Chassis suspension structure of car moving robot

Abstract

The invention relates to the technical field of car moving robots, and discloses a car moving robot chassis suspension structure which comprises a rack component, a driving suspension component is fixedly assembled on the inner wall of the rack component, lifting bearing components are fixedly assembled at the two ends of the rack component, and an abutting plate is fixedly assembled at the top of the rack component. The driving suspension part is rotationally connected with the rack part through the limiting part, so that the driving suspension part can rotate with the limiting part as the axis, the limiting part can move up and down on the inner wall of the oval groove due to the fact that the oval groove is oval, and then the driving suspension part can move up and down relative to the rack part; the driving wheel fixing frame moves up and down and swings left and right in the height direction so as to adapt to road surfaces with different heights, so that when the equipment is used and passes through the low-lying road surface, the driving suspension component is pushed downwards by the thrust of the spring component, and the driving wheel is ensured to be in effective contact with the ground all the time.

Description

Technical Field

[0001] The invention relates to the technical field of car-moving robots, and in particular to a chassis suspension structure of a car-moving robot. Background Art

[0002] As private cars become more and more popular, the problem of parking difficulty becomes more and more prominent, and illegal parking is also common. In the field of assisting the movement of vehicles, more and more car moving robots are used to operate. The use of intelligent mechanized robots to save labor is quite significant, and robots have advantages that cannot be replaced by humans in some aspects: with the popularity of electric vehicles, cases of charging and fire occur from time to time. Whenever the vehicle is in an abnormal situation, people are prohibited from approaching. However, if a car moving robot can be used to move the faulty vehicle away at this time, the losses caused by the accident can be greatly reduced. This puts higher requirements on the movement performance of the car moving robot, especially when the ground is uneven or there is a ramp. How to ensure the passability of the robot under various road conditions has become a problem that needs to be solved urgently.

[0003] However, it is well known that car chassis are usually very low, and the height of the car-moving robot must be even lower so that it can get under the car and lift the car. How to set up an effective suspension mechanism in such a low fuselage has become the focus of research. Summary of the invention

[0004] The present invention provides a chassis suspension structure of a car-moving robot, which solves the problems raised by the above-mentioned background technology.

[0005] The present invention provides the following technical solution: a chassis suspension structure of a car-moving robot, comprising a frame component, an inner wall of which is fixedly equipped with a driving suspension component, both ends of which are fixedly equipped with a lifting bearing component, and a top of which is fixedly equipped with a stop plate.

[0006] As a preferred technical solution of the present invention: the frame component includes a frame body, the tops of both ends of the frame body are provided with installation bins, the middle of the frame body is provided with an installation groove 1, the inner walls of both ends of the installation groove 1 are fixedly equipped with connecting frames, the middle inner wall of the installation groove 1 is provided with an installation hole, the tops of both sides of the frame body are provided with installation grooves 2, and the inner walls of the installation grooves 2 are fixedly equipped with lifting and retracting rods.

[0007] As a preferred technical solution of the present invention: the telescopic end of the telescopic rod is fixedly assembled with the abutment plate, and the driving suspension component is arranged on the inner wall of the first installation groove.

[0008] As a preferred technical solution of the present invention: the driving suspension component includes a suspension, the inner wall of the suspension is provided with an installation groove three, both sides of the installation groove three are fixedly installed with a driving motor one, one side of the output end of the driving motor one is fixedly installed with a reducer one, the output shaft of the reducer one is fixedly installed with a driving wheel, the outer wall in the width direction of the installation groove three is rotatably connected with a spring component, the middle outer wall of the suspension is provided with an elliptical groove, the inner wall of the elliptical groove is sleeved with a limiting component, the middle inner wall of the suspension is fixedly installed with a detection component, and the detection component is sleeved on the outer wall of the limiting component.

[0009] As a preferred technical solution of the present invention: the limit component includes a detected object, both ends of the detected object are fixedly equipped with a limit shaft, and the outer wall of the limit shaft is sleeved with a limit sleeve;

[0010] The positions of the detected object and the detection component correspond to each other, the limiting sleeve is located outside the suspension, the limiting component is arranged on the inner wall of the mounting hole, and one end of the spring component away from the suspension is rotatably connected to the connecting frame;

[0011] The elliptical groove is elliptical in shape.

