CN109050163B - Wheel that has cushioning effect that robot used - Google Patents
Wheel that has cushioning effect that robot used Download PDFInfo
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- CN109050163B CN109050163B CN201810994857.8A CN201810994857A CN109050163B CN 109050163 B CN109050163 B CN 109050163B CN 201810994857 A CN201810994857 A CN 201810994857A CN 109050163 B CN109050163 B CN 109050163B
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- trigger
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B33/00—Castors in general; Anti-clogging castors
- B60B33/04—Castors in general; Anti-clogging castors adjustable, e.g. in height; linearly shifting castors
- B60B33/045—Castors in general; Anti-clogging castors adjustable, e.g. in height; linearly shifting castors mounted resiliently, by means of dampers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Mechanical Engineering (AREA)
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- Vibration Prevention Devices (AREA)
Abstract
The invention belongs to the technical field of wheels of robots, and particularly relates to a wheel with a damping effect for a robot, which comprises a driving shaft, a wheel shell, a driving rod, a first damping plate and a second damping plate, wherein when the wheel is designed by using the invention, a damping spring is adjusted through a road surface before the wheel is used; after the adjustment is finished, the output shaft of the robot is controlled to rotate, and the output shaft of the robot can drive the driving shaft to rotate; the driving shaft rotates to drive the mounting shell to rotate; the mounting shell rotates to drive the mounting structure and the mounting cylinder to rotate; the mounting structure can drive the three first damping plates to drive the wheel shell to rotate through the rotation of the three second damping plates and the three second damping plates; the wheel shell rotates to drive the rubber wheel arranged on the outer circular surface of the wheel shell to rotate; namely the robot walks; when the robot contacts with an obstacle in the walking process, the damping function of the robot is achieved through double damping of the plate spring and the damping spring.
Description
Technical Field
The invention belongs to the technical field of wheels of robots, and particularly relates to a wheel with a damping effect for a robot.
Background
At present, in order to realize more functions in the design process of a robot, the inherent structure of the robot is very complex; if the damping mechanism of the robot is added to the control platform of the robot; the structure of the robot can be more complicated; if the damping mechanism is integrated on the wheel, on one hand, the structural complexity of the robot control platform is reduced; on the other hand, the shock absorption mechanism is integrated on the wheel, so that the shock absorption mechanism is more convenient to replace.
The invention designs a wheel with a damping function for a robot to solve the problems.
Disclosure of Invention
In order to solve the defects in the prior art, the invention discloses a wheel with a damping effect for a robot, which is realized by adopting the following technical scheme.
A wheel that has a cushioning effect that robot used which characterized in that: the damping device comprises a driving shaft, a wheel shell, a driving rod, a first damping plate, a second damping plate, an adjusting motor, a trigger conical block, an arc-shaped mounting groove, a shaft hole, a motor mounting hole, a mounting structure, a mounting shell, a plate spring, a fixing ring, a mounting cylinder, a telescopic fixing shaft, a threaded ring, a damping spring, a limiting plate, a telescopic transmission shaft, a threaded disc, a guide groove, a return spring, an arc-shaped trigger block, a supporting pin, a guide block, a fixing rod, a square mounting groove, an arc-shaped guide groove and a fixing plate, wherein the inner circular surface of the wheel shell is uniformly provided with three arc-shaped; one end of the wheel shell is provided with a shaft hole communicated with the inner side; the other end of the wheel shell is provided with a motor mounting hole communicated with the inner side; the outer circle surface of the wheel shell is provided with a rubber wheel; one end of the driving shaft is arranged on the wheel shell through a shaft hole on the wheel shell; the drive shaft passes through the support frame to be installed on the robot bottom plate, and with the output shaft of robot.
The mounting structure consists of a connecting circular plate and an arc-shaped connecting block; the two connecting circular plates are connected through three arc-shaped connecting blocks which are uniformly distributed in the circumferential direction; three guide grooves are uniformly formed in the side face of one of the two connecting circular plates in the circumferential direction; the three guide grooves are respectively matched with the three arc-shaped connecting blocks; one end of the mounting cylinder is an opening end; the other end of the mounting cylinder is provided with a circular hole; the mounting cylinder is mounted at one end of the mounting structure, and the outer circular surface of the opening end of the mounting cylinder is nested and mounted on the inner circular surface of one of the two connecting circular plates on the mounting structure, which is not provided with the guide groove; one end of the mounting shell is an opening end; the mounting shell is arranged at the other end of the mounting structure, and the outer circular surface of the opening end of the mounting shell is nested and arranged on the inner circular surface of one connecting circular plate provided with a guide groove in two connecting circular plates on the mounting structure; the non-opened end of the mounting shell is mounted on the driving shaft, and the mounting shell, the mounting structure and the mounting cylinder are all positioned on the inner side of the wheel shell; the non-open end of the mounting cylinder is fixedly mounted on the inner side surface of the wheel shell through a fixing ring.
The adjusting motor is arranged on the wheel shell through a motor mounting hole formed on the wheel shell; one end of the telescopic transmission shaft is arranged on an output shaft of the adjusting motor; the telescopic transmission shaft is positioned on the inner side of the fixing ring, and the other end of the telescopic transmission shaft penetrates through a circular hole formed in the mounting cylinder and is positioned on the inner side of the mounting cylinder; the inner circle surface of the threaded ring is provided with internal threads; the threaded ring is arranged on the end surface of one side of the mounting cylinder provided with the circular hole; the outer circular surface of the threaded disc is provided with an external thread; one end of the threaded disc is arranged on the telescopic transmission shaft; the external thread on the threaded disc is in threaded fit with the internal thread on the threaded ring; the big end of the trigger conical block is provided with a telescopic fixed shaft; the trigger conical block is fixedly arranged at the other end of the threaded disc through a telescopic fixed shaft; a damping spring is arranged between the threaded disc and the large end face of the trigger conical block; the limiting plate is arranged at the small end of the trigger conical block.
