CN109281982A - A kind of exploration robot damping - Google Patents
A kind of exploration robot damping Download PDFInfo
- Publication number
- CN109281982A CN109281982A CN201811293763.4A CN201811293763A CN109281982A CN 109281982 A CN109281982 A CN 109281982A CN 201811293763 A CN201811293763 A CN 201811293763A CN 109281982 A CN109281982 A CN 109281982A
- Authority
- CN
- China
- Prior art keywords
- shock
- absorbing
- connecting rod
- head
- bucket
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/112—Suspension devices for wheels, rollers, bogies or frames with fluid springs, e.g. hydraulic pneumatic
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M3/00—Portable or wheeled frames or beds, e.g. for emergency power-supply aggregates, compressor sets
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
- Vibration Dampers (AREA)
Abstract
The invention discloses a kind of exploration robot dampings, including fixed pin, head the first bolt hole of shock-absorbing connecting rod, triangle rubber belt track assembly, head the second bolt hole of shock-absorbing connecting rod, the first bolt hole of top links, the second bolt hole of top links and tail portion shock-absorbing connecting rod at the top of main structure body, connection frame, shock-absorbing bucket, shock-proof spring, head shock-absorbing pedestal, head shock-absorbing connecting rod, shock-proof spring, the connection frame and top links are connected with by right side bolt hole, and the shock-absorbing bucket right end is connect by bolt with top links left end.The exploration robot damping, aluminum alloy materials are used using novel independent shock-absorbing and triangle crawler belt and shock-absorbing connecting rod and connection frame, so that there are good mechanical performance and outstanding shock-proof effect in the robot, under severe conditions using more stable, and be hardly damaged.
Description
Technical field
The invention belongs to robotic technology fields, and in particular to a kind of exploration robot damping.
Background technique
Exploration " is to be reconnoitred by various means, method to geology, detection determines suitable supporting course, according to holding
The foundation bearing capacity of power layer, determines type of foundation, calculates the enquiry-based activity of underlying parameter.It is to be found in search for mineral deposit
There is the mineral deposit of industrial significance, for the quality and quantity for finding out mineral products, and the technical conditions that exploitation utilizes, provides mine construction designing institute
The ore reserve and geologic information needed, to geology feelings such as rock, stratum, construction, mineral products, the hydrology, landforms in a given area
Condition carry out enquiry based work, and explore robot due to compact and adapt to exploration when rugged environment made extensively
With, but exploration robot common in society at present is because walking manner and anti-vibration structure design existing defects lead to exploration machine
The probability that device people is broken down in adverse circumstances greatly increases, therefore therefore designs and produces a kind of reliable and stable shock-absorbing knot
Structure is very necessary.
Summary of the invention
The purpose of the present invention is to provide a kind of exploration robot dampings, to solve to propose in above-mentioned background technique
The problem of.
To achieve the above object, the invention provides the following technical scheme: a kind of exploration robot damping, including knot
Structure main body, connection frame, shock-absorbing bucket, shock-proof spring, head shock-absorbing pedestal, head shock-absorbing connecting rod, shock-proof spring top fixed pin, head
Portion's the first bolt hole of shock-absorbing connecting rod, triangle rubber belt track assembly, head the second bolt hole of shock-absorbing connecting rod, the first bolt of top links
Hole, the second bolt hole of top links and tail portion shock-absorbing connecting rod, the connection frame and top links pass through right side bolt hole bolt
Connection, the shock-absorbing bucket right end are connect by bolt with top links left end, and shock-absorbing bucket single order bottom is connected on the left of the shock-absorbing bucket
Shock-absorbing bucket single order and shock-absorbing bucket second order are equipped at seat, shock-absorbing bucket single order and shock-absorbing bucket single order pedestal are by being welded and fixed, the tail
Portion's shock-absorbing connecting rod and shock-absorbing bucket single order pedestal are bolted, and top links are equipped with above the head shock-absorbing connecting rod, described
Head shock-absorbing connecting rod by the second bolt hole of head shock-absorbing connecting rod and head shock-absorbing pedestal by being bolted, head shock-absorbing bottom
Seat top is equipped with shock-proof spring by being welded and fixed, and fixed pin at the top of shock-proof spring is plugged at the top of the shock-proof spring.
Preferably, offer tail portion the first bolt hole of shock-absorbing connecting rod on the left of the tail portion shock-absorbing connecting rod, by bolt with keep away
Shake bucket single order pedestal connection, the tail portion shock-absorbing connecting rod right side opening be equipped with the second bolt hole of shock-absorbing connecting rod, by bolt with connect
Frame connection.
Preferably, the triangle rubber belt track assembly is welded and fixed with head shock-absorbing connecting rod and tail portion shock-absorbing connecting rod.