[0012] As a preferred technical solution of the present invention: the lifting bearing component includes a bearing plate, the bottom of the bearing plate is provided with an inclined surface, the outer wall of the inclined surface is provided with a sliding groove, the inner wall of the sliding groove is slidably sleeved with a sliding seat, the inner wall of the sliding seat is threadedly connected with a screw rod, the side of the sliding seat away from the bearing plate is fixedly equipped with a mounting plate, the side of the mounting plate away from the bearing plate is fixedly equipped with an auxiliary support wheel, the end of the screw rod away from the sliding seat is connected to a reducer 2 through a universal joint drive, and the input end of the reducer 2 is fixedly equipped with a drive motor 2.

[0013] As a preferred technical solution of the present invention: the driving motor 2 and the reducer 2 are drivingly connected, the reducer 2 is drivingly connected through a universal joint and a screw rod, the mounting plate is slidingly connected through a slide seat and the inner wall of the slide groove, and one end of the screw rod close to the reducer 2 is rotationally connected to the inner wall of the slide groove.

[0014] The present invention has the following beneficial effects:

[0015] 1. The chassis suspension structure of the car-moving robot is connected to the frame component through the driving suspension component through the limiting component, so that the driving suspension component can be rotated with the limiting component as the axis, and the elliptical groove is elliptical, so that the limiting component can be located on the inner wall of the elliptical groove and move up and down, thereby enabling the driving suspension component to move up and down relative to the frame component, thereby realizing the up and down movement and left and right swing of the driving wheel fixing frame in the height direction, thereby adapting to roads of different heights, so that when the equipment is in use, when passing through a low-lying road surface, the driving suspension component is pushed downward by the thrust of the spring component to ensure that the driving wheel is always in effective contact with the ground;

[0016] When the road surface is raised, the suspension components are driven to move upward, squeezing the spring components to ensure that the lifting and lowering bearing components are always in effective contact with the ground, thus preventing the driving wheels from being crushed due to excessive load.

[0017] 2. The chassis suspension structure of the car-moving robot is designed with a limit component so that the suspension cannot move left and right. Therefore, when the device is under load, the driving suspension component and the frame component will not move left and right relative to each other, so that the gravity of the load on the top of the device is directed vertically downward, and the force is applied through the spring component. This solves the problem that the traditional device only uses a structure similar to a spring component to realize the up and down movement of the upper and lower groups of structures, resulting in the traditional device using a structure similar to a spring component to support the upper and lower groups of structures. When the device is on an inclined road, the structure similar to a spring component used to support the upper and lower groups of structures needs to bear an inclined shear force in addition to the vertical pressure, resulting in the traditional device using the structure similar to a spring component used to support the upper and lower groups of structures. The load is too large and easy to be damaged;

[0018] On the other hand, by driving the suspension component to rotate with the limiting component as the axis, when one of the two sets of driving wheels passes over a low-lying road surface, the driving wheel can be pushed downward by the thrust of the spring component on the side of the low-lying road surface, ensuring that the two sets of driving wheels are always in effective contact with the ground.

[0019] 3. The chassis suspension structure of the car-moving robot is arranged in the detection component by setting the detected object. When the equipment is moving, the positions of the limit component and the frame component remain unchanged, and the suspension contacts the ground through the driving motor 1, so that the suspension drives the relative position between the detection component and the limit component to move. When the equipment moves under the state of the auxiliary support wheel and the driving wheel being loaded together, the limit component is located in the middle of the elliptical groove. During the movement, if the limit component moves to the top of the elliptical groove, it means that the driving wheel is located on the low-lying road surface. The position of the limit component is detected in real time by the detection component. When the detection component detects the top of the elliptical groove when the limit component moves, the data is transmitted to the controller. The controller controls the driving motor 2, so that the driving motor 2 drives the screw rod through the reducer 2, and then the mounting plate drives the auxiliary support wheel to move along the inclined surface toward one side of the frame component, and the distance between the bottom end of the auxiliary support wheel and the bottom of the frame component is increased, so that the frame component is lifted.

