Suspension device and robot having the same

Abstract

The utility model provides a suspension device and a robot having the same, wherein the suspension device comprises: a mounting seat for connecting with the robot body; a suspension assembly, one end of which is rotatably connected with the mounting seat; a magnetic wheel, which is rotatably connected with the other end of the suspension assembly, and which is movably arranged relative to the suspension assembly, and which is used to connect with a working surface; and a driving structure, which is used to drive the magnetic wheel to move in a direction close to the working surface. The technical solution provided by the present application can solve the problem in the prior art that the robot is very likely to fall off the working surface when passing through obstacles on the working surface.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a suspension device and a robot having the same. Background Art

[0002] At present, magnetic adsorption wall-climbing robots mainly use magnetic force to adsorb and move on metal work surfaces during operation. Magnetic adsorption wall-climbing robots are widely used in various scenarios that require operations on vertical, inclined or inverted metal work surfaces.

[0003] In the prior art, the magnetic adsorption wall-climbing robot has a body with a driving wheel provided on the body. The driving wheel can be adsorbed on a metal working surface. However, the working surface usually has obstacles such as welding scars. When the magnetic adsorption wall-climbing robot passes through the obstacles, the magnetic adsorption wall-climbing robot will be lifted up, which makes the magnetic adsorption area between the driving wheel and the working surface of the magnetic adsorption wall-climbing robot smaller, thereby causing the magnetic adsorption wall-climbing robot to easily fall from the working surface, affecting the normal operation of the magnetic adsorption wall-climbing robot. Utility Model Content

[0004] The utility model provides a suspension device and a robot with the same, so as to solve the problem in the prior art that the robot is very easy to fall off the working surface when passing through obstacles on the working surface.

[0005] According to one aspect of the utility model, a suspension device is provided, which includes: a mounting seat for connecting to a body of a robot; a suspension assembly, one end of which is rotatably connected to the mounting seat; a magnetic wheel, which is rotatably connected to the other end of the suspension assembly, and is movably arranged relative to the suspension assembly, and is used to connect to a working surface; and a driving structure, which is used to drive the magnetic wheel to move toward the working surface.

[0006] Furthermore, the suspension assembly includes: a suspension structure, one end of which is rotatably connected to a mounting seat, and the suspension structure is connected to one end of a driving structure; a connecting structure, one end of which is slidably disposed on the suspension structure, the connecting structure being able to move relative to the suspension structure along an extension direction of the suspension structure, the other end of the connecting structure being connected to a magnetic wheel, the magnetic wheel being able to rotate relative to the connecting structure, and the connecting structure being connected to the other end of the driving structure, and the driving structure drives the magnetic wheel to move toward a direction close to the working surface via the connecting structure.

[0007] Furthermore, the driving structure is made of elastic material.

[0008] Furthermore, a guide structure is provided between the suspension structure and the connection structure to guide the movement of the connection structure.

[0009] Furthermore, a guide rail is provided on the suspension structure, and the guide rail extends along the extension direction of the suspension structure. The connecting structure includes a slider, and the slider is slidably provided on the guide rail. The guide rail cooperates with the slider to form a guiding structure.

[0010] Furthermore, the connection structure also includes a connection member, on which a relief portion is provided, and the magnetic wheel portion is located in the relief portion.

[0011] Furthermore, reinforcing ribs are provided on the connecting piece.

[0012] Furthermore, a first limiting member and a second limiting member are spaced apart on the mounting seat, and the first limiting member and the second limiting member can respectively abut against the suspension structure to limit the rotation angle of the suspension structure.

[0013] Furthermore, the vehicle body has a first end and a second end relatively arranged along the forward direction, and the mounting seat is used to be arranged at the first end of the vehicle body. When the suspension structure abuts against the first limit member, the suspension structure is located at a first extreme position, and the suspension structure is inclined toward the second end of the vehicle body, and a first angle α is formed between the suspension structure and the vertical direction. When the suspension structure abuts against the second limit member, the suspension structure is located at a second extreme position, and the suspension structure is inclined toward the second end of the vehicle body, and a second angle β is formed between the suspension structure and the vertical direction. The second angle β is greater than the first angle α, and 0<β-α≤20°.

