and the bottom end of the B-type guide column 23 is fixedly connected to the No. 1 suspension mounting seat 32 through the lower adjusting nut; the outer diameter of the inner spring 21 is smaller than the outer diameter of the outer spring 22, and the length of the inner spring 21 is twice the length of the outer diameter spring; the stiffness coefficient of the inner spring 21 is smaller than the stiffness coefficient of the outer spring 22;

[0054] When the heavy-load transfer platform carries a small load, the inner spring 21 with smaller rigidity works; when the load is large, the inner spring 21 and the outer spring 22 work simultaneously to increase the stiffness of the spring, so that the spring rigidity of the heavy-load transfer platform can be adjusted when carrying different weights; the action of the second-order spring makes the final vibration of the heavy-load transfer platform smaller, meeting the requirements for the transfer platform when the precision is higher.

[0055] An inner isolation sleeve is provided between the outer spring 22 and the inner spring 21 for separating the outer spring 22 and the inner spring 21; the outer spring 22 is sleeved with an outer isolation sleeve to ensure that there is no interference between the two groups of springs when they are compressed.

[0056] The A-type guide column 14 and the B-type guide column 23 have the same structure, and both are telescopic rods with a damping structure. Telescopic rods with a damping structure can be purchased on the market, and both ends of the telescopic rods are provided with longer threads for threaded connection with the adjusting nut, and the adjustment length of the adjusting nut is guaranteed; the use of a telescopic rod with a damping structure also provides a buffer for the compression of the suspension.

[0057] The Mecanum wheel 5-strength spring suspension for the heavy-loaded omnidirectional mobile platform has a working principle of providing buffering for the heavy-loaded omnidirectional mobile platform through A-type spring components and B-type spring components with different structures, so that the final vibration of the heavy-loaded omnidirectional mobile platform is smaller.

[0058] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A Mecanum wheel multi-rigidity spring suspension for a heavy-load omnidirectional mobile platform, characterized by: It comprises a No. 1 A-type spring assembly and a No. 2 A-type spring assembly with the same structure, the No. 1 A-type spring assembly comprises an upper spring, a lower spring, a vibration isolation block and an A-type guide column, the cross plate of the vehicle body connection bracket is connected to the upper surface of the bottom of the No. 1 mounting groove of the vibration isolation block through the upper spring, the lower surface of the bottom of the No. 1 mounting groove of the vibration isolation block is connected to the No. 1 suspension mounting seat of the wheel mounting plate through the lower spring, the A-type guide column passes through the cross plate, the upper spring, the No. 1 mounting groove, the lower spring and the No. 1 suspension mounting seat in sequence from top to bottom, and the top end of the A-type guide column is fixedly connected to the cross plate through an upper adjusting nut, the bottom end of the A-type guide column is fixedly connected to the No. 1 suspension mounting seat through a lower adjusting nut, and the vibration isolation block can move up and down between the cross plate and the No. 1 suspension mounting seat; The vibration isolation block includes a vibration isolation plate, a No. 1 mounting groove and a No. 2 mounting groove. The No. 1 mounting groove and the No. 2 mounting groove are respectively fixedly mounted to two ends of one side of the vibration isolation plate, and a guide column is respectively provided at two ends of the other side of the vibration isolation plate. The wheel mounting plate comprises a wheel plate, a No. 1 suspension mounting seat, a No. 2 suspension mounting seat, a No. 1 slider and a No. 2 slider. The No. 1 suspension mounting seat and the No. 2 suspension mounting seat are respectively fixedly mounted to the two ends of one side of the wheel plate, the No. 1 suspension mounting seat corresponds to the No. 1 mounting groove, and the No. 2 suspension mounting seat corresponds to the No. 2 mounting groove; one side of the wheel plate is provided with a guide groove corresponding to two guide posts of the vibration isolation plate; the two guide posts are clearance-matched with the two guide grooves in a one-to-one correspondence to realize the connection between the vibration isolation plate and the wheel mounting plate; the No. 1 slider and the No. 2 slider are fixedly mounted to one side of the wheel plate, and the No. 1 slider and the No. 2 slider are arranged between the two guide grooves; The vehicle body connecting bracket includes a horizontal plate, a first vertical plate, a second vertical plate, a first slide rail and a second slide rail. The first vertical plate is fixedly connected to one end of the lower surface of the horizontal plate, the second vertical plate is fixedly connected to the other end of the lower surface of the horizontal plate, the first slide rail is fixedly installed to the inner side of the first vertical plate, and the second slide rail is fixedly installed to the inner side of the second vertical plate. One end of the cross plate is connected to the No. 1 suspension mounting seat through a No. 1 A-type spring assembly, and the other end of the cross plate is connected to the No. 2 suspension mounting seat through a No. 2 A-type spring assembly, and the No. 1 slide rail is slidably connected to the No. 1 slider, and the No. 2 slide rail is slidably connected to the No. 2 slider, thereby realizing the connection between the vehicle body connecting bracket and the wheel mounting plate.

2. The Mecanum wheel multi-rigidity spring suspension for a heavy-load omnidirectional mobile platform according to claim 1, characterized in that: The stiffness coefficient of the upper spring is greater than the stiffness coefficient of the lower spring.

3. The Mecanum wheel multi-rigidity spring suspension for a heavy-load omnidirectional mobile platform according to claim 1, characterized in that: A Mecanum wheel is provided in the middle of the wheel mounting plate, and the Mecanum wheel is fixedly connected to the output end of the drive motor. The Mecanum wheel and the drive motor can move up and down relative to the first slide rail and the second slide rail following the wheel mounting plate.

4. The Mecanum wheel multi-rigidity spring suspension for a heavy-load omnidirectional mobile platform according to claim 3, characterized in that: The driving motor is a servo motor, model 80ST-M01330.

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