[0020] The driving suspension component rises along with the frame component, causing the driving wheel to escape from the depression. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0022] Figure 2 It is a schematic diagram of the three-dimensional structure of the present invention from another viewing angle;

[0023] Figure 3 It is a schematic diagram of the structure of the frame components of the present invention;

[0024] Figure 4 This is a schematic diagram of the structure of the drive suspension component of the present invention;

[0025] Figure 5 It is a schematic diagram of the slide structure of the present invention;

[0026] Figure 6 This is a schematic diagram of the structure of the lifting bearing component of the present invention;

[0027] Figure 7 This is a schematic diagram of the elliptical groove structure of the present invention;

[0028] Figure 8 It is a schematic diagram of the structure of the limiting component of the present invention.

[0029] In the figure: 1, frame component; 2, drive suspension component; 3, lifting bearing component; 4, stop plate;

[0030] 101, rack body; 102, mounting compartment; 103, mounting slot 1; 104, connecting frame; 105, mounting hole; 106, mounting slot 2; 107, lifting and retracting rod;

[0031] 201, suspension; 202, mounting slot three; 203, spring component; 204, limit component; 205, detection component; 206, drive motor one; 207, reducer one; 208, drive wheel; 209, elliptical slot;

[0032] 301, bearing plate; 302, inclined surface; 303, slide groove; 304, slide seat; 305, mounting plate; 306, auxiliary support wheel; 307, screw rod; 308, reducer 2; 309, drive motor 2;

[0033] 2041, object to be detected; 2042, limit axis; 2043, limit sleeve. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] See also Figure 1 - Figure 8 A chassis suspension structure of a car-moving robot includes a frame component 1, an inner wall of the frame component 1 is fixedly equipped with a driving suspension component 2, both ends of the frame component 1 are fixedly equipped with a lifting bearing component 3, and the top of the frame component 1 is fixedly equipped with a stop plate 4.

[0036] In a preferred embodiment: the frame component 1 includes a frame body 101, and mounting compartments 102 are provided at the tops of both ends of the frame body 101, a mounting groove 103 is provided in the middle of the frame body 101, and connecting frames 104 are fixedly installed on the inner walls of both ends of the mounting groove 103, and a mounting hole 105 is provided on the inner wall of the middle part of the mounting groove 103, and mounting grooves 2 106 are provided on the tops of both sides of the frame body 101, and lifting rods 107 are fixedly installed on the inner walls of the mounting grooves 2 106.

[0037] In a preferred embodiment: the telescopic end of the telescopic rod 107 is fixedly assembled with the abutment plate 4 , and the driving suspension component 2 is arranged on the inner wall of the mounting groove 103 .

[0038] In the above structure, the lifting rod 107 can drive the abutment plate 4 to move up and down, so that when the device is placed at the bottom of the vehicle, the lifting rod 107 can drive the abutment plate 4 to move up, so that the device and the vehicle can be abutted through the lifting rod 107 and the abutment plate 4;

[0039] The main part of the frame component 1 is assembled by welding with square tubes to ensure that the strength can stably support the lifting and lowering of the car with a load-bearing component within 3.5 tons.

[0040] In a preferred embodiment: the driving suspension component 2 includes a suspension 201, an inner wall of the suspension 201 is provided with a mounting groove three 202, both sides of the mounting groove three 202 are fixedly installed with a driving motor 206, one side of the output end of the driving motor 206 is fixedly installed with a reducer 207, the output shaft of the reducer 207 is fixedly installed with a driving wheel 208, the outer wall in the width direction of the mounting groove three 202 is rotatably connected with a spring component 203, the middle outer wall of the suspension 201 is provided with an elliptical groove 209, the inner wall of the elliptical groove 209 is sleeved with a limiting component 204, the middle inner wall of the suspension 201 is fixedly installed with a detection component 205, and the detection component 205 is sleeved on the outer wall of the limiting component 204.

