Quick-response electric active suspension based on parallel structure

Abstract

The invention relates to the technical field of vehicle suspensions, in particular to a quick-response electric active suspension based on a parallel structure. Comprising a vehicle body platform, first electric push rods, second electric push rods, third electric push rods, wheel supports and wheel assemblies. First connecting rods are hinged to the vehicle body platform and connected with first electric push rods, and the output ends of the first electric push rods are rotationally connected with third connecting rods and then hinged to wheel supports. The output ends of the second electric push rods are rotationally connected with second connecting rods and then hinged to wheel supports. The output end of the third electric push rod is hinged to the first connecting rod. According to the suspension, the multiple sets of electric push rods are connected in parallel and cooperatively driven, horizontal movement, up-down swing, horizontal swing and side-tipping actions of the wheel supports are achieved, the suspension adapts to complex road conditions, stability of a vehicle body is guaranteed, the suspension particularly adapts to the high attitude control requirement of precise instrument transportation, and goods are effectively prevented from being damaged due to attitude instability.

Description

Technical Field

[0001] This invention relates to the field of vehicle suspension technology, and in particular to a fast-response electric active suspension based on a parallel structure. Background Technology

[0002] In recent years, with the continuous development of intelligent technology, AGVs (Automated Guided Vehicles) have been widely used, and the exploration of related theories and technologies has also been deepening. In industrial scenarios, AGVs often need to operate under complex conditions such as dynamic load changes, high-frequency vibration interference, and compact installation space. As the core connecting component between the AGV body and the walking mechanism, the suspension system directly determines the vehicle's navigation accuracy, operational stability, and equipment lifespan.

[0003] Traditional passive suspension cannot dynamically adjust the stiffness and damping flexibility. When the load carried by the AGV changes instantaneously (such as picking up / placing heavy objects), the suspension stiffness cannot adapt in time, which can easily lead to vehicle tilting and posture deviation, affecting navigation accuracy.

[0004] To overcome the suspension performance bottlenecks of AGVs under dynamic loads, high-frequency vibrations, and compact spaces, an innovative active suspension system based on a parallel mechanism is proposed. This invention achieves dynamic decoupling of structural stiffness and damping flexibility by integrating the parallel mechanism with a buffer and shock-absorbing structure: the parallel mechanism provides high-precision posture control, ensuring AGV navigation stability; the buffer and shock-absorbing system efficiently dissipates high-frequency vibration energy and suppresses instantaneous impacts. This invention provides an innovative solution for the reliable operation of high-precision AGVs in complex industrial scenarios and is of great significance to the development of AGVs. Summary of the Invention

[0005] In view of this, the present invention provides a fast-response electric active suspension based on a parallel structure.

[0006] Therefore, the present invention provides the following technical solution:

[0007] A fast-response electric active suspension based on a parallel structure includes a vehicle platform, a first electric pushrod, a second electric pushrod, a third electric pushrod, wheel brackets, and wheel assemblies. The first connecting rod is hinged to the vehicle platform via a first hinge support. The free end of the first connecting rod is connected to a first electric push rod. The output end of the first electric push rod is rotatably connected to one end of a third connecting rod. The other end of the third connecting rod is hinged to a wheel bracket via a third hinge support. Two second electric push rods are hinged to the vehicle platform via two second hinge supports. The output end of the second electric push rod is rotatably connected to one end of the second connecting rod, and the other end of the second connecting rod is hinged to the wheel bracket via a fourth hinge support. The third electric push rod is hinged to the vehicle platform via the fifth hinge support, and the output end of the third electric push rod is hinged to the first connecting rod via the sixth hinge support.

[0008] Furthermore, the two second electric push rods are both located below the first electric push rod, the two second hinge supports are at the same height, the two fourth hinge supports are both installed on the side of the wheel bracket near the second electric push rod, the third hinge support is installed on the top of the wheel bracket, and the two fourth hinge supports are symmetrically arranged about the third hinge support.

[0009] Furthermore, the output end of the first electric push rod and one end of the third connecting rod are rotatably connected by a bushing.

[0010] Furthermore, the fourth hinge support is a ball hinge support.

