CN104924870B - A kind of knockdown mobile robot suspension damper of double-helix spring - Google Patents

Abstract

The invention provides a double-helical spring combined mobile robot suspension shock absorber, which belongs to the technical field of shock absorption and is mainly used for shock absorption between a mobile robot suspension and a wheel-leg mechanism. The shock absorber includes a mounting bracket, a shock absorber housing, a connecting sleeve, a connecting shaft, an upper coil spring, a lower coil spring and a wheel leg bracket. Its shock absorption is divided into two stages: the first stage is the vertical upward shock absorption process, the vibration energy from the wheel leg bracket makes the connecting sleeve move up and compress the upper coil spring, and the vibration amplitude is reduced by the spring damping effect, while the lower coil spring is Stretching; the second stage is the vertical downward shock absorption process. Under the action of the elastic force of the upper coil spring and the lower coil spring, the connecting sleeve moves down so that the lower coil spring is compressed, and the vibration amplitude is reduced by means of spring damping. At the same time, the upper coil spring Stretched; the shock absorber can buffer and attenuate the vibration energy from the wheel-leg bracket, thereby avoiding the transmission of large vibration energy to the suspension of the mobile robot through the mounting bracket.

Description

A mobile robot suspension shock absorber with double helical spring combination

Technical field:

The invention belongs to the technical field of shock absorption, and specifically relates to a mobile robot suspension shock absorber of a double helical spring combination type, which is mainly used for shock absorption between the mobile robot suspension and its wheel leg mechanism, and can also be applied to the vehicle Damping of axles and wheel brackets.

Background technique:

Shock absorber vibration reduction technology is an effective guarantee to ensure that vehicles or mobile robots have good driving comfort and safety. At present, the commonly used shock absorbers include spring shock absorbers, rubber shock absorbers, air shock absorbers, oil air shock absorbers, full oil hydraulic shock absorbers and other types. Among them, the use of spring shock absorbers most widely.

Existing spring shock absorbers are mainly used in the shock absorption of vehicle axles and wheel brackets. For the shock absorption between mobile robot suspensions and wheel-leg mechanisms, different robots need to be equipped with different structures of shock absorbers. The present invention aims to provide a mobile robot suspension shock absorber of a double helical spring combination type, which is mainly used for shock absorption between the mobile robot suspension and its wheel-leg mechanism.

Invention content:

The invention provides a mobile robot suspension shock absorber of a double helical spring combination type, which belongs to the technical field of shock absorbing devices, and is mainly used for shock absorption between the mobile robot suspension and its wheel leg mechanism, and can also be applied to vehicles Damping of axles and wheel carriers.

A double helical spring combined mobile robot suspension shock absorber provided by the present invention includes a mounting bracket 1, a shock absorber housing 2, a connecting sleeve 3, a screw 4, a connecting shaft 5, an upper coil spring 6, an upper buffer Pad 7, guide key 8, lower buffer pad 9, lower coil spring 10, wheel leg bracket 11, spring pressing plate 12 and lock nut 13; The two ends of described mounting bracket 1 are provided with mounting holes, and described mounting holes are used for The mounting bracket 1 is fixedly connected with the vehicle body suspension of the mobile robot through a bolt assembly; the upper end of the connecting shaft 5 is provided with a flange, and the flange is fixedly connected with the lower groove of the mounting bracket 1 through screws 4 ; The upper helical spring 6 is set on the connecting shaft 5, the upper helical spring 6 is located between the flange and the spring pressure plate groove of the connecting sleeve 3, the upper end of the upper helical spring 6 is in contact with the method The blue is firmly connected, and the lower end of the upper coil spring 6 is fixedly connected with the spring pressure plate groove of the connecting sleeve 3. The connecting sleeve 3 is a ring with a central hole, and the connecting sleeve 3 is sleeved in the central hole through the connecting sleeve 3. On the connecting shaft 5, the center hole of the connecting sleeve 3 and the connecting shaft 5 are clearance fit; the upper end of the connecting sleeve 3 is provided with a spring plate groove for supporting and fixing the upper coil spring 6 , the outer bottom surface of the spring pressure plate groove is fixedly connected with the upper buffer pad 7; the guide key 8 is arranged between the central hole of the connecting sleeve 3 and the connecting shaft 5, and the guide key 8 can make the The connecting sleeve 3 moves axially along the connecting shaft 5; the shock absorber housing 2 is made of elastic material, and the bottom center hole of the shock absorber housing 2 is sleeved on the connecting sleeve 3, and the shock absorber The upper end of the shock absorber housing 2 is fixedly connected with the mounting bracket 1 by screws, and the shock absorber housing 2 can move axially along the connecting sleeve 3; the wheel leg bracket 11 passes through the center of its upper end. The hole sleeve is on the connecting shaft 5, the upper end of the wheel leg bracket 11 supports the connecting sleeve 3, and the upper end surface of the wheel leg bracket 11 is surrounded by the lower buffer pad 9; The lower coil spring 10 is sleeved on the connecting shaft 5, the upper end of the lower coil spring 10 is fixedly connected to the inner bottom surface of the upper end of the wheel leg bracket 11, and the lower end of the lower coil spring 10 is fixedly connected to the spring pressing plate 12, The spring pressing plate 12 is empty sleeved on the connecting shaft 5; the bottom end of the connecting shaft 5 is provided with threads, and the spring pressing plate 12 and the lower coil spring 10 are compressed by means of a lock nut 13, so that Both ends of the bottom of the wheel leg bracket 11 are provided with installation holes, and the installation holes are used for the connection between the wheel leg bracket 11 and the wheel leg mechanism of the mobile robot.