One end of the fixed rod is provided with a guide block; the three fixed rods are respectively arranged on the inner side of the mounting structure through the matching of the guide blocks arranged on the fixed rods and the three guide grooves formed on the mounting structure; the three supporting pins are fixedly arranged on the three fixing rods; an arc-shaped guide groove is formed in the side face of the arc-shaped trigger block; a square mounting groove is formed in the outer arc surface of the arc-shaped trigger block; two ends of the arc-shaped trigger block are respectively provided with a fixing plate; the three arc-shaped trigger blocks are respectively installed on the three supporting pins through the matching of the arc-shaped guide grooves formed in the three arc-shaped trigger blocks and the three supporting pins, the three arc-shaped trigger blocks are uniformly distributed in the circumferential direction in a space formed by the installation shell, the installation barrel and the installation structure, and the three arc-shaped trigger blocks are sequentially distributed in a staggered manner in the axial direction of the installation barrel; two adjacent arc-shaped trigger blocks in the three arc-shaped trigger blocks are provided with a return spring through fixing plates arranged at two ends of the arc-shaped trigger blocks; two ends of the return spring are respectively arranged on the side surfaces of two adjacent fixed plates in the fixed plates arranged on the two corresponding arc-shaped trigger blocks; the three arc-shaped trigger blocks are matched with the trigger conical block.
One ends of the three driving rods are respectively connected with three square mounting grooves formed in the three arc-shaped trigger blocks in a matched manner through revolute pairs; one ends of the three second damping plates are uniformly arranged between the two connecting circular plates on the mounting structure in the circumferential direction through the rotating pair respectively; the three second damping plates are respectively connected with the three driving rods; one ends of the three first damping plates are respectively arranged in three arc-shaped mounting grooves formed in the wheel shell through revolute pairs; the other ends of the three first damping plates are respectively connected with the other ends of the three second damping plates through revolute pairs; and a plate spring is respectively arranged between the three first damping plates and the three second damping plates.
The damping spring is arranged on the threaded disc through the matching of the annular guide block and the annular guide groove.
In an initial state, the limit plate is in contact with the side face of the non-opening end of the mounting shell.
As a further improvement of the technology, the three arc-shaped trigger blocks are provided with arc-shaped surfaces matched with the trigger conical blocks.
As a further improvement of the present technology, the damper spring is a compression spring.
As a further improvement of the present technology, the return spring is an extension spring.
As a further improvement of the present technology, the number of the above-mentioned alternatives as three arc trigger blocks is four.
One end of a driving shaft is arranged on a wheel shell through a shaft hole on the wheel shell; the driving shaft is arranged on the bottom plate of the robot through a supporting frame and is connected with an output shaft of the robot; the non-opened end of the mounting shell is mounted on the driving shaft; the unopened end of the mounting cylinder is fixedly mounted on the inner side surface of the wheel shell through a fixing ring; the adjusting motor is arranged on the wheel shell through a motor mounting hole formed on the wheel shell; one end of the telescopic transmission shaft is arranged on an output shaft of the adjusting motor; the threaded ring is arranged on the end surface of one side of the mounting cylinder provided with the circular hole; one end of the threaded disc is arranged on the telescopic transmission shaft; the external thread on the threaded disc is in threaded fit with the internal thread on the threaded ring; the big end of the trigger conical block is provided with a telescopic fixed shaft; the trigger conical block is fixedly arranged at the other end of the threaded disc through a telescopic fixed shaft; a damping spring is arranged between the threaded disc and the large end face of the trigger conical block; the limiting plate is arranged at the small end of the trigger conical block; the three fixed rods are respectively arranged on the inner side of the mounting structure through the matching of the guide blocks arranged on the fixed rods and the three guide grooves formed on the mounting structure; the three supporting pins are fixedly arranged on the three fixing rods; the three arc-shaped trigger blocks are respectively arranged on the three supporting pins through the matching of the arc-shaped guide grooves formed in the three arc-shaped trigger blocks and the three supporting pins, and the three arc-shaped trigger blocks are sequentially distributed in a staggered manner in the axial direction of the mounting cylinder; two adjacent arc-shaped trigger blocks in the three arc-shaped trigger blocks are provided with a return spring through fixing plates arranged at two ends of the arc-shaped trigger blocks; the three arc-shaped trigger blocks are matched with the trigger conical block; one ends of the three driving rods are respectively connected with three square mounting grooves formed in the three arc-shaped trigger blocks in a matched manner through revolute pairs; one ends of the three second damping plates are uniformly arranged between the two connecting circular plates on the mounting structure in the circumferential direction through the rotating pair respectively; the three second damping plates are respectively connected with the three driving rods; one ends of the three first damping plates are respectively arranged in three arc-shaped mounting grooves formed in the wheel shell through revolute pairs; the other ends of the three first damping plates are respectively connected with the other ends of the three second damping plates through revolute pairs; a plate spring is respectively arranged between the three first damping plates and the three second damping plates; in an initial state, the limit plate is in contact with the side face of the non-opening end of the mounting shell. In the normal driving process, when the output shaft of the robot rotates, the output shaft of the robot drives the driving shaft to rotate; the driving shaft rotates to drive the mounting shell to rotate; the mounting shell rotates to drive the mounting structure and the mounting cylinder to rotate; the mounting structure rotates to drive the three second damping plates mounted on the mounting structure to rotate around the axis of the mounting cylinder; under the action of the three plate springs, the three second damping plates rotate to drive the three first damping plates to rotate; the three first damping plates rotate to drive the wheel shell to rotate; the wheel shell rotates to drive the rubber wheel arranged on the outer circular surface of the wheel shell to rotate; namely, the robot realizes the walking function.