Preferably, it is connected by bolt with connection frame on the left of the head shock-absorbing connecting rod.
Preferably, the shock-absorbing bucket single order bottom end of the shock-absorbing bucket is with the top of shock-absorbing bucket single order pedestal by being welded and fixed.
Preferably, the shock-absorbing bucket single order bottom end is with shock-absorbing bucket single order pedestal top by being welded and fixed.
Technical effect and advantage of the invention: the exploration robot is that front and back is only due to having used double rank shock-absorbing buckets
Vertical shock-absorbing makes the longer shock-proof effect of robot suspension stroke more preferable, and use triangle crawler belt be because triangle Athey wheel be for
The better requirements for adapting to modern age various vehicles to the harsh performance such as cross-country traveling ability and high maneuverability, and connecting rod material mostly makes
With aluminum alloy materials, aluminium alloy density is low, but intensity is relatively high, and near or above high-quality steel, plasticity is good, and some aluminium alloys can
To obtain good mechanical performance, physical property and corrosion resistance using heat treatment, the exploration robot is new due to using
Type independence shock-absorbing makes the robot have good mechanical performance and outstanding shock-proof effect that the exploration robot is being disliked
Under the conditions of bad using more stable.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is main structure body schematic diagram of the invention.
In figure: 1 main structure body, 2 shock-absorbing buckets, 3 head shock-absorbing pedestals, 4 shock-proof springs, 5 shock-proof springs top fixed pin, 6
Triangle rubber belt track assembly, 7 head the first bolts hole of shock-absorbing connecting rod, 8 the first bolts hole of top links, 9 the second spiral shells of top links
Keyhole, 10 tail portion the first bolts hole of shock-absorbing connecting rod, 11 shock-absorbing bucket single order pedestals, 12 shock-absorbing bucket single orders, 13 shock-absorbing bucket second orders, 14 are kept away
Shake the second bolt hole of connecting rod, 15 head shock-absorbing connecting rods, 16 head the second bolts hole of shock-absorbing connecting rod, 17 tail portion shock-absorbing connecting rods, 18, top
Portion's connecting rod, 19 connection frames.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The present invention provides a kind of exploration robot dampings as shown in Figs. 1-2, including main structure body 1, connection
Frame 19, shock-absorbing bucket 2, shock-proof spring 4, head shock-absorbing pedestal 3, head shock-absorbing connecting rod 15, shock-proof spring top fixed pin 5, head
The first bolt hole of shock-absorbing connecting rod 7, triangle rubber belt track assembly 6, head the second bolt hole of shock-absorbing connecting rod 16, the first spiral shell of top links
Keyhole 8, the second bolt hole of top links 9 and tail portion shock-absorbing connecting rod 17, the connection frame 19 and top links 18 pass through right side spiral shell
Keyhole is connected with, and 2 right end of shock-absorbing bucket is connect by bolt with 18 left end of top links, is connected on the left of the shock-absorbing bucket 2
It connects and is equipped with shock-absorbing bucket single order 12 and shock-absorbing bucket second order 13, shock-absorbing bucket single order 12 and shock-absorbing bucket single order bottom at shock-absorbing bucket single order pedestal 11
Seat 11 is by being welded and fixed, and the tail portion shock-absorbing connecting rod 17 and shock-absorbing bucket single order pedestal 11 are bolted, and the head is kept away
It shakes and is equipped with top links 18 above connecting rod 15, the head shock-absorbing connecting rod 15 passes through the second bolt hole of head shock-absorbing connecting rod 16 and head
Portion's shock-absorbing pedestal 3 is equipped with shock-proof spring 4 by being welded and fixed above the head shock-absorbing pedestal 3 by being bolted, described to keep away
Fixed pin 5 at the top of shock-proof spring is plugged at the top of shake spring 4.
Specifically, the head shock-absorbing connecting rod 15 and head shock-absorbing pedestal 3 are bolted, and head shock-absorbing connecting rod is
Aluminum alloy materials, and aluminium alloy density is low, but intensity is relatively high, near or above high-quality steel, plasticity is good, and aluminium alloy can use
Heat treatment obtains good mechanical performance, physical property and corrosion resistance.
Specifically, the triangle rubber belt track assembly 6 is solid by welding with head shock-absorbing connecting rod 15, tail portion shock-absorbing connecting rod 17
It is fixed, and using triangle crawler belt is because triangle Athey wheel is to preferably adapt to modern age various vehicles to cross-country traveling ability and height
The requirement of the harshness performance such as mobility, the advantages of having merged tire and creeper undercarriage and the novel travelling mechanism researched and developed.