Description of drawings:

Figure 1: Schematic diagram of the structure of the mobile robot suspension shock absorber of the double helical spring combined type of the present invention.

In the figure: 1: mounting bracket; 2: shock absorber shell; 3: connecting sleeve; 4: screw; 5: connecting shaft; 6: upper coil spring; 7: upper buffer pad; 8: guide key; 9: lower Buffer pad; 10: lower coil spring; 11: wheel leg bracket; 12: spring pressure plate; 13: lock nut.

detailed description:

Fig. 1 is the structure schematic diagram of double helical spring combined type mobile robot suspension shock absorber of the present invention, its shock absorption principle is divided into two stages: the first stage is the vertical upward shock absorption process, the vertical upward shock caused by uneven road surface The vibration energy is transmitted to the wheel leg bracket 11 through the wheel leg mechanism, and the wheel leg bracket 11 pushes the connecting sleeve 3 to move up along the connecting shaft 5 under the action of the guide key 8, and the connecting sleeve 3 then compresses the upper coil spring 6, and the spring damping effect Reduce the amplitude, and now the lower coil spring 10 is stretched; when the lower buffer pad 9 contacts with the lower surface of the shock absorber housing 2 during the upward movement of the wheel leg bracket 11, flexible impact damping is generated, and the vertically upward The shock absorption process ends temporarily, and the second stage of the vertical downward shock absorption process begins. Under the action of the elastic force of the upper coil spring 6 and the lower coil spring 10, the connecting sleeve 3 and the wheel leg bracket 11 are moved axially downward along the connecting shaft 5, and the wheel leg bracket 11 further compresses the lower coil spring 10, with the help of spring damping At this time, the upper coil spring 6 is stretched; at the same time, the upper buffer pad 7 moves down with the connecting sleeve 3, and the upper buffer pad 7 contacts the shock absorber shell 2 to produce flexible impact damping. Now the vertically downward damping process ends temporarily. The above two damping stages are repeated, and so forth, finally achieving the purpose of damping.

Claims (1)

1. a mobile robot suspension shock absorber of double helical spring combined type, it is characterized in that this shock absorber comprises mounting bracket (1), shock absorber housing (2), connecting sleeve (3), connecting shaft ( 5), the upper coil spring (6), the guide key (8), the lower coil spring (10), the wheel leg bracket (11) and the spring pressure plate (12); the two ends of the installation bracket (1) are provided with installation holes , the mounting hole is used for the mounting bracket (1) to be fixedly connected to the vehicle body suspension of the mobile robot through a bolt assembly; the upper end of the connecting shaft (5) is provided with a flange, and the flange is connected to the mounting bracket The lower groove of (1) is fixedly connected by screws (4); the upper helical spring (6) is sleeved on the connecting shaft (5), and the upper helical spring (6) is located between the flange and the connecting sleeve Between the spring pressure plate grooves of (3), the upper end of the upper coil spring (6) is fixedly connected with the flange, and the lower end of the upper coil spring (6) is connected with the spring pressure plate groove of the connecting sleeve (3). Fixed connection, the connecting sleeve (3) is a ring with a central hole, the connecting sleeve (3) is sleeved on the connecting shaft (5) through its central hole, the central hole of the connecting sleeve (3) is connected with the There is clearance fit between the connecting shafts (5), the upper end of the connecting sleeve (3) is provided with a spring pressure plate groove for supporting and fixing the upper coil spring (6), and the outer surface of the spring pressure plate groove The bottom surface is fixedly connected with the upper buffer pad (7); the guide key (8) is arranged between the central hole of the connecting sleeve (3) and the connecting shaft (5), and the guide key (8) can make The connecting sleeve (3) moves axially along the connecting shaft (5); the shock absorber housing (2) is made of elastic material, and the bottom center hole of the shock absorber housing (2) is set in the On the connecting sleeve (3), the upper end of the shock absorber housing (2) is fixedly connected with the mounting bracket (1) through screws, and the shock absorber housing (2) can be (3) move axially; the wheel leg bracket (11) is sleeved on the connecting shaft (5) through the central hole at its upper end, and the upper end of the wheel leg bracket (11) faces the connecting sleeve (3) for support, a lower buffer pad (9) is provided around the upper end surface of the wheel leg bracket (11); the lower coil spring (10) is sleeved on the connecting shaft (5), and the lower The upper end of the helical spring (10) is fixedly connected to the inner bottom surface of the upper end of the wheel leg bracket (11), the lower end of the lower helical spring (10) is fixedly connected to the spring pressing plate (12), and the spring pressing plate (12) is empty. Sleeved on the connecting shaft (5); the bottom end of the connecting shaft (5) is provided with threads, and the spring pressing plate (12) and the lower coil spring (10) are fixed by means of a lock nut (13). Compression, the two ends of the bottom of the wheel leg support (11) are provided with mounting holes, and the mounting holes are used for the wheel leg support (11) to be connected with the wheel leg mechanism of the mobile robot.