In the invention, when the wheel shell is contacted with an obstacle in the rotation process in the walking process of the robot, the obstacle extrudes the wheel shell; the wheel shell can extrude the corresponding first damping plate; the first damping plate can extrude the corresponding second damping plate; meanwhile, the first damping plate and the second damping plate can compress the corresponding plate springs; the plate spring plays a certain role in buffering; when the second damping plate is pressed, the second damping plate presses the corresponding driving rod so that the driving rod moves towards the inner side of the mounting structure; the driving rod moves to extrude the corresponding arc-shaped trigger block to enable the arc-shaped trigger block to move towards one side provided with the trigger conical block; when the arc-shaped trigger blocks move, the other two arc-shaped trigger blocks are pulled to move towards one side provided with the trigger conical block through the corresponding support pins; on one hand, the three arc-shaped trigger blocks can stretch the three return springs when moving; so that the three return springs are in a stretched state; on the other hand, the three arc-shaped trigger blocks can extrude the trigger conical block to enable the trigger conical block to move towards one side provided with the damping spring; the damping spring is compressed when the trigger conical block moves; the damping spring plays a certain role in buffering; when the robot passes through the obstacle, the three arc-shaped trigger blocks are restored to the original positions under the action of the three return springs; the corresponding driving rod, the first damping plate and the second damping plate are restored to the original positions; the trigger conical block is restored to the original position under the action of the corresponding damping spring.
The invention adjusts the motor to work by driving; the adjusting motor can drive the telescopic transmission shaft to rotate through an output shaft of the adjusting motor when working; the telescopic rotating shaft rotates to drive the threaded disc to rotate; the threaded ring is arranged on the end surface of one side of the mounting cylinder, which is provided with the circular hole; the external thread on the threaded disc is in threaded fit with the internal thread on the threaded ring; the threaded disc moves while rotating; the movement of the threaded disc pushes the damping spring to compress the damping spring; so as to strengthen the elasticity of the damping spring; namely, the resistance of the shock absorption spring pushed by the trigger conical block is increased; namely, the damping effect of the robot becomes stronger; the telescopic transmission shaft designed by the invention has the effects that on one hand, the threaded disc can be driven to rotate by the telescopic transmission shaft; on the other hand, the threaded disc can prevent the transmission from being disconnected between the adjusting motor and the threaded disc through the telescopic transmission shaft in the moving process; the damping spring is arranged on the threaded disc through the matching of the annular guide block and the annular guide groove, and the damping spring has the function of preventing the threaded disc from influencing the damping spring in the rotating process.
The three arc-shaped trigger blocks are provided with arc-shaped surfaces matched with the trigger conical blocks; the function of the trigger cone is to enable the three arc-shaped trigger blocks to better push the trigger cone block. The invention designs three arc-shaped trigger blocks which are connected through support pins, and the arc-shaped trigger blocks are used for enlarging the contact surface between the arc-shaped trigger blocks and the trigger conical blocks in the working process. In the initial state, the limiting plate is contacted with the side surface of the unopened end of the mounting shell; the function of the trigger block is to prevent the three arc trigger blocks from separating from the trigger conical block.
Compared with the traditional robot wheel technology, the wheel used by the robot designed by the invention has a simple structure and is convenient to replace; mounting a damping mechanism of the robot on the wheels; the structure of the robot becomes simple; and the wheel achieves better shock absorption effect through double shock absorption of the plate spring and the shock absorption spring.
Drawings
Fig. 1 is a schematic view of the overall component distribution.
Fig. 2 is a schematic plan view of the overall component distribution.
Fig. 3 is a drive shaft installation schematic.
Fig. 4 is a schematic view of a wheel housing structure.
Fig. 5 is a schematic view of the distribution of the first damper plate.
FIG. 6 is a schematic view of the first damper plate installation.
Fig. 7 is a schematic view of trigger cone block installation.
Fig. 8 is a schematic view of a damper spring installation.
Fig. 9 is a mounting schematic of the mounting structure.
Fig. 10 is a schematic view of the mounting case mounting.
Fig. 11 is a schematic view of the mounting cylinder structure.
Fig. 12 is a schematic view of the structure of the mounting case.
Fig. 13 is a schematic view of the mounting structure.
FIG. 14 is a schematic diagram of an arc trigger block distribution.
Fig. 15 is a schematic view of support pin installation.
Fig. 16 is a schematic view of a return spring installation.
Fig. 17 is a drive rod mounting schematic.
FIG. 18 is a schematic view of the arc trigger block and trigger cone block mating.
FIG. 19 is a schematic diagram of an arcuate trigger block configuration.
Number designation in the figures: 1. a drive shaft; 2. a wheel housing; 3. a drive rod; 4. a first damper plate; 5. a second damper plate; 6. adjusting the motor; 7. triggering the conical block; 8. an arc-shaped mounting groove; 9. a shaft hole; 10. a motor mounting hole; 11. a mounting structure; 12. mounting a shell; 13. a plate spring; 14. a fixing ring; 15. mounting the cylinder; 16. a telescopic fixed shaft; 17. a threaded ring; 18. a damping spring; 19. a limiting plate; 20. a telescopic transmission shaft; 21. a threaded disc; 22. connecting the circular plate; 23. a guide groove; 24. an arc-shaped connecting block; 25. a return spring; 26. an arc-shaped trigger block; 27. supporting the pin; 28. a guide block; 29. fixing the rod; 30. a square mounting groove; 31. an arc-shaped guide groove; 32. and (7) fixing the plate.