[0041] In a preferred embodiment: the limiting component 204 includes a detected object 2041, both ends of the detected object 2041 are fixedly assembled with a limiting shaft 2042, and the outer wall of the limiting shaft 2042 is sleeved with a limiting sleeve 2043;

[0042] The positions of the detected object 2041 and the detection component 205 correspond to each other, the limiting sleeve 2043 is located outside the suspension 201, the limiting component 204 is arranged on the inner wall of the mounting hole 105, and one end of the spring component 203 away from the suspension 201 is rotatably connected to the connecting frame 104;

[0043] The elliptical groove 209 is elliptical in shape.

[0044] In the above structure, the driving suspension component 2 is rotatably connected to the frame component 1 through the limiting component 204, so that the driving suspension component 2 can be rotated with the limiting component 204 as the axis, and the elliptical groove 209 is elliptical, so that the limiting component 204 can be located on the inner wall of the elliptical groove 209 and move up and down, thereby enabling the driving suspension component 2 to move up and down relative to the frame component 1, thereby realizing the up and down movement and left and right swing of the driving wheel fixing frame in the height direction, thereby adapting to road surfaces of different heights, so that when the equipment is in use, when passing through a low-lying road surface, the driving suspension component 2 is pushed downward by the thrust of the spring component 203, ensuring that the driving wheel 208 is always effectively in contact with the ground;

[0045] When the road surface is bulged, the suspension component 2 is driven to move upward, squeezing the spring component 203, ensuring that the lifting bearing component 3 is always in effective contact with the ground, and preventing the driving wheel 208 from being crushed due to excessive load.

[0046] The design of the limiting component 204 prevents the suspension 201 from moving left and right, and thus when the device is in a loaded state, the driving suspension component 2 and the frame component 1 will not move left and right relative to each other, so that the gravity of the load on the top of the device is directed vertically downward, and the force is applied through the spring component 203, which solves the problem that the traditional device only uses a structure similar to the spring component 203 to realize the up and down movement of the upper and lower groups of structures, resulting in the traditional device using the structure similar to the spring component 203 between the upper and lower groups to bear the inclined shear force in addition to the vertical pressure when the device is on an inclined road surface, resulting in the traditional device using the structure similar to the spring component 203 between the upper and lower groups to support the load too large, and easy to be damaged.

[0047] On the other hand, by driving the suspension component 2 to rotate with the limiting component 204 as the axis, when one of the two sets of driving wheels 208 passes over a low-lying road surface, the driving wheel 208 can be pushed downward by the thrust of the spring component 203 on one side of the low-lying road surface, ensuring that the two sets of driving wheels 208 are always in effective contact with the ground;

[0048] By arranging the limiting sleeves 2043 on both sides of the suspension 201, the suspension 201 is limited by the limiting sleeves 2043 to avoid the front-back displacement of the suspension 201, thereby limiting the relative position of the suspension 201;

[0049] The power of the driving wheel 208 comes from the driving motor 1 206. The driving motor 1 206 adopts a servo motor, and there will be no situation where one side is fast and the other side is slow due to uneven force, so that precise control is achieved. The driving motor 1 206 is connected to the reducer 1 207 for deceleration. The reducer 1 207 can reduce the speed and increase the torque on the one hand, which can effectively increase the power of the driving wheel 208; on the other hand, it can also greatly increase the ability of the driving wheel 208 to bear radial loads.

[0050] In a preferred embodiment: the lifting bearing component 3 includes a bearing plate 301, an inclined surface 302 is provided at the bottom of the bearing plate 301, a slide groove 303 is provided on the outer wall of the inclined surface 302, a slide seat 304 is slidably sleeved on the inner wall of the slide groove 303, a screw rod 307 is threadedly connected to the inner wall of the slide seat 304, a mounting plate 305 is fixedly installed on the side of the slide seat 304 away from the bearing plate 301, an auxiliary support wheel 306 is fixedly installed on the side of the mounting plate 305 away from the bearing plate 301, the end of the screw rod 307 away from the slide seat 304 is connected to a reducer 2 308 through a universal joint drive, and a drive motor 2 309 is fixedly installed on one side of the input end of the reducer 2 308.