[0014] According to another aspect of the utility model, a robot is provided, which includes a vehicle body, a plurality of driving wheels and a plurality of suspension devices provided above, the plurality of driving wheels and the plurality of suspension devices are all arranged on the vehicle body, the mounting seats of the suspension devices are fixedly connected to the vehicle body, and the plurality of driving wheels and the magnetic wheels of the suspension devices are used to be connected to a working surface.

[0015] The technical solution of the utility model is applied, the mounting seat is rotatably connected to the robot body, one end of the suspension assembly is rotatably connected to the mounting seat, the other end of the suspension assembly is connected to the magnetic wheel, the magnetic wheel is movably arranged relative to the suspension assembly, and the driving structure can drive the magnetic wheel to move in the direction close to the working surface. In this way, when the robot passes through an obstacle, the magnetic wheel can be magnetically connected to the working surface, and the driving structure can ensure the connection effect between the magnetic wheel and the working surface, and prevent the magnetic wheel from falling off the working surface, thereby ensuring the magnetic attraction area of ​​the robot as a whole and the working surface, and then preventing the robot from falling off the working surface, so that the robot can work normally on the working surface and improve the service life of the robot. And because the suspension assembly is rotatably arranged relative to the robot body, when the robot passes through an obstacle, the suspension assembly and the magnetic wheel will rotate synchronously relative to the body. In this way, the resistance between the suspension device and the obstacle can be reduced, which is convenient for the robot to pass through the obstacle. At the same time, because the suspension assembly and the magnetic wheel will rotate synchronously relative to the body, the contact area between the magnetic wheel and the working surface can also be increased, further preventing the robot from falling off the working surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings constituting part of the present application 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 on the present invention. In the drawings:

[0017] Figure 1 The structure diagram of the suspension device provided by the utility model is shown;

[0018] Figure 2 A side view of the suspension device provided by the utility model is shown;

[0019] Figure 3 The schematic diagram of the structure of the robot provided by the utility model is shown.

[0020] The above drawings include the following reference numerals:

[0021] 10. Mounting seat;

[0022] 20. Suspension components;

[0023] 21. Suspension structure;

[0024] 22. Connection structure;

[0025] 221, Slider;

[0026] 222, connector;

[0027] 2221, avoidance portion; 2222, reinforcement rib;

[0028] 30. Magnetic wheel;

[0029] 40. Driving structure;

[0030] 100. Vehicle body;

[0031] 200, driving wheel;

[0032] 1. Obstacles. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means a limitation on the utility model and its application or use. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model.

[0034] like Figures 1 to 3 As shown, an embodiment of the utility model provides a suspension device, which includes a mounting seat 10, a suspension component 20, a magnetic wheel 30 and a driving structure 40. The mounting seat 10 is used to connect with the body 100 of the robot. One end of the suspension component 20 is rotatably connected to the mounting seat 10. The magnetic wheel 30 is rotatably connected to the other end of the suspension component 20, and the magnetic wheel 30 is movably arranged relative to the suspension component 20, and the magnetic wheel 30 is used to connect with the working surface. The driving structure 40 is used to drive the magnetic wheel 30 to move in a direction close to the working surface. Among them, in the present application, the robot is a magnetic adsorption wall-climbing robot. The working surface is made of metal, and the magnetic wheel 30 can be magnetically connected to the working surface.