Detailed Description
As shown in fig. 1, 2 and 3, the vehicle wheel comprises a driving shaft 1, a wheel shell 2, a driving rod 3, a first damping plate 4, a second damping plate 5, an adjusting motor 6, a trigger cone block 7, an arc-shaped mounting groove 8, a shaft hole 9, a motor mounting hole 10, a mounting structure 11, a mounting shell 12, a plate spring 13, a fixing ring 14, a mounting cylinder 15, a telescopic fixing shaft 16, a threaded ring 17, a damping spring 18, a limiting plate 19, a telescopic transmission shaft 20, a threaded disc 21, a guide groove 23, a return spring 25, an arc-shaped trigger block 26, a support pin 27, a guide block 28, a fixing rod 29, a square mounting groove 30, an arc-shaped guide groove 31 and a fixing plate 32, wherein three arc-shaped mounting grooves 8 are uniformly formed in the circumferential direction on the inner circumferential surface of the; one end of the wheel shell 2 is provided with a shaft hole 9 communicated with the inner side; the other end of the wheel shell 2 is provided with a motor mounting hole 10 communicated with the inner side; the outer circle surface of the wheel shell 2 is provided with a rubber wheel; as shown in fig. 3, one end of the drive shaft 1 is mounted on the wheel housing 2 through a shaft hole 9 on the wheel housing 2; the driving shaft 1 is installed on the robot bottom plate through a supporting frame and is connected with an output shaft of the robot.
As shown in fig. 13, the mounting structure 11 is composed of a connecting circular plate 22 and an arc-shaped connecting block 24; the two connecting circular plates 22 are connected through three arc-shaped connecting blocks 24 which are uniformly distributed in the circumferential direction; three guide grooves 23 are uniformly formed in the circumferential direction on the side surface of one connecting circular plate 22 of the two connecting circular plates 22; the three guide grooves 23 are respectively matched with the three arc-shaped connecting blocks 24; as shown in fig. 11, one end of the mounting tube 15 is an open end; the other end of the mounting cylinder 15 is provided with a circular hole; as shown in fig. 10, the mounting cylinder 15 is mounted at one end of the mounting structure 11, and the outer circular surface of the opening end of the mounting cylinder 15 is nested and mounted on the inner circular surface of one of the two connecting circular plates 22 of the mounting structure 11, which is not provided with the guide groove 23; as shown in fig. 12, one end of the mounting case 12 is an open end; as shown in fig. 9, the mounting shell 12 is mounted at the other end of the mounting structure 11, and the outer circular surface of the opening end of the mounting shell 12 is nested and mounted on the inner circular surface of one connecting circular plate 22 of the two connecting circular plates 22 of the mounting structure 11, in which the guide groove 23 is opened; as shown in fig. 3, the non-open end of the mounting shell 12 is mounted on the drive shaft 1, and the mounting shell 12, the mounting structure 11 and the mounting cylinder 15 are all located inside the wheel housing 2; the non-open end of the mounting tube 15 is fixedly mounted on the inner side of the wheel housing 2 by a fixing ring 14.
As shown in fig. 3, the adjusting motor 6 is mounted on the wheel housing 2 through a motor mounting hole 10 formed in the wheel housing 2; as shown in fig. 7, one end of the telescopic transmission shaft 20 is mounted on the output shaft of the adjusting motor 6; the telescopic transmission shaft 20 is positioned at the inner side of the fixing ring 14, and the other end of the telescopic transmission shaft 20 passes through a circular hole formed in the mounting cylinder 15 and is positioned at the inner side of the mounting cylinder 15; as shown in fig. 8, the threaded ring 17 has an internal thread on its inner circumferential surface; the threaded ring 17 is arranged on the end surface of one side of the mounting cylinder 15 provided with a circular hole; the external thread is arranged on the external circular surface of the threaded disc 21; one end of the threaded disc 21 is arranged on the telescopic transmission shaft 20; the external thread on the threaded disc 21 is in threaded fit with the internal thread on the threaded ring 17; the big end of the trigger conical block 7 is provided with a telescopic fixed shaft 16; the trigger conical block 7 is fixedly arranged at the other end of the threaded disc 21 through a telescopic fixed shaft 16; a damping spring 18 is arranged between the threaded disc 21 and the large end face of the trigger conical block 7; a limit plate 19 is installed at the small end of the trigger cone block 7.
As shown in fig. 15, a guide block 28 is mounted to one end of the fixing lever 29; the three fixing rods 29 are respectively arranged inside the mounting structure 11 through the matching of the guide blocks 28 arranged on the fixing rods and the three guide grooves 23 formed on the mounting structure 11; the three supporting pins 27 are fixedly arranged on the three fixing rods 29; as shown in fig. 19, the arc-shaped trigger block 26 has an arc-shaped guide groove 31 on a side surface thereof; a square mounting groove 30 is formed on the outer arc surface of the arc-shaped trigger block 26; two ends of the arc-shaped trigger block 26 are respectively provided with a fixing plate 32; as shown in fig. 14, the three arc-shaped trigger blocks 26 are respectively installed on the three support pins 27 through the matching of the arc-shaped guide grooves 31 formed thereon and the three support pins 27, as shown in fig. 16, and the three arc-shaped trigger blocks 26 are circumferentially and uniformly distributed in the space formed by the installation shell 12, the installation cylinder 15 and the installation structure 11, as shown in fig. 17, the three arc-shaped trigger blocks 26 are sequentially distributed in a staggered manner in the axial direction of the installation cylinder 15; as shown in fig. 18, two adjacent arc-shaped trigger blocks of the three arc-shaped trigger blocks 26 are provided with a return spring 25 through fixing plates 32 arranged at both ends thereof; two ends of the return spring 25 are respectively installed on the side surfaces of two adjacent fixing plates 32 in the fixing plates 32 installed on the two corresponding arc-shaped trigger blocks 26; three arcuate trigger blocks 26 cooperate with the trigger cone block 7.