[0051] The auxiliary support wheel 306 can use a universal wheel;

[0052] In a preferred embodiment: the driving motor 309 and the reducer 308 are drivingly connected, the reducer 308 is drivingly connected through a universal joint and a screw 307, the mounting plate 305 is slidingly connected to the inner wall of the slide 303 through the slide seat 304, and the end of the screw 307 close to the reducer 308 is rotationally connected to the inner wall of the slide 303.

[0053] In the above structure, four sets of auxiliary support wheels 306 are provided to bear the weight of the whole machine, and the load capacity of each auxiliary support wheel 306 is above 1.5T, ensuring that the auxiliary support wheels 306 can also effectively bear a load of 3.5T under uneven road conditions;

[0054] One end of the screw rod 307 close to the second reducer 308 is rotatably connected to the inner wall of the slide groove 303, so that the screw rod 307 can remain stable when driven by the second drive motor 309, and the screw rod 307 is threadedly connected to the slide seat 304, and the slide seat 304 is limited by the slide groove 303, so that when the screw rod 307 rotates, the slide seat 304 can drive the auxiliary support wheel 306 to move along the inclined surface 302 through the mounting plate 305;

[0055] By utilizing the inclined surface 302, when the mounting plate 305 drives the auxiliary support wheel 306 to move along the inclined surface 302 to a side away from the frame component 1, the distance between the bottom end of the auxiliary support wheel 306 and the bottom of the frame component 1 is reduced, so that the frame component 1 is lowered;

[0056] When the mounting plate 305 drives the auxiliary support wheel 306 to move toward the side of the frame component 1 along the inclined surface 302, the distance between the bottom end of the auxiliary support wheel 306 and the bottom of the frame component 1 is increased, so that the frame component 1 is lifted;

[0057] When both sets of driving wheels 208 are located on the low-lying road surface, the two sets of driving wheels 208 are pushed downward by the thrust of the spring component 203, so that the two sets of driving wheels 208 are located in the low-lying area. At this time, it is difficult for the equipment to sink into the low-lying area and cannot move;

[0058] The auxiliary support wheel 306 is driven by the mounting plate 305 to move along the inclined surface 302 toward the side of the rack component 1, so that the rack component 1 is lifted, and the load of the equipment is carried by the auxiliary support wheels 306, and the driving suspension component 2 is lifted along with the rack component 1, so that the driving wheel 208 is separated from the low-lying area, thereby completing the self-rescue of the equipment;

[0059] Specifically, by setting the detected object 2041 in the detection component 205, when the device moves, the positions of the limiting component 204 and the frame component 1 remain unchanged, and the suspension 201 contacts the ground through the driving motor 206, so that the suspension 201 drives the relative position between the detection component 205 and the limiting component 204 to move. When the device moves under the state of the auxiliary support wheel 306 and the driving wheel 208 jointly loading, the limiting component 204 is located in the middle of the elliptical groove 209. In the process of movement, if the limiting component 204 moves to the top of the elliptical groove 209, it means that the driving wheel 208 is located on a low-lying road surface, and the position of the limiting component 204 is detected in real time by the detection component 205. When the detection component 205 detects that the limiting component 204 moves to the top of the elliptical groove 209, the data is transmitted to the controller, and the controller controls the second driving motor 309 to drive the second driving motor 309 to drive the screw rod 307 through the second reducer 308, so that the mounting plate 305 drives the auxiliary support wheel 306 to move along the inclined surface 302 toward the side of the frame component 1, and the distance between the bottom end of the auxiliary support wheel 306 and the bottom of the frame component 1 is increased, so that the frame component 1 is lifted;

[0060] The driving suspension component 2 rises with the random frame component 1, so that the driving wheel 208 is released from the depression;

[0061] After the driving wheel 208 is disengaged from the depression, the controller controls the driving motor 2 309 so that the driving motor 2 309 drives the screw rod 307 through the reducer 2 308, and then the mounting plate 305 drives the auxiliary support wheel 306 to move along the inclined surface 302 to the side away from the frame component 1, and the distance between the bottom end of the auxiliary support wheel 306 and the bottom of the frame component 1 is increased, so that the frame component 1 is lowered, and the load of the equipment is distributed to the driving wheel 208 and the auxiliary support wheel 306, so that the driving wheel 208 can maintain friction with the ground after being loaded.