[0035] By applying the technical solution of the present application, the mounting seat 10 is rotatably connected to the robot body 100, one end of the suspension assembly 20 is rotatably connected to the mounting seat 10, the other end of the suspension assembly 20 is connected to the magnetic wheel 30, the magnetic wheel 30 is movably arranged relative to the suspension assembly 20, and the driving structure 40 can drive the magnetic wheel 30 to move in the direction close to the working surface. With such an arrangement, when the robot passes through the obstacle 1, the magnetic wheel 30 can be magnetically connected to the working surface, and at the same time, the driving structure 40 can ensure the connection effect between the magnetic wheel 30 and the working surface, and prevent the magnetic wheel 30 from falling off the working surface, thereby ensuring the magnetic attraction area of ​​the robot as a whole and the working surface, and then preventing the robot from falling off the working surface, so that the robot can work normally on the working surface and improve the service life of the robot. And because the suspension assembly 20 is rotatably arranged relative to the robot body 100, when the robot passes through the obstacle 1, the suspension assembly 20 and the magnetic wheel 30 will rotate synchronously relative to the body 100. With such an arrangement, the resistance between the suspension device and the obstacle 1 can be reduced, which is convenient for the robot to pass through the obstacle 1. At the same time, since the suspension assembly 20 and the magnetic wheel 30 can rotate synchronously relative to the vehicle body 100, the contact area between the magnetic wheel 30 and the working surface can be increased, further preventing the robot from falling from the working surface.

[0036] Among them, in the present application, the mounting seat 10 is threadedly connected to the vehicle body 100. Such a configuration can ensure the stability of the connection between the suspension device and the vehicle body 100 and prevent the suspension device from falling from the vehicle body 100.

[0037] Specifically, the suspension assembly 20 includes a suspension structure 21 and a connection structure 22. One end of the suspension structure 21 is rotatably connected to the mounting seat 10, and the suspension structure 21 is connected to one end of the driving structure 40. One end of the connection structure 22 is slidably disposed on the suspension structure 21, and the connection structure 22 can move relative to the suspension structure 21 along the extension direction of the suspension structure 21, and the other end of the connection structure 22 is connected to the magnetic wheel 30, and the magnetic wheel 30 can rotate relative to the connection structure 22, and the connection structure 22 is connected to the other end of the driving structure 40, and the driving structure 40 drives the magnetic wheel 30 to move in a direction close to the working surface through the connection structure 22.

[0038] The connection structure 22 is slidably disposed on the suspension structure 21, and the connection structure 22 is connected to the magnetic wheel 30, and the driving structure 40 can drive the magnetic wheel 30 to move through the connection structure 22. With such a configuration, the suspension assembly 20 has a simple structure, and it is easy to drive the magnetic wheel 30 to move relative to the suspension assembly 20, and the operation is convenient. At the same time, the connection structure 22 can slide on the suspension structure 21, so that the stability of the movement of the connection structure 22 can be ensured.

[0039] Furthermore, the driving structure 40 is made of elastic material. This arrangement can avoid using an additional power source while ensuring the driving effect of the driving structure 40, thereby reducing energy consumption.

[0040] In addition, the driving structure 40 can also provide a buffering effect for the connection structure 22 and the magnetic wheel 30 during the up and down movement, thereby preventing the suspension device from being excessively damaged and increasing the service life of the suspension device.

[0041] Optionally, the driving structure 40 may be a spring.

[0042] Optionally, in other embodiments, the suspension assembly 20 may include an electric push rod, one end of which is connected to the magnetic wheel 30 , and the other end of which is electrically driven and connected to the mounting seat 10 .

[0043] A guiding structure is provided between the suspension structure 21 and the connection structure 22 to guide the movement of the connection structure 22 .

[0044] Such a configuration can ensure the stability of the connection structure 22 during movement, avoid dislocation of the connection structure 22 during movement, and thus ensure that the magnetic wheel 30 can move normally relative to the suspension structure 21, thereby ensuring the magnetic attraction effect between the magnetic wheel 30 and the working surface.

[0045] Specifically, a guide rail is provided on the suspension structure 21, and the guide rail extends along the extension direction of the suspension structure 21. The connection structure 22 includes a slider 221, and the slider 221 is slidably provided on the guide rail. The guide rail and the slider 221 cooperate to form a guiding structure.

[0046] Such arrangement facilitates processing of the suspension structure 21 and the connection structure 22 , has a simple structure, is easy to operate, and can ensure the stability of movement of the connection structure 22 .