As shown in fig. 17, one ends of the three driving rods 3 are respectively connected with three square mounting grooves 30 formed on the three arc-shaped trigger blocks 26 in a matching manner through revolute pairs; as shown in fig. 2, one ends of the three second damper plates 5 are respectively circumferentially and uniformly installed between the two connection circular plates 22 on the mounting structure 11 through the rotation pair; as shown in fig. 6, three second damper plates 5 are connected to the three drive rods 3, respectively; one ends of the three first damping plates 4 are respectively arranged in three arc-shaped mounting grooves 8 formed in the wheel shell 2 through revolute pairs; the other ends of the three first damping plates 4 are respectively connected with the other ends of the three second damping plates 5 through revolute pairs; as shown in fig. 5, one plate spring 13 is installed between the three first damper plates 4 and the three second damper plates 5, respectively.
The damping spring 18 is mounted on the threaded disc 21 by means of the cooperation of the annular guide block 28 with the annular guide groove 23.
In the initial state, the stopper plate 19 is in contact with the side surface of the unopened end of the mounting case 12.
The three arc-shaped trigger blocks 26 are provided with arc-shaped surfaces matched with the trigger conical block 7.
The damper spring 18 is a compression spring.
The return spring 25 is an extension spring.
The above-described alternative to three arcuate trigger blocks 26 is four.
In summary, the following steps:
the wheels used by the robot designed by the invention have simple structure and are convenient to replace; mounting a damping mechanism of the robot on the wheels; the structure of the robot becomes simple; and the wheel achieves a good damping effect through double damping of the plate spring 13 and the damping spring 18.
One end of a driving shaft 1 is arranged on a wheel shell 2 through a shaft hole 9 on the wheel shell 2; the driving shaft 1 is arranged on a robot bottom plate through a supporting frame and is connected with an output shaft of the robot; the non-opened end of the mounting shell 12 is mounted on the driving shaft 1; the unopened end of the mounting cylinder 15 is fixedly mounted on the inner side surface of the wheel shell 2 through a fixing ring 14; the adjusting motor 6 is arranged on the wheel shell 2 through a motor mounting hole 10 formed on the wheel shell 2; one end of the telescopic transmission shaft 20 is arranged on the output shaft of the adjusting motor 6; the threaded ring 17 is arranged on the end surface of one side of the mounting cylinder 15 provided with a circular hole; one end of the threaded disc 21 is arranged on the telescopic transmission shaft 20; the external thread on the threaded disc 21 is in threaded fit with the internal thread on the threaded ring 17; the big end of the trigger conical block 7 is provided with a telescopic fixed shaft 16; the trigger conical block 7 is fixedly arranged at the other end of the threaded disc 21 through a telescopic fixed shaft 16; a damping spring 18 is arranged between the threaded disc 21 and the large end face of the trigger conical block 7; the limiting plate 19 is arranged at the small end of the trigger conical block 7; the three fixing rods 29 are respectively arranged inside the mounting structure 11 through the matching of the guide blocks 28 arranged on the fixing rods and the three guide grooves 23 formed on the mounting structure 11; the three supporting pins 27 are fixedly arranged on the three fixing rods 29; the three arc-shaped trigger blocks 26 are respectively installed on the three support pins 27 through the matching of the arc-shaped guide grooves 31 formed on the three arc-shaped trigger blocks and the three support pins 27, and the three arc-shaped trigger blocks 26 are sequentially distributed in a staggered manner in the axial direction of the installation cylinder 15; two adjacent arc-shaped trigger blocks in the three arc-shaped trigger blocks 26 are provided with a return spring 25 through fixing plates 32 arranged at two ends of the arc-shaped trigger blocks; the three arc-shaped trigger blocks 26 are matched with the trigger conical block 7; one ends of the three driving rods 3 are respectively connected with three square mounting grooves 30 formed in the three arc-shaped trigger blocks 26 in a matched manner through revolute pairs; one ends of the three second damping plates 5 are uniformly arranged between the two connecting circular plates 22 on the mounting structure 11 in the circumferential direction through the rotating pair respectively; the three second damping plates 5 are respectively connected with the three driving rods 3; one ends of the three first damping plates 4 are respectively arranged in three arc-shaped mounting grooves 8 formed in the wheel shell 2 through revolute pairs; the other ends of the three first damping plates 4 are respectively connected with the other ends of the three second damping plates 5 through revolute pairs; a plate spring 13 is respectively arranged between the three first damping plates 4 and the three second damping plates 5; in the initial state, the stopper plate 19 is in contact with the side surface of the unopened end of the mounting case 12. In the normal driving process, when the output shaft of the robot rotates, the output shaft of the robot can drive the driving shaft 1 to rotate; the driving shaft 1 rotates to drive the mounting shell 12 to rotate; the mounting shell 12 rotates to drive the mounting structure 11 and the mounting cylinder 15 to rotate; the mounting structure 11 rotates to drive the three second damping plates 5 mounted on the mounting structure to rotate around the axis of the mounting cylinder 15; under the action of the three plate springs 13, the three second damping plates 5 rotate to drive the three first damping plates 4 to rotate; the three first damping plates 4 rotate to drive the wheel shell 2 to rotate; the wheel shell 2 rotates to drive a rubber wheel arranged on the outer circular surface of the wheel shell to rotate; namely, the robot realizes the walking function.