[0011] Furthermore, it also includes a spring damper, with the free end of the first connecting rod connected to one end of the spring damper, and the other end of the spring damper connected to the first electric push rod.

[0012] Furthermore, the vehicle platform includes a first mounting rod, a second mounting rod, and a third mounting rod. The first mounting rod is horizontally arranged, and a first hinge support is mounted on the first mounting rod. The second mounting rod is vertically arranged, with the first mounting rod mounted on the top of the second mounting rod and a fifth hinge support mounted on the second mounting rod. The third mounting rod is horizontally mounted on the bottom of the second mounting rod, and the third mounting rod is spatially perpendicular to the first mounting rod. The second hinge support is mounted on the side of the third mounting rod facing the wheel bracket.

[0013] Furthermore, the first mounting rod, the second mounting rod, and the third mounting rod are all provided with sliding grooves along their length. The first hinge support, the fifth hinge support, and the second hinge support are respectively installed on the corresponding mounting rod by screws engaging with the sliding grooves of the corresponding mounting rods.

[0014] Furthermore, a reinforcing rib is connected between the first mounting rod and the second mounting rod.

[0015] Furthermore, the first connecting rod is provided with a slot, and the sixth hinge support is installed in the slot.

[0016] Furthermore, the wheel assembly includes a wheel motor and a wheel, with the wheel motor mounted on the side of the wheel bracket away from the second electric push rod, and the wheel mounted on the output end of the wheel motor.

[0017] Advantages and positive effects of the present invention: This suspension system, through the parallel coordinated drive of the first, second, and third electric push rods, in conjunction with various hinge supports, connecting rods, and bushings, enables the wheel brackets to move horizontally, swing vertically, and tilt laterally. This ensures that the wheels make attitude adjustments to adapt to road conditions, guaranteeing stable vehicle movement under complex road conditions. It is particularly suitable for scenarios with extremely high attitude control requirements, such as the transportation of precision instruments, effectively preventing cargo damage caused by attitude instability. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of a fast-response electric active suspension based on a parallel structure, provided by the present invention.

[0020] Figure 2 This is a front view schematic diagram of a fast-response electric active suspension based on a parallel structure, provided by the present invention.

[0021] Figure 3 This is a side view schematic diagram of a fast-response electric active suspension based on a parallel structure, provided by the present invention.

[0022] In the diagram: 1. Vehicle platform; 2. First electric push rod; 3. Second electric push rod; 4. Third electric push rod; 5. Wheel bracket; 6. First hinge support; 7. First connecting rod; 8. Third connecting rod; 9. Third hinge support; 10. Second hinge support; 11. Second connecting rod; 12. Fourth hinge support; 13. Fifth hinge support; 14. Sixth hinge support; 15. Bushing; 16. Spring damper; 17. First mounting rod; 18. Second mounting rod; 19. Third mounting rod; 20. Slide groove; 21. Reinforcing rib; 22. Slot; 23. Wheel; 24. Wheel motor. Detailed Implementation

[0023] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0024] This invention provides a fast-response electric active suspension based on a parallel structure, such as... Figure 1-3 As shown, it includes a vehicle platform 1, a first electric push rod 2, a second electric push rod 3, a third electric push rod 4, a wheel bracket 5, and a wheel assembly.

[0025] The vehicle platform 1 includes a first mounting rod 17, a second mounting rod 18, and a third mounting rod 19. The first mounting rod 17 is horizontally arranged, the second mounting rod 18 is vertically arranged, the first mounting rod 17 is mounted on the top of the second mounting rod 18, and the third mounting rod 19 is horizontally mounted on the bottom of the second mounting rod 18, and the third mounting rod 19 and the first mounting rod 17 are arranged vertically in space. A reinforcing rib 21 connects the first mounting rod 17 and the second mounting rod 18.