[0047] Among them, in the present application, one end of the suspension structure 21 is rotatably connected to the mounting seat 10, and a limiting plate is provided at the other end of the suspension structure 21. The mounting seat 10 and the limiting plate cooperate to limit the slider 221 to prevent the slider 221 from falling off the suspension structure 21, thereby ensuring the normal movement of the slider 221.

[0048] Furthermore, the connection structure 22 further includes a connection member 222, on which a relief portion 2221 is provided, and the magnetic wheel 30 is partially located in the relief portion 2221. This arrangement can reduce the volume of the suspension device, facilitate the installation of the magnetic wheel 30, and further facilitate the connection of the suspension device.

[0049] Specifically, the connector 222 includes a first connector plate, a second connector plate, and a third connector plate, the first connector plate and the third connector plate are respectively located on both sides of the second connector, the first connector plate and the third connector plate are arranged in parallel, the first connector plate and the second connector plate are arranged perpendicularly, and the first connector plate is arranged on the end surface of the second connector plate close to the mounting seat 10, and the third connector plate is arranged on the end surface of the second connector plate away from the mounting seat 10. An avoidance portion 2221 is formed between the second connector plate and the third connector plate. With such an arrangement, the connector 222 has a simple structure and is easy to process.

[0050] Further, the slider 221 is disposed on the first connecting plate, and the slider 221 is threadedly connected to the first connecting plate.

[0051] Among them, the connecting member 222 is provided with a reinforcing rib 2222. Such a configuration can improve the structural strength of the connecting member 222, avoid damage to the connecting member 222, and increase the service life of the connecting member 222.

[0052] Specifically, in the present application, the reinforcing rib 2222 is disposed between the first connecting plate and the second connecting plate.

[0053] Furthermore, in the present application, one end of the driving structure 40 is connected to one end of the suspension structure 21 connected to the mounting seat 10, and the other end of the driving structure 40 is connected to the second connecting plate through a connecting rod, that is, one end of the connecting rod is connected to the driving structure 40, and the other end of the connecting rod is connected to the second connecting plate. Such an arrangement makes it easy for the driving structure 40 to drive the connecting structure 22 to move, while ensuring the driving effect of the driving structure 40.

[0054] Among them, the mounting seat 10 is provided with a first stopper and a second stopper at intervals, and the first stopper and the second stopper can respectively abut against the suspension structure 21 to limit the rotation angle of the suspension structure 21. Such a configuration can prevent the suspension structure 21 from colliding with the vehicle body 100 during the rotation process, and can also prevent the magnetic wheel 30 from being disconnected from the working surface during the rotation process of the suspension structure 21, thereby ensuring that the suspension structure 21 can work normally.

[0055] Specifically, the vehicle body 100 has a first end and a second end that are relatively arranged along the forward direction, and the mounting seat 10 is used to be arranged at the first end of the vehicle body 100. When the suspension structure 21 abuts against the first limiter, the suspension structure 21 is located at the first extreme position, and the suspension structure 21 is inclined toward the direction close to the second end of the vehicle body 100, and there is a first angle α between the suspension structure 21 and the vertical direction. Such an arrangement can reduce the resistance of the magnetic wheel 30 when passing through an obstacle, facilitate the suspension device to pass through the obstacle, and avoid the vehicle body 100 from pausing during driving.

[0056] The first angle α is set between 0 and 5°. Specifically, the staff can determine the value of the first angle α according to actual requirements such as the size of the obstacle.

[0057] When the suspension structure 21 abuts against the second limit member, the suspension structure 21 is located at the second extreme position, and the suspension structure 21 is inclined toward the second end close to the vehicle body 100, and there is a second angle β between the suspension structure 21 and the vertical direction, the second angle β is greater than the first angle α, and 0<β-α≤20°.

[0058] With such arrangement, when the difference between the second angle β and the first angle α is 0, the suspension structure 21 cannot swing, which will cause excessive resistance when the magnetic wheel 30 passes through an obstacle, and the magnetic attraction effect between the magnetic wheel 30 and the working surface cannot be guaranteed; when the difference between the second angle β and the first angle α is greater than 20°, the magnetic wheel 30 is very easy to separate from the working surface during rotation, which can easily cause the robot to fall; therefore, in the present application, the difference between the second angle β and the first angle α is greater than 0 and not greater than 20°. With such arrangement, the resistance of the magnetic wheel 30 when passing through an obstacle can be reduced while ensuring that the magnetic wheel 30 is normally adsorbed on the working surface, thereby preventing the robot from falling.