In the invention, when the wheel shell 2 is contacted with an obstacle in the rotation process in the walking process of the robot, the obstacle extrudes the wheel shell 2; the wheel housing 2 will press the corresponding first damping plate 4; the first damper plate 4 presses the corresponding second damper plate 5; at the same time the first damper plate 4 and the second damper plate 5 compress the corresponding leaf springs 13; the plate spring 13 plays a certain role in buffering; when the second damper plate 5 is pressed, the second damper plate 5 presses the corresponding driving rod 3 such that the driving rod 3 moves toward the inside of the mounting structure 11; the movement of the driving rod 3 presses the corresponding arc-shaped trigger block 26 so that the arc-shaped trigger block 26 moves towards the side where the trigger conical block 7 is installed; the arc-shaped trigger block 26 moves to pull the other two arc-shaped trigger blocks 26 to move towards the side provided with the trigger conical block 7 through the corresponding support pins 27; the movement of the three arc-shaped trigger blocks 26 on the one hand stretches the three return springs 25; so that the three return springs 25 are in tension; on the other hand, the movement of the three arc-shaped trigger blocks 26 presses the trigger conical block 7 to make the trigger conical block 7 move towards the side where the damping spring 18 is installed; the trigger conical block 7 moves to compress the damping spring 18; the damping spring 18 plays a certain role in buffering; when the robot passes through an obstacle, the three arc-shaped trigger blocks 26 are restored to the original positions under the action of the three return springs 25; namely, the corresponding driving rod 3, the first damping plate 4 and the second damping plate 5 are restored to the original positions; the trigger cone block 7 is restored to the original position by the corresponding shock absorbing spring 18.
The invention drives the adjusting motor 6 to work; when the adjusting motor 6 works, the output shaft of the adjusting motor 6 drives the telescopic transmission shaft 20 to rotate; the telescopic rotating shaft rotates to drive the threaded disc 21 to rotate; the threaded ring 17 is arranged on the end surface of one side of the mounting cylinder 15 provided with the circular hole; the external thread on the threaded disc 21 is in threaded fit with the internal thread on the threaded ring 17; the threaded disc 21 moves while rotating; the movement of the threaded disc 21 pushes the damping spring 18 so that the damping spring 18 is compressed; thereby making the elastic force of the damper spring 18 strong; namely, the resistance of the trigger conical block 7 for pushing the damping spring 18 becomes larger; namely, the damping effect of the robot becomes stronger; the telescopic transmission shaft 20 designed by the invention has the advantages that on one hand, the threaded disc 21 can be driven to rotate by the telescopic transmission shaft 20; on the other hand, the threaded disc 21 can prevent the transmission from being disconnected between the adjusting motor 6 and the threaded disc 21 through the telescopic transmission shaft 20 in the moving process; the damping spring 18 of the present invention is mounted on the threaded disc 21 by the cooperation of the annular guide 28 and the annular guide groove 23, and functions to prevent the threaded disc 21 from affecting the damping spring 18 during rotation.
The three arc-shaped trigger blocks 26 are provided with arc-shaped surfaces matched with the trigger conical blocks 7; the function of the trigger cone is to make the three arc-shaped trigger blocks 26 better push the trigger cone block 7. The invention designs three arc-shaped trigger blocks 26 which are connected through support pins 27, and the function of the invention is to enlarge the contact surface of the arc-shaped trigger blocks 26 and the trigger conical block 7 in the working process. In the initial state of the invention, the limit plate 19 is contacted with the side surface of the non-opening end of the mounting shell 12; the function of the trigger block is to prevent the three arc-shaped trigger blocks 26 from being disengaged from the trigger cone block 7.