[0062] Working principle: through the lifting and retracting rod 107, the lifting and retracting rod 107 can drive the abutment plate 4 to move up and down, so that when the device is placed at the bottom of the vehicle, the lifting and retracting rod 107 can drive the abutment plate 4 to move up, so that the device and the vehicle can be abutted through the lifting and retracting rod 107 and the abutment plate 4;

[0063] The driving suspension component 2 is rotatably connected to the frame component 1 through the limiting component 204, so that the driving suspension component 2 can be rotated with the limiting component 204 as the axis, and the elliptical groove 209 is elliptical, so that the limiting component 204 can be located on the inner wall of the elliptical groove 209 and move up and down, thereby enabling the driving suspension component 2 to move up and down relative to the frame component 1, thereby realizing the up and down movement and left and right swing of the driving wheel fixing frame in the height direction, thereby adapting to roads of different heights, so that when the equipment is in use, when passing through a low-lying road surface, the driving suspension component 2 is pushed downward by the thrust of the spring component 203, ensuring that the driving wheel 208 is always effectively in contact with the ground;

[0064] The design of the limiting component 204 prevents the suspension 201 from moving left and right, and thus when the device is in a loaded state, the driving suspension component 2 and the frame component 1 will not move left and right relative to each other, so that the gravity of the load on the top of the device is directed vertically downward, and the force is applied through the spring component 203, which solves the problem that the traditional device only uses a structure similar to the spring component 203 to realize the up and down movement of the upper and lower groups of structures, resulting in the traditional device using the structure similar to the spring component 203 between the upper and lower groups to bear the inclined shear force in addition to the vertical pressure when the device is on an inclined road surface, resulting in the traditional device using the structure similar to the spring component 203 between the upper and lower groups to support the load too large, and easy to be damaged.

[0065] On the other hand, by driving the suspension component 2 to rotate with the limiting component 204 as the axis, when one of the two sets of driving wheels 208 passes over a low-lying road surface, the driving wheel 208 can be pushed downward by the thrust of the spring component 203 on one side of the low-lying road surface, ensuring that the two sets of driving wheels 208 are always in effective contact with the ground;

[0066] By setting the detected object 2041 in the detection component 205, when the device moves, the positions of the limiting component 204 and the frame component 1 remain unchanged, and the suspension 201 contacts the ground through the driving motor 1 206, so that the suspension 201 drives the relative position between the detection component 205 and the limiting component 204 to move. When the device moves under the state of the auxiliary support wheel 306 and the driving wheel 208 being loaded together, the limiting component 204 is located in the middle of the elliptical groove 209. During the movement, if the limiting component 204 moves to the top of the elliptical groove 209, it means that the driving wheel 208 Located on a low-lying road surface, the position of the limiting component 204 is detected in real time by the detection component 205. When the detection component 205 detects that the limiting component 204 moves to the top of the elliptical groove 209, the data is transmitted to the controller, and the controller controls the second driving motor 309 to drive the second driving motor 309 through the second reducer 308 to drive the screw rod 307, so that the mounting plate 305 drives the auxiliary support wheel 306 to move along the inclined surface 302 toward the side of the frame component 1, and the distance between the bottom end of the auxiliary support wheel 306 and the bottom of the frame component 1 is increased, so that the frame component 1 is lifted;

[0067] The driving suspension component 2 rises with the random frame component 1, so that the driving wheel 208 is released from the depression;

[0068] After the driving wheel 208 is disengaged from the depression, the controller controls the driving motor 2 309 so that the driving motor 2 309 drives the screw rod 307 through the reducer 2 308, and then the mounting plate 305 drives the auxiliary support wheel 306 to move along the inclined surface 302 to the side away from the frame component 1, and the distance between the bottom end of the auxiliary support wheel 306 and the bottom of the frame component 1 is increased, so that the frame component 1 is lowered, and the load of the equipment is distributed to the driving wheel 208 and the auxiliary support wheel 306, so that the driving wheel 208 can maintain friction with the ground after being loaded.