[0059] Optionally, the difference between the second angle β and the first angle α may be 5°, 10° or 20°. In the present application, the difference between the second angle β and the first angle α is 20°.

[0060] like Figure 3As shown, another embodiment of the utility model provides a robot, the robot includes a body 100, a plurality of driving wheels 200 and a plurality of suspension devices provided above, the plurality of driving wheels 200 and the plurality of suspension devices are all arranged on the body 100, the mounting seat 10 of the suspension device is fixedly connected to the body 100, and the plurality of driving wheels 200 and the magnetic wheel 30 of the suspension device are used to connect with the working surface. In this way, when the robot passes through the obstacle 1, the magnetic wheel 30 can be magnetically connected to the working surface, and the driving structure 40 can ensure the connection effect between the magnetic wheel 30 and the working surface, and prevent the magnetic wheel 30 from falling off the working surface, thereby ensuring the magnetic attraction area of ​​the robot as a whole and the working surface, and then preventing the robot from falling off the working surface, so that the robot can work normally on the working surface, and improve the service life of the robot. And because the suspension assembly 20 is rotatable relative to the body 100 of the robot, when the robot passes through the obstacle 1, the suspension assembly 20 and the magnetic wheel 30 will rotate synchronously relative to the body 100, so that the resistance between the suspension device and the obstacle 1 can be reduced, and the robot can pass the obstacle 1. At the same time, since the suspension assembly 20 and the magnetic wheel 30 rotate synchronously relative to the vehicle body 100, the contact area between the magnetic wheel 30 and the working surface can be increased, further preventing the robot from falling from the working surface. Therefore, the above structure can ensure the stability of the robot during movement and prevent the robot from falling from the working surface.

[0061] Specifically, a plurality of driving wheels 200 are arranged at intervals along the forward direction of the vehicle body 100, some of the driving wheels 200 are located at the second end of the vehicle body 100, and a plurality of suspension devices are located at the first end of the vehicle body 100. Such an arrangement can further ensure the stability of the robot during movement, and at the same time can ensure the supporting effect of the driving wheels 200 on the vehicle body 100, so as to ensure that the vehicle body 100 can move normally.

[0062] Furthermore, in the present application, the robot includes four driving wheels 200 and two suspension devices, wherein two driving wheels 200 are arranged in the middle of the vehicle body 100, and the two driving wheels 200 in the middle are located on both sides of the vehicle body 100, and the other two driving wheels 200 are arranged at the second end of the vehicle body 100, and the two driving wheels 200 at the second end of the vehicle body 100 are respectively arranged on both sides of the vehicle body 100, and the two suspension devices are located at the first end of the vehicle body 100, and the two suspension devices at the first end of the vehicle body 100 are respectively arranged on both sides of the vehicle body 100.

[0063] Among them, in the present application, the center of gravity of the robot is set between the four driving wheels 200, so that when the two driving wheels 200 in the middle of the vehicle body 100 are lifted up, the torque of the magnetic wheel 30 of the suspension device is longer, so the suspension device can effectively prevent the robot from falling when crossing obstacles.

[0064] Therefore, adopting the above solution:

[0065] The driving structure 40 is used to drive the magnetic wheel 30 to move toward the working surface, so as to ensure the connection effect between the magnetic wheel 30 and the working surface and prevent the magnetic wheel 30 from falling off the working surface;

[0066] The driving structure 40 is a spring, which can reduce energy consumption and provide a buffering effect during the up and down movement of the connecting structure 22 and the magnetic wheel 30 to avoid excessive damage to the suspension device;

[0067] The suspension assembly 20 can swing relative to the vehicle body 100 , so that during the movement of the robot, the resistance between the magnetic wheel 30 and the working surface is small, which facilitates the magnetic wheel 30 to pass over the obstacle 1 .