Specifically, the head shock-absorbing connecting rod 15, tail portion shock-absorbing connecting rod 17 and main structure body 1 are used by connection frame 19
Bolt is fixed, and due to using the independent shock-absorbing in front and back, the head shock-absorbing connecting rod 15 and tail portion shock-absorbing connecting rod 17, can be only
Vertical work, and can mutually support, greatly increase reliability in the presence of a harsh environment.
It is welded and fixed specifically, the shock-absorbing bucket 2 passes through with shock-absorbing bucket single order pedestal 11, and shock-absorbing bucket 2 is by shock-absorbing bucket one
Rank 12 and shock-absorbing bucket second order 13 form, due to having used double rank shock-absorbing buckets, so that the longer shock-absorbing effect of robot tail portion suspension stroke
Fruit is more preferable, simultaneously because double rank shock-absorbing buckets, so any single order is using in shock-absorbing bucket single order 12 and shock-absorbing bucket second order 13
When middle failure, another rank can guarantee that normal use is unlikely to the case where without shock-absorbing occur.
Specifically, the exploration robot damping, due to use independent shock-absorbing and triangle rubber belt track assembly and
Shock-absorbing connecting rod and connection frame use aluminum alloy materials that the robot is made to have good mechanical performance and outstanding shock-absorbing effect
Fruit so that the shock-damping structure of the exploration robot under severe conditions using more stable, should not damage.
Finally, it should be noted that the foregoing is only a preferred embodiment of the present invention, it is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features,
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (5)
1. kind of exploration robot damping, including main structure body (1), connection frame (19), shock-absorbing bucket (2), shock-proof spring
(4), head shock-absorbing pedestal (3), head shock-absorbing connecting rod (15), shock-proof spring top fixed pin (5), head the first spiral shell of shock-absorbing connecting rod
Keyhole (7), triangle rubber belt track assembly (6), head the second bolt hole of shock-absorbing connecting rod (16), the first bolt hole of top links (8),
The second bolt hole of top links (9) and tail portion shock-absorbing connecting rod (17), it is characterised in that: the connection frame (19) and top links
(18) it being connected with by right side bolt hole, shock-absorbing bucket (2) right end is connect by bolt with top links (18) left end,
Shock-absorbing bucket single order (12) and shock-absorbing bucket second order (13) are equipped on the left of the shock-absorbing bucket (2) at connection shock-absorbing bucket single order pedestal (11),
Shock-absorbing bucket single order (12) and shock-absorbing bucket single order pedestal (11) are by being welded and fixed, the tail portion shock-absorbing connecting rod (17) and shock-absorbing bucket one
Rank pedestal (11) is bolted, and is equipped with top links (18) above the head shock-absorbing connecting rod (15), the head shock-absorbing
Connecting rod (15) by the second bolt hole of head shock-absorbing connecting rod (16) and head shock-absorbing pedestal (3) by being bolted, keep away by the head
It is equipped with shock-proof spring (4) above shake pedestal (3) by being welded and fixed, is plugged with shock-proof spring at the top of the shock-proof spring (4)
Top fixed pin (5).
2. a kind of exploration robot damping according to claim 1, it is characterised in that: the tail portion shock-absorbing connecting rod
(17) left side offers tail portion the first bolt hole of shock-absorbing connecting rod (10), is connect by bolt with shock-absorbing bucket single order pedestal (11), institute
Tail portion shock-absorbing connecting rod (17) right side opening is stated equipped with the second bolt hole of shock-absorbing connecting rod (14), is connect by bolt with connection frame (19).
3. a kind of exploration robot damping according to claim 1, it is characterised in that: the triangle rubber belt track
Assembly (6) is welded and fixed with head shock-absorbing connecting rod (15) and tail portion shock-absorbing connecting rod (17).
4. a kind of exploration robot damping according to claim 1, it is characterised in that: the head shock-absorbing connecting rod
(15) left side is connected by bolt and connection frame (19).