[0069] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0070] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A chassis suspension structure of a car-moving robot, comprising a frame component (1), characterized in that: The inner wall of the frame component (1) is fixedly equipped with a driving suspension component (2), both ends of the frame component (1) are fixedly equipped with lifting bearing components (3), and the top of the frame component (1) is fixedly equipped with a stop plate (4).

2. The chassis suspension structure of a car-moving robot according to claim 1, characterized in that: The frame component (1) comprises a frame body (101), the tops of both ends of the frame body (101) are provided with mounting compartments (102), the middle of the frame body (101) is provided with a first mounting groove (103), the inner walls of both ends of the first mounting groove (103) are fixedly mounted with connecting frames (104), the inner wall of the middle of the first mounting groove (103) is provided with a mounting hole (105), the tops of both sides of the frame body (101) are provided with second mounting grooves (106), and the inner walls of the second mounting grooves (106) are fixedly mounted with lifting and retracting rods (107).

3. The chassis suspension structure of a car-moving robot according to claim 2, characterized in that: The telescopic end of the telescopic rod (107) and the abutment plate (4) are fixedly assembled, and the driving suspension component (2) is arranged on the inner wall of the first installation groove (103).

4. The chassis suspension structure of a car-moving robot according to claim 1, characterized in that: The driving suspension component (2) comprises a suspension (201), the inner wall of the suspension (201) is provided with a mounting groove three (202), both sides of the mounting groove three (202) are fixedly mounted with a driving motor one (206), one side of the output end of the driving motor one (206) is fixedly mounted with a reducer one (207), the output shaft of the reducer one (207) is fixedly mounted with a driving wheel (208), the outer wall of the mounting groove three (202) in the width direction is rotatably connected with a spring component (203), the middle outer wall of the suspension (201) is provided with an elliptical groove (209), the inner wall of the elliptical groove (209) is sleeved with a limiting component (204), the middle inner wall of the suspension (201) is fixedly mounted with a detection component (205), and the detection component (205) is sleeved on the outer wall of the limiting component (204).

5. The chassis suspension structure of a car-moving robot according to claim 4, characterized in that: The limiting component (204) comprises a detected object (2041), the ends of the detected object (2041) are fixedly equipped with a limiting shaft (2042), and the outer wall of the limiting shaft (2042) is sleeved with a limiting sleeve (2043); The positions of the detected object (2041) and the detection component (205) correspond to each other, the limiting sleeve (2043) is located outside the suspension (201), the limiting component (204) is arranged on the inner wall of the mounting hole (105), and one end of the spring component (203) away from the suspension (201) is rotatably connected to the connecting frame (104); The elliptical groove (209) is elliptical in shape.

6. The chassis suspension structure of a car-moving robot according to claim 1, characterized in that: The lifting bearing component (3) comprises a bearing plate (301), the bottom of the bearing plate (301) is provided with an inclined surface (302), the outer wall of the inclined surface (302) is provided with a slide groove (303), the inner wall of the slide groove (303) is slidably sleeved with a slide seat (304), the inner wall of the slide seat (304) is threadedly connected with a screw rod (307), the side of the slide seat (304) away from the bearing plate (301) is fixedly equipped with a mounting plate (305), the side of the mounting plate (305) away from the bearing plate (301) is fixedly equipped with an auxiliary support wheel (306), the end of the screw rod (307) away from the slide seat (304) is connected to a reducer 2 (308) through a universal joint drive, and the input end of the reducer 2 (308) is fixedly equipped with a drive motor 2 (309).

7. The chassis suspension structure of the car-moving robot according to claim 6, characterized in that: The second driving motor (309) and the second reducer (308) are drivingly connected, the second reducer (308) is drivingly connected via a universal joint and a screw rod (307), the mounting plate (305) is slidingly connected via a slide seat (304) and the inner wall of a slide groove (303), and one end of the screw rod (307) close to the second reducer (308) is rotationally connected to the inner wall of the slide groove (303).

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