[0068] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0069] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the utility model. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0070] In the description of the present utility model, it needs to be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present utility model and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present utility model; the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0071] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0072] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the utility model.

[0073] The above description is only the preferred embodiment of the utility model, and is not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A suspension device, characterized in that: The suspension device comprises: A mounting seat (10) for connecting to a body (100) of the robot; A suspension component (20), one end of the suspension component (20) being rotatably connected to the mounting seat (10); a magnetic wheel (30), the magnetic wheel (30) being rotatably connected to the other end of the suspension assembly (20), the magnetic wheel (30) being movably arranged relative to the suspension assembly (20), and the magnetic wheel (30) being used to be connected to a working surface; A driving structure (40) is used to drive the magnetic wheel (30) to move in a direction close to the working surface.

2. The suspension device according to claim 1, characterized in that: The suspension assembly (20) comprises: A suspension structure (21), one end of the suspension structure (21) being rotatably connected to the mounting seat (10), and the suspension structure (21) being connected to one end of the driving structure (40); A connecting structure (22), one end of which is slidably arranged on the suspension structure (21), and the connecting structure (22) can move relative to the suspension structure (21) along the extension direction of the suspension structure (21); the other end of the connecting structure (22) is connected to the magnetic wheel (30), and the magnetic wheel (30) can rotate relative to the connecting structure (22); and the connecting structure (22) is connected to the other end of the driving structure (40), and the driving structure (40) drives the magnetic wheel (30) to move in a direction close to the working surface through the connecting structure (22).

3. The suspension device according to claim 1, characterized in that: The driving structure (40) is made of elastic material.

4. The suspension device according to claim 2, characterized in that: A guiding structure is provided between the suspension structure (21) and the connecting structure (22) to guide the movement of the connecting structure (22).

5. The suspension device according to claim 4, characterized in that: A guide rail is arranged on the suspension structure (21), and the guide rail extends along the extension direction of the suspension structure (21). The connection structure (22) comprises a slider (221), and the slider (221) is slidably arranged on the guide rail. The guide rail cooperates with the slider (221) to form the guide structure.

6. The suspension device according to claim 2, characterized in that: The connection structure (22) further comprises a connection member (222), the connection member (222) being provided with an avoidance portion (2221), and the magnetic wheel (30) is partially located in the avoidance portion (2221).

7. The suspension device according to claim 6, characterized in that: The connecting piece (222) is provided with a reinforcing rib (2222).

8. The suspension device according to claim 2, characterized in that: A first limiting member and a second limiting member are arranged at intervals on the mounting seat (10), and the first limiting member and the second limiting member can respectively abut against the suspension structure (21) to limit the rotation angle of the suspension structure (21).

9. The suspension device according to claim 8, characterized in that The vehicle body (100) has a first end and a second end that are arranged opposite to each other in the forward direction. The mounting seat (10) is used to be arranged at the first end of the vehicle body (100). When the suspension structure (21) abuts against the first limiting member, the suspension structure (21) is located at a first extreme position, and the suspension structure (21) is inclined in a direction close to the second end of the vehicle body (100). A first angle α is formed between the suspension structure (21) and the vertical direction. When the suspension structure (21) abuts against the second limiting member, the suspension structure (21) is located at a second extreme position, and the suspension structure (21) is inclined in a direction close to the second end of the vehicle body (100). A second angle β is formed between the suspension structure (21) and the vertical direction. The second angle β is greater than the first angle α, and 0<β-α≤20°.

10. A robot, characterized in that: The robot comprises a vehicle body (100), a plurality of driving wheels (200) and a plurality of suspension devices as described in any one of claims 1 to 9, wherein the plurality of driving wheels (200) and the plurality of suspension devices are arranged on the vehicle body (100), the mounting seat (10) of the suspension device is fixedly connected to the vehicle body (100), and the plurality of driving wheels (200) and the magnetic wheels (30) of the suspension device are used to be connected to a working surface.

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