Omnidirectional suspension

Abstract

The utility model relates to the field of logistics equipment, in particular to an omni-directional suspension which comprises a power fixing plate. The rocker arm assembly comprises an upper rocker arm arranged at the upper end of the power fixing plate and a lower rocker arm arranged at the lower end of the power fixing plate, the upper rocker arm and the lower rocker arm are the same in shape, and the upper rocker arm and the lower rocker arm are arranged in parallel; the upper rocker arm is of a V-shaped plate structure; and the elastic supporting unit comprises elastic supporting assemblies arranged at the two ends of the rocker arm assembly correspondingly, each elastic supporting assembly comprises a trolley body connecting plate, a spring upper supporting plate, a spring lower supporting plate, a sliding restraining part and a supporting spring, and the stability of the logistics trolley or robot structure is improved.

Description

Technical Field

[0001] This utility model relates to the field of logistics equipment, and in particular to an omnidirectional suspension. Background Technology

[0002] With the rapid development of the logistics and robotics industries, small logistics vehicles and robots with omnidirectional wheel chassis are becoming increasingly common, and most of them are four-wheel omnidirectional wheel chassis. If the motor is directly connected to the omnidirectional wheel without suspension, only three wheels will be in contact with the ground most of the time. This not only affects the stability of the vehicle, but may also cause the wheels to slip and get stuck when the vehicle passes over small obstacles on the ground. Therefore, suspension is particularly important. At present, most omnidirectional wheel suspensions use a double-link structure. However, this structure results in a larger wheel assembly, which occupies more space. For some smaller vehicles or robots, this will cause a significant waste of space and also result in an undersized chassis with reduced stability. At the same time, the double-link structure will also cause axial movement of the wheels, which will change the structural dimensional parameters of the omnidirectional wheel chassis, resulting in uneven wheel wear and reduced accuracy of the vehicle or robot's operation. Utility Model Content

[0003] Therefore, this utility model provides an omnidirectional suspension to overcome the problems of large structural space and low operational accuracy in the prior art.

[0004] To achieve the above objectives, this utility model provides an omnidirectional suspension, comprising:

[0005] Power mounting plate;

[0006] A rocker arm assembly includes an upper rocker arm disposed at the upper end of the power fixing plate and a lower rocker arm disposed at the lower end of the power fixing plate, wherein the upper rocker arm and the lower rocker arm have the same shape and are arranged in parallel; the upper rocker arm has a V-shaped plate structure.

[0007] An elastic support unit includes elastic support components respectively disposed at both ends of the rocker arm assembly. The elastic support component includes a body connecting plate, an upper spring support plate, a lower spring support plate, a sliding constraint part, and a support spring.

[0008] The lower spring support plate includes a first connecting block and a second connecting block. The top end of the first connecting block is connected to the lower end face of the upper rocker arm, and the bottom end of the first connecting block is connected to the upper end face of the lower rocker arm. The side of the first connecting block away from the power fixing plate is connected to the sliding constraint part. The second connecting block is connected to the lower end of the support spring. The side of the sliding constraint part away from the lower spring support plate is connected to the vehicle body connecting plate. An upper spring support plate is provided at the upper end of the vehicle body connecting plate. The upper spring support plate is sickle-shaped, and the end of the upper spring support plate away from the vehicle body connecting plate is connected to the upper end of the support spring.

[0009] Furthermore, the support spring is a nitrogen spring.

[0010] Furthermore, the sliding constraint part includes a pair of vertically parallel sliding modules; the sliding module includes a slide rail and a sliding seat, wherein the slide rail is connected to the vehicle body connecting plate, and the sliding seat is connected to the lower spring support plate.

[0011] Furthermore, it also includes a power unit, which includes a drive motor and an omnidirectional wheel. The drive motor is disposed on the inner side of the V-shape of the rocker arm along the power fixing plate, the output shaft of the drive motor passes through the power fixing plate, and the omnidirectional wheel is connected to the output shaft.

[0012] Furthermore, a rolling bearing is provided between the output shaft and the power fixing plate.

[0013] Furthermore, the vehicle body connecting plate is provided with a connecting groove, and the bottom end of the upper support plate of the spring is disposed in the connecting groove.

[0014] Furthermore, the body connecting surface of the body connecting plate is coplanar with the side of the upper support plate of the spring away from the sliding constraint part.