[0026] The first mounting rod 17, the second mounting rod 18, and the third mounting rod 19 are all provided with a sliding groove 20 along their length. The first hinge support 6, the fifth hinge support 13, and the second hinge support 10 are respectively installed on the corresponding mounting rod by screws engaging with the sliding groove 20 of the corresponding mounting rod. The first hinge support 6 is installed on the first mounting rod 17, the fifth hinge support 13 is installed on the second mounting rod 18, and the second hinge support 10 is installed on the side of the third mounting rod 19 facing the wheel bracket 5.

[0027] A first connecting rod 7 is hinged to the body platform 1 via a first hinge support 6. The first connecting rod 7 has a slot 22. The free end of the first connecting rod 7 is connected to the first electric push rod 2 via a spring damper 16. The output end of the first electric push rod 2 is rotatably connected to one end of a third connecting rod 8 via a bushing 15. The other end of the third connecting rod 8 is hinged to the wheel bracket 5 via a third hinge support 9. A third electric push rod 4 is hinged to the body platform 1 via a fifth hinge support 13. The output end of the third electric push rod 4 is hinged to the first connecting rod 7 via a sixth hinge support 14. The sixth hinge support 14 is installed in the slot 22. Two second electric push rods 3 are hinged to each other by two second hinge supports 10. Both second electric push rods 3 are located below the first electric push rod 2. The two second hinge supports 10 are at the same height. The output end of the second electric push rod 3 is rotatably connected to one end of the second connecting rod 11. The other end of the second connecting rod 11 is hinged to the wheel bracket 5 through a fourth hinge support 12. The fourth hinge support 12 is a ball joint support. Both fourth hinge supports 12 are installed on the side of the wheel bracket 5 near the second electric push rod 3. A third hinge support 9 is installed on the top of the wheel bracket 5. The two fourth hinge supports 12 are symmetrically arranged about the third hinge support 9.

[0028] The wheel assembly includes a wheel motor 24 and a wheel 23. The wheel motor is mounted on the side of the wheel bracket 5 away from the second electric push rod 3, and the wheel is mounted on the output end of the wheel motor.

[0029] Working principle: Two second electric push rods 3 are symmetrically arranged below the first electric push rod 2. They can extend and retract independently or move synchronously during operation. When the two electric push rods 3 extend and retract synchronously, and in conjunction with the synchronous extension and retraction of the third electric push rod 4 and the first electric push rod 2, the wheel bracket 5 can move horizontally away from or towards the second electric push rod 3. When one of the two electric push rods 3 extends and the other retracts, the wheel bracket 5 can be driven to rotate.

[0030] When the two electric push rods 3 are not in motion, the first electric push rod 2 and the third electric push rod 4 extend and retract synchronously, which can drive the wheel bracket 5 to swing up and down around the ball joint structure of the fourth hinge support 12.

[0031] Alternatively, while the two electric push rods 3 extend and retract synchronously to move the wheel bracket 5 horizontally, the first electric push rod 2, in conjunction with the third electric push rod 4, causes the wheel bracket 5 to swing vertically.

[0032] When the two electric push rods 3 drive the wheel bracket 5 to rotate, the first electric push rod 2, together with the third electric push rod 4, causes the wheel bracket 5 to swing up and down, thus achieving the tilting action of the wheel bracket 5.

[0033] The posture of wheel 23 is adjusted by the various movements of wheel bracket 5.

[0034] The spring damper 16 between the first connecting rod 7 and the first electric push rod 2 can effectively attenuate vibration impact during suspension attitude adjustment and road bumps, absorb vibration energy driven by the electric push rod and road feedback, and prevent vibration from being transmitted to the vehicle platform 1.

[0035] The first mounting rod 17, the second mounting rod 18, and the third mounting rod 19 of the body platform 1 are all provided with sliding grooves 20. Each hinge support can adjust its installation position through the sliding grooves 20, thereby changing the transmission angle and stroke of the first electric push rod 2, the second electric push rod 3, the third electric push rod 4, and each connecting rod, to adapt to the usage requirements of different vehicle models and different transportation scenarios. The reinforcing ribs 21 improve the structural rigidity of the body platform 1, ensure the stability of the drive force transmission, and prevent platform deformation from affecting the suspension control accuracy.