The specific implementation mode is as follows: when the wheels of the robot designed by the invention are used, the damping springs 18 are adjusted through the road surface before the wheels are used; namely, the adjusting motor 6 is controlled to work, and the adjusting motor 6 can drive the telescopic transmission shaft 20 to rotate through the output shaft of the adjusting motor 6; the telescopic rotating shaft rotates to drive the threaded disc 21 to rotate; the threaded ring 17 is arranged on the end surface of one side of the mounting cylinder 15 provided with the circular hole; the external thread on the threaded disc 21 is in threaded fit with the internal thread on the threaded ring 17; the threaded disc 21 moves while rotating; the movement of the threaded disc 21 pushes the damping spring 18 so that the damping spring 18 is compressed; thereby adjusting the elastic force reinforcement of the damping spring 18; after the adjustment is finished, the output shaft of the robot is controlled to rotate, and the output shaft of the robot can drive the driving shaft 1 to rotate; the driving shaft 1 rotates to drive the mounting shell 12 to rotate; the mounting shell 12 rotates to drive the mounting structure 11 and the mounting cylinder 15 to rotate; the mounting structure 11 rotates to drive the three second damping plates 5 mounted on the mounting structure to rotate around the axis of the mounting cylinder 15; under the action of the three plate springs 13, the three second damping plates 5 rotate to drive the three first damping plates 4 to rotate; the three first damping plates 4 rotate to drive the wheel shell 2 to rotate; the wheel shell 2 rotates to drive a rubber wheel arranged on the outer circular surface of the wheel shell to rotate; namely the robot walks; when the wheel shell 2 is contacted with an obstacle in the rotation process in the walking process of the robot, the obstacle extrudes the wheel shell 2; the wheel housing 2 will press the corresponding first damping plate 4; the first damper plate 4 presses the corresponding second damper plate 5; at the same time the first damper plate 4 and the second damper plate 5 compress the corresponding leaf springs 13; the plate spring 13 plays a certain role in buffering; when the second damper plate 5 is pressed, the second damper plate 5 presses the corresponding driving rod 3 such that the driving rod 3 moves toward the inside of the mounting structure 11; the movement of the driving rod 3 presses the corresponding arc-shaped trigger block 26 so that the arc-shaped trigger block 26 moves towards the side where the trigger conical block 7 is installed; the arc-shaped trigger block 26 moves to pull the other two arc-shaped trigger blocks 26 to move towards the side provided with the trigger conical block 7 through the corresponding support pins 27; the movement of the three arc-shaped trigger blocks 26 on the one hand stretches the three return springs 25; so that the three return springs 25 are in tension; on the other hand, the movement of the three arc-shaped trigger blocks 26 presses the trigger conical block 7 to make the trigger conical block 7 move towards the side where the damping spring 18 is installed; the trigger conical block 7 moves to compress the damping spring 18; the damping spring 18 plays a certain role in buffering; namely, the robot damping function is achieved by double damping of the plate spring 13 and the damping spring 18.
Claims (5)
1. A wheel that has a cushioning effect that robot used which characterized in that: the damping device comprises a driving shaft, a wheel shell, a driving rod, a first damping plate, a second damping plate, an adjusting motor, a trigger conical block, an arc-shaped mounting groove, a shaft hole, a motor mounting hole, a mounting structure, a mounting shell, a plate spring, a fixing ring, a mounting cylinder, a telescopic fixing shaft, a threaded ring, a damping spring, a limiting plate, a telescopic transmission shaft, a threaded disc, a guide groove, a return spring, an arc-shaped trigger block, a supporting pin, a guide block, a fixing rod, a square mounting groove, an arc-shaped guide groove and a fixing plate, wherein the inner circular surface of the wheel shell is uniformly provided with three arc-shaped; one end of the wheel shell is provided with a shaft hole communicated with the inner side; the other end of the wheel shell is provided with a motor mounting hole communicated with the inner side; the outer circle surface of the wheel shell is provided with a rubber wheel; one end of the driving shaft is arranged on the wheel shell through a shaft hole on the wheel shell; the driving shaft is arranged on the bottom plate of the robot through a supporting frame and is connected with an output shaft of the robot;
the mounting structure consists of a connecting circular plate and an arc-shaped connecting block; the two connecting circular plates are connected through three arc-shaped connecting blocks which are uniformly distributed in the circumferential direction; three guide grooves are uniformly formed in the side face of one of the two connecting circular plates in the circumferential direction; the three guide grooves are respectively matched with the three arc-shaped connecting blocks; one end of the mounting cylinder is an opening end; the other end of the mounting cylinder is provided with a circular hole; the mounting cylinder is mounted at one end of the mounting structure, and the outer circular surface of the opening end of the mounting cylinder is nested and mounted on the inner circular surface of one of the two connecting circular plates on the mounting structure, which is not provided with the guide groove; one end of the mounting shell is an opening end; the mounting shell is arranged at the other end of the mounting structure, and the outer circular surface of the opening end of the mounting shell is nested and arranged on the inner circular surface of one connecting circular plate provided with a guide groove in two connecting circular plates on the mounting structure; the non-opened end of the mounting shell is mounted on the driving shaft, and the mounting shell, the mounting structure and the mounting cylinder are all positioned on the inner side of the wheel shell; the unopened end of the mounting cylinder is fixedly mounted on the inner side surface of the wheel shell through a fixing ring;
the adjusting motor is arranged on the wheel shell through a motor mounting hole formed on the wheel shell; one end of the telescopic transmission shaft is arranged on an output shaft of the adjusting motor; the telescopic transmission shaft is positioned on the inner side of the fixing ring, and the other end of the telescopic transmission shaft penetrates through a circular hole formed in the mounting cylinder and is positioned on the inner side of the mounting cylinder; the inner circle surface of the threaded ring is provided with internal threads; the threaded ring is arranged on the end surface of one side of the mounting cylinder provided with the circular hole; the outer circular surface of the threaded disc is provided with an external thread; one end of the threaded disc is arranged on the telescopic transmission shaft; the external thread on the threaded disc is in threaded fit with the internal thread on the threaded ring; the big end of the trigger conical block is provided with a telescopic fixed shaft; the trigger conical block is fixedly arranged at the other end of the threaded disc through a telescopic fixed shaft; a damping spring is arranged between the threaded disc and the large end face of the trigger conical block; the limiting plate is arranged at the small end of the trigger conical block;
one end of the fixed rod is provided with a guide block; the three fixed rods are respectively arranged on the inner side of the mounting structure through the matching of the guide blocks arranged on the fixed rods and the three guide grooves formed on the mounting structure; the three supporting pins are fixedly arranged on the three fixing rods; an arc-shaped guide groove is formed in the side face of the arc-shaped trigger block; a square mounting groove is formed in the outer arc surface of the arc-shaped trigger block; two ends of the arc-shaped trigger block are respectively provided with a fixing plate; the three arc-shaped trigger blocks are respectively installed on the three supporting pins through the matching of the arc-shaped guide grooves formed in the three arc-shaped trigger blocks and the three supporting pins, the three arc-shaped trigger blocks are uniformly distributed in the circumferential direction in a space formed by the installation shell, the installation barrel and the installation structure, and the three arc-shaped trigger blocks are sequentially distributed in a staggered manner in the axial direction of the installation barrel; two adjacent arc-shaped trigger blocks in the three arc-shaped trigger blocks are provided with a return spring through fixing plates arranged at two ends of the arc-shaped trigger blocks; two ends of the return spring are respectively arranged on the side surfaces of two adjacent fixed plates in the fixed plates arranged on the two corresponding arc-shaped trigger blocks; the three arc-shaped trigger blocks are matched with the trigger conical block;
one ends of the three driving rods are respectively connected with three square mounting grooves formed in the three arc-shaped trigger blocks in a matched manner through revolute pairs; one ends of the three second damping plates are uniformly arranged between the two connecting circular plates on the mounting structure in the circumferential direction through the rotating pair respectively; the three second damping plates are respectively connected with the three driving rods; one ends of the three first damping plates are respectively arranged in three arc-shaped mounting grooves formed in the wheel shell through revolute pairs; the other ends of the three first damping plates are respectively connected with the other ends of the three second damping plates through revolute pairs; a plate spring is respectively arranged between the three first damping plates and the three second damping plates;
the damping spring is arranged on the threaded disc through the matching of the annular guide block and the annular guide groove;
in an initial state, the limit plate is in contact with the side face of the non-opening end of the mounting shell.