5. a kind of exploration robot damping according to claim 1, it is characterised in that: the shock-absorbing bucket (2)
Shock-absorbing bucket single order (12) bottom end and the top of shock-absorbing bucket single order pedestal (11), which pass through, to be welded and fixed.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811293763.4A CN109281982A (en) | 2018-11-01 | 2018-11-01 | A kind of exploration robot damping |
| PCT/CN2019/105560 WO2020088117A1 (en) | 2018-11-01 | 2019-09-12 | Damping mechanism for exploration robot |
| JP2020600179U JP3234727U (en) | 2018-11-01 | 2019-09-12 | Shock absorber for exploration robot |
| DE212019000196.3U DE212019000196U1 (en) | 2018-11-01 | 2019-09-12 | Shock absorption mechanism for exploration robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811293763.4A CN109281982A (en) | 2018-11-01 | 2018-11-01 | A kind of exploration robot damping |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109281982A true CN109281982A (en) | 2019-01-29 |
Family
ID=65174762
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811293763.4A Withdrawn CN109281982A (en) | 2018-11-01 | 2018-11-01 | A kind of exploration robot damping |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP3234727U (en) |
| CN (1) | CN109281982A (en) |
| DE (1) | DE212019000196U1 (en) |
| WO (1) | WO2020088117A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020088117A1 (en) * | 2018-11-01 | 2020-05-07 | 苏州赛亚智能技术有限公司 | Damping mechanism for exploration robot |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3857616A (en) * | 1973-10-02 | 1974-12-31 | Tucker & Sons | Slide for preventing excessive vibration in an endless track unit |
| CN103863423B (en) * | 2012-12-17 | 2016-05-04 | 中国科学院沈阳自动化研究所 | One triangle crawler-type mobile mechanism |
| CN103350726B (en) * | 2013-07-26 | 2014-10-15 | 中南林业科技大学 | Robot chassis suitable for forest land operation |
| CN103496407B (en) * | 2013-09-27 | 2016-01-13 | 中国矿业大学 | Two-step independent cantilever band suspension chassis system |
| KR101711277B1 (en) * | 2015-05-11 | 2017-03-06 | 부산외국어대학교 산학협력단 | Exploration robot for dangerous spot search |
| CN108438091B (en) * | 2018-03-19 | 2019-02-15 | 单淑梅 | A kind of anti-inclination exploration robot |
| CN108454718B (en) * | 2018-05-24 | 2023-06-23 | 河北工业大学 | Crawler-type passive self-adaptive robot |
| CN109281982A (en) * | 2018-11-01 | 2019-01-29 | 苏州赛亚智能技术有限公司 | A kind of exploration robot damping |
-
2018
- 2018-11-01 CN CN201811293763.4A patent/CN109281982A/en not_active Withdrawn
-
2019
- 2019-09-12 WO PCT/CN2019/105560 patent/WO2020088117A1/en active Application Filing
- 2019-09-12 JP JP2020600179U patent/JP3234727U/en active Active
- 2019-09-12 DE DE212019000196.3U patent/DE212019000196U1/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020088117A1 (en) * | 2018-11-01 | 2020-05-07 | 苏州赛亚智能技术有限公司 | Damping mechanism for exploration robot |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2020088117A1 (en) | 2020-05-07 |
| JP3234727U (en) | 2021-11-04 |
| DE212019000196U1 (en) | 2020-11-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109281982A (en) | A kind of exploration robot damping | |
| Yadav et al. | Design analysis of Rocker Bogie Suspension System and Access the possibility to implement in Front Loading Vehicles | |
| CN207176740U (en) | The attachment structure of submerged floating tunnel in a kind of water | |
| CN107554226A (en) | suspension system and dumper | |
| CN208035832U (en) | A kind of Marsokhod elastic wheel | |
| CN209739059U (en) | Multipurpose mine bucket truck | |
| CN212155630U (en) | Damping mechanism for exploration robot | |
| CN203427918U (en) | Caterpillar track chassis of beach cleaning vehicle | |
| CN207808960U (en) | Grasswort formula semitrailer suspension system | |
| CN107554632B (en) | A kind of bull-dozer crawler attachment with damping efficacy | |
| CN206086947U (en) | Compound formula multipurpose caterpillar base plate that bears | |
| CN216660081U (en) | Box type crawler chassis of high-lift anchoring drilling machine | |
| CN208101616U (en) | A kind of security robot front-wheel damping adds bowl group structure | |
| CN103395453B (en) | The crawler body of a kind of sandy beach cleaning cart | |
| CN211083322U (en) | Coal-winning machine vibration damping mount | |
| CN200940274Y (en) | Miniature caterpillar hydraulic excavator frame | |
| CN206914076U (en) | Composite rod formula articulated truck rear suspension | |
| CN207106678U (en) | A kind of tracked ATV bogie frame | |
| CN217198156U (en) | Flexible shock absorption device for pedestrian vehicle | |
| CN215595585U (en) | Temporary walking device for shield machine equipment bridge | |
| CN210264509U (en) | Portable pneumatic pick | |
| CN206874223U (en) | A kind of New Coal Mine borer chassis | |
| CN217206457U (en) | Auxiliary supporting device for heading machine and heading machine | |
| CN213478247U (en) | Chassis of coal mine drilling machine | |
| CN204222571U (en) | Band carrier bar single shaft rubber suspension system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190129 |
|
| WW01 | Invention patent application withdrawn after publication |