[0036] The wheel motor 24 of the wheel assembly directly drives the wheel 23 to rotate, realizing the movement function of the suspension; together with the first electric push rod 2 and the second electric push rod 3, the attitude of the wheel bracket 5 is precisely controlled to ensure that the wheel 23 always keeps in contact with the ground and improves the stability of the suspension under complex road conditions.

[0037] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A fast response electric active suspension based on a parallel structure, characterized by, The body platform (1), the first electric push rod (2), the second electric push rod (3), the third electric push rod (4), the wheel support (5) and the wheel assembly are included. The first connecting rod (7) is hinged on the body platform (1) through the first hinge support (6), the free end of the first connecting rod (7) is connected with the first electric push rod (2), the output end of the first electric push rod (2) is rotatably connected with one end of the third connecting rod (8), the other end of the third connecting rod (8) is hinged with the wheel support (5) through the third hinge support (9). The two second electric push rods (3) are hinged on the body platform (1) through the two second hinge supports (10) respectively, the output end of the second electric push rod (3) is rotatably connected with one end of the second connecting rod (11), the other end of the second connecting rod (11) is hinged with the wheel support (5) through the fourth hinge support (12). The third electric push rod (4) is hinged on the body platform (1) through the fifth hinge support (13), the output end of the third electric push rod (4) is hinged with the first connecting rod (7) through the sixth hinge support (14).

2. The fast-responding electric active suspension based on a parallel structure according to claim 1, characterized in that, The two second electric push rods (3) are located below the first electric push rod (2), the two second hinge supports (10) have the same height, the two fourth hinge supports (12) are installed on the side of the wheel support (5) close to the second electric push rod (3), the third hinge support (9) is installed on the top of the wheel support (5), and the two fourth hinge supports (12) are symmetrically arranged about the third hinge support (9).

3. The fast-responding electric active suspension based on parallel structure of claim 1, wherein, The output end of the first electric push rod (2) and one end of the third connecting rod (8) are rotatably connected through the shaft sleeve (15).

4. The fast-responding electric active suspension based on parallel structure of claim 1, wherein, The fourth hinge support (12) is a spherical hinge support.

5. The fast-responding electric active suspension based on parallel structure of claim 1, wherein, A spring damper (16) is further included, the free end of the first connecting rod (7) is connected with one end of the spring damper (16), and the other end of the spring damper (16) is connected with the first electric push rod (2).

6. The fast-responding electric active suspension based on parallel structure of claim 1, wherein, The body platform (1) includes a first mounting rod (17), a second mounting rod (18) and a third mounting rod (19), the first mounting rod (17) is horizontally arranged, and the first hinge support (6) is installed on the first mounting rod (17); the second mounting rod (18) is vertically arranged, the first mounting rod (17) is installed on the top of the second mounting rod (18), and the fifth hinge support (13) is installed on the second mounting rod (18); the third mounting rod (19) is horizontally installed on the bottom of the second mounting rod (18), the third mounting rod (19) is arranged in space perpendicular to the first mounting rod (17), and the second hinge support (10) is installed on the side of the third mounting rod (19) facing the wheel support (5).

7. A fast responding electrically driven active suspension based on a parallel structure according to claim 6, characterized in that, The first mounting rod (17), the second mounting rod (18) and the third mounting rod (19) are all provided with sliding grooves (20) along the length direction, the first hinge support (6), the fifth hinge support (13) and the second hinge support (10) are respectively matched with the sliding grooves (20) of the corresponding mounting rods through screws, and are installed on the corresponding mounting rods.

8. The fast-responding electric active suspension based on a parallel structure of claim 6, wherein, The first mounting rod (17) and the second mounting rod (18) are connected with the reinforcing rib (21).

9. The fast-responding electric active suspension based on a parallel structure of claim 1, wherein The first connecting rod (7) is provided with a clamping groove (22), and the sixth hinge support (14) is installed in the clamping groove (22).

10. The fast-responding electric active suspension based on a parallel structure of claim 1, wherein The wheel assembly comprises a wheel motor (24) and a wheel (23), the wheel motor is installed on the side of the wheel support (5) far away from the second electric push rod (3), and the wheel is installed on the output end of the wheel motor.

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