2. A wheel with a shock-absorbing function for a robot according to claim 1, wherein: the three arc-shaped trigger blocks are provided with arc-shaped surfaces matched with the trigger conical blocks.
3. A wheel with a shock-absorbing function for a robot according to claim 1, wherein: the damping spring is a compression spring.
4. A wheel with a shock-absorbing function for a robot according to claim 1, wherein: the return spring is an extension spring.
5. A wheel with a shock-absorbing function for a robot according to claim 1, wherein: the above alternative of three arc trigger blocks is four.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2018104464338 | 2018-05-11 | ||
| CN201810446433 | 2018-05-11 |
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| Publication Number | Publication Date |
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| CN109050163A CN109050163A (en) | 2018-12-21 |
| CN109050163B true CN109050163B (en) | 2020-02-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810994857.8A Active CN109050163B (en) | 2018-05-11 | 2018-08-29 | Wheel that has cushioning effect that robot used |
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| CN (1) | CN109050163B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113460183B (en) * | 2021-07-05 | 2022-10-21 | 哈尔滨学院 | Robot chassis capable of crossing obstacles in large range |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6164736A (en) * | 1999-08-16 | 2000-12-26 | The United States Of America As Represented By The Secretary Of The Army | Tracked wheel assembly |
| CN101016021A (en) * | 2007-02-12 | 2007-08-15 | 蔡洪涛 | Automobile elastic tyre |
| CN103619619A (en) * | 2011-05-04 | 2014-03-05 | 塞缪尔·丹茨 | Steerable wheel assembly for a vehicle, and vehicle including such an assembly |
| CN203637442U (en) * | 2013-11-07 | 2014-06-11 | 中国矿业大学 | Backward slip-preventing damping wheel for mine laneway |
| CN106364581A (en) * | 2016-08-30 | 2017-02-01 | 山东交通学院 | Domestic escape device |
-
2018
- 2018-08-29 CN CN201810994857.8A patent/CN109050163B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6164736A (en) * | 1999-08-16 | 2000-12-26 | The United States Of America As Represented By The Secretary Of The Army | Tracked wheel assembly |
| CN101016021A (en) * | 2007-02-12 | 2007-08-15 | 蔡洪涛 | Automobile elastic tyre |
| CN103619619A (en) * | 2011-05-04 | 2014-03-05 | 塞缪尔·丹茨 | Steerable wheel assembly for a vehicle, and vehicle including such an assembly |
| CN203637442U (en) * | 2013-11-07 | 2014-06-11 | 中国矿业大学 | Backward slip-preventing damping wheel for mine laneway |
| CN106364581A (en) * | 2016-08-30 | 2017-02-01 | 山东交通学院 | Domestic escape device |
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| CN109050163A (en) | 2018-12-21 |
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Effective date of registration: 20200106 Address after: 276800 No. 99, Yuquan 2nd Road, antonwei street, Lanshan District, Rizhao City, Shandong Province Applicant after: Shandong Liju special equipment Co.,Ltd. Address before: 518000 Royal Garden, Four Seasons, Luotang Street, Luohu District, Shenzhen City, Guangdong Province Applicant before: SHENZHEN NANSHUO MINGTAI TECHNOLOGY Co.,Ltd. |
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Address after: 276808 No. 99, Yuquan 2nd Road, antonwei street, Lanshan District, Rizhao City, Shandong Province Patentee after: Shandong Liju Robot Technology Co.,Ltd. Address before: 276800 No. 99, Yuquan 2nd Road, antonwei street, Lanshan District, Rizhao City, Shandong Province Patentee before: Shandong Liju special equipment Co.,Ltd. |
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Address after: Room 1409, Floor 14, Building 1, High tech Zone Entrepreneurship Center, No. 177, Gaoxin 6th Road, Rizhao, Shandong 276801 Patentee after: Shandong Liju Robot Technology Co.,Ltd. Address before: 276808 No.99, Yuquan 2nd Road, antonwei street, Lanshan District, Rizhao City, Shandong Province Patentee before: Shandong Liju Robot Technology Co.,Ltd. |