[0015] Furthermore, the lower support plate of the spring is provided with weight reduction holes.

[0016] Compared with existing technologies, the advantages of this invention are as follows: Compared with the double-link structure, the vertical suspension significantly reduces the footprint of the wheel assembly, resulting in better space utilization for smaller logistics vehicles and robots. Simultaneously, the addition of vertical suspension completely eliminates axial displacement of the omnidirectional wheels, keeping the dimensional parameters of the omnidirectional wheel chassis constant and greatly improving the repeatability and accuracy of movement. Furthermore, compared with the double-link structure, the vertical suspension offers greater longitudinal movement space and a more rational shock absorber force direction, giving it superior cushioning capabilities.

[0017] Furthermore, the combination of the sliding constraint and the nitrogen spring used in this invention allows for adjustment of the suspension height and stiffness to meet different transportation needs. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the omnidirectional suspension structure according to an embodiment of the present utility model;

[0019] Figure 2 This is a schematic diagram of the drive motor connection structure according to an embodiment of the present utility model;

[0020] Figure 3 This is a schematic diagram of the elastic support component structure according to an embodiment of the present utility model;

[0021] Figure 4 This is a schematic diagram of the omnidirectional suspension application in an embodiment of this utility model;

[0022] In the diagram: 1. Omnidirectional suspension; 2. Body; 11. Power mounting plate; 121. Upper rocker arm; 122. Lower rocker arm; 13. Elastic support assembly; 131. Body connecting plate; 132. Upper spring support plate; 133. Lower spring support plate; 135. Support spring; 1341. Sliding module; 1342. Slide rail; 1343. Sliding seat; 141. Drive motor; 142. Omnidirectional wheel; 143. Rolling bearing; 1331. Weight reduction hole. Detailed Implementation

[0023] To make the objectives, features, and advantages of this utility model more apparent and understandable, the technical solutions in the embodiments of this utility model are clearly and completely described. Obviously, the embodiments described below are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0024] It should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this utility model.

[0025] In the description of this utility model, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0026] In the description of the embodiments of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this utility model based on the specific circumstances.

[0027] Please see Figure 1-3 These are, respectively, a schematic diagram of the omnidirectional suspension structure of an embodiment of the present invention; a schematic diagram of the drive motor connection structure of an embodiment of the present invention; and a schematic diagram of the elastic support component structure of an embodiment of the present invention.

[0028] An embodiment of this utility model provides an omnidirectional suspension, comprising:

[0029] Power mounting plate 11;

[0030] The rocker arm assembly includes an upper rocker arm 121 disposed at the upper end of the power fixing plate 11 and a lower rocker arm 122 disposed at the lower end of the power fixing plate 11, wherein the upper rocker arm 121 and the lower rocker arm 122 have the same shape and are arranged in parallel; the upper rocker arm 121 has a V-shaped plate structure.

[0031] The elastic support unit includes elastic support components 13 respectively disposed at both ends of the rocker arm assembly. The elastic support component 13 includes a body connecting plate 131, an upper spring support plate 132, a lower spring support plate 133, a sliding constraint part, and a support spring 135.

[0032] The lower spring support plate 133 includes a first connecting block and a second connecting block. The top end of the first connecting block is connected to the lower end face of the upper rocker arm 121, and the bottom end of the first connecting block is connected to the upper end face of the lower rocker arm 122. The side of the first connecting block away from the power fixing plate 11 is connected to the sliding constraint part. The second connecting block is connected to the lower end of the support spring 135. The side of the sliding constraint part away from the lower spring support plate 133 is connected to the vehicle body connecting plate 131. An upper spring support plate 132 is provided at the upper end of the vehicle body connecting plate 131. The upper spring support plate 132 is sickle-shaped, and the end of the upper spring support plate 132 away from the vehicle body connecting plate 131 is connected to the upper end of the support spring 135. It can be understood that the first connecting block and the second connecting block together constitute the lower spring support plate 133, and the specific boundary between the first connecting block and the second connecting block is not limited.

[0033] Specifically, the support spring 135 is a nitrogen spring. With this configuration, the suspension height and stiffness can be adjusted by changing the length of the nitrogen spring to meet different transportation needs.

[0034] Specifically, the sliding constraint part includes a pair of vertically parallel sliding modules 1341; the sliding module 1341 includes a slide rail and a sliding seat 1343, wherein the slide rail is connected to the vehicle body connecting plate 131, and the sliding seat 1343 is connected to the lower spring support plate 133.

[0035] Specifically, it also includes a power unit, which comprises a drive motor 141 and an omnidirectional wheel 142. The drive motor 141 is disposed on the inner side of the V-shape of the rocker arm along the power fixing plate 11, and the output shaft of the drive motor 141 passes through the power fixing plate 11. The omnidirectional wheel 142 is connected to the output shaft. With this configuration, the V-shape of the upper rocker arm 121 and the lower rocker arm 122 ensures structural strength, while placing the drive motor 141 on the inner side of the V-shape of the rocker arm along the power fixing plate 11 saves space and reduces the overall size of the omnidirectional suspension 1.

[0036] Specifically, a rolling bearing 143 is provided between the output shaft and the power fixing plate 11, thereby improving the stability of the output shaft of the drive motor 141 and thus improving the stability of the omnidirectional wheel 142.

[0037] Specifically, the body connecting plate 131 is provided with a connecting groove, and the bottom end of the upper support plate 132 of the spring is disposed in the connecting groove.

[0038] Specifically, the body connecting surface of the body connecting plate 131 is coplanar with the side of the upper spring support plate 132 away from the sliding constraint part.

[0039] Specifically, the lower support plate 133 of the spring is provided with a weight reduction hole 1331. This arrangement reduces the weight of the omnidirectional suspension 1 while ensuring the structural design strength.

[0040] Please see Figure 4 The figure shows an application diagram of the omnidirectional suspension 1 in an embodiment of the present invention. As can be seen from the figure, the omnidirectional suspension 1 is set around the vehicle body 2, with high overall integration and good stability.

[0041] For those skilled in the art, based on the ideas of the embodiments of this utility model, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. An omnidirectional suspension, characterized in that, include: Power mounting plate; A rocker arm assembly includes an upper rocker arm disposed at the upper end of the power fixing plate and a lower rocker arm disposed at the lower end of the power fixing plate, wherein the upper rocker arm and the lower rocker arm have the same shape and are arranged in parallel; the upper rocker arm has a V-shaped plate structure. An elastic support unit includes elastic support components respectively disposed at both ends of the rocker arm assembly. The elastic support component includes a body connecting plate, an upper spring support plate, a lower spring support plate, a sliding constraint part, and a support spring. The lower spring support plate includes a first connecting block and a second connecting block. The top end of the first connecting block is connected to the lower end face of the upper rocker arm, and the bottom end of the first connecting block is connected to the upper end face of the lower rocker arm. The side of the first connecting block away from the power fixing plate is connected to the sliding constraint part. The second connecting block is connected to the lower end of the support spring. The side of the sliding constraint part away from the lower spring support plate is connected to the vehicle body connecting plate. An upper spring support plate is provided at the upper end of the vehicle body connecting plate. The upper spring support plate is sickle-shaped, and the end of the upper spring support plate away from the vehicle body connecting plate is connected to the upper end of the support spring.

2. The omnidirectional suspension according to claim 1, characterized in that, The support spring is a nitrogen spring.

3. The omnidirectional suspension according to claim 1, characterized in that, The sliding constraint part includes a pair of vertically parallel sliding modules; the sliding module includes a slide rail and a sliding seat, wherein the slide rail is connected to the vehicle body connecting plate, and the sliding seat is connected to the lower support plate of the spring.

4. The omnidirectional suspension according to claim 1 or 3, characterized in that, It also includes a power unit, which includes a drive motor and an omnidirectional wheel. The drive motor is disposed on the inner side of the V-shape of the rocker arm along the power fixing plate. The output shaft of the drive motor passes through the power fixing plate, and the omnidirectional wheel is connected to the output shaft.

5. The omnidirectional suspension according to claim 4, characterized in that, A rolling bearing is provided between the output shaft and the power fixing plate.

6. The omnidirectional suspension according to claim 1, characterized in that, The vehicle body connecting plate is provided with a connecting groove, and the bottom end of the upper support plate of the spring is set in the connecting groove.

7. The omnidirectional suspension according to claim 6, characterized in that, The body connecting surface of the body connecting plate is coplanar with the side of the upper support plate of the spring away from the sliding constraint part.

8. The omnidirectional suspension according to claim 1, characterized in that, The lower support plate of the spring is provided with weight reduction holes.

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