CN109927500A - The damping wheel of mobile robot - Google Patents

Abstract

The embodiment of the invention discloses a kind of damping wheels of mobile robot, it is related to wheel technical field, it is arranged on bottom plate, including inside fixed plate and outside fixed plate, omni-directional wheel and motor are respectively arranged in the two sides that the inside fixed plate and outside fixed plate are located remotely from each other, the omni-directional wheel is connect with motor by shaft coupling, and the shaft coupling is between outside fixed plate and inside fixed plate；Rotation is provided with rotation connection component between the outside fixed plate and inside fixed plate, and the rotation connection component is fixedly connected with bottom plate；Rotation is provided with damping between the outside fixed plate and inside fixed plate, and the one end of the damping far from outside fixed plate and bottom plate are rotatablely connected；The damping and the rotation connection component are located at shaft coupling two sides.To solve the problems, such as in the prior art since damping effect is poor in use for omni-directional wheel.

Description

Shock-absorbing wheels for mobile robots

technical field

Embodiments of the present invention relate to the technical field of wheels, and in particular, to a shock-absorbing wheel of a mobile robot.

Background technique

The omnidirectional wheel vehicle can move in all directions, and even rotate 360 degrees on the spot, which brings great convenience to the control, so it is gradually welcomed by people. However, the existing omnidirectional wheel vehicle does not have a shock absorption system, and the bearing seat of the wheel is directly rigidly connected with the vehicle body, which is prone to slip and deviate from the running track. In addition, most drive units currently use the way that the motor is directly connected to the drive wheel through the flange, resulting in a large radial force on the motor shaft, which affects the life of the motor.

The rigidly connected shock absorption system lacks flexibility, so the flatness of the driving ground of the omnidirectional wheel vehicle is very high. Other surrounding equipment is damaged, and there is a serious safety hazard. The motor is directly connected to the drive wheel through the flange, resulting in a large radial force on the motor shaft, which affects the life of the motor.

SUMMARY OF THE INVENTION

To this end, embodiments of the present invention provide a shock-absorbing wheel for a mobile robot to solve the problem in the prior art that the omnidirectional wheel has poor shock-absorbing effect during use.

In order to achieve the above purpose, the embodiments of the present invention provide the following technical solutions:

According to an embodiment of the present invention, a shock-absorbing wheel of a mobile robot is provided on a base plate, including an inner fixing plate and an outer fixing plate, and omnidirectional are respectively provided on both sides of the inner fixing plate and the outer fixing plate away from each other. A wheel and a motor, the omnidirectional wheel and the motor are connected by a coupling, and the coupling is located between the outer fixing plate and the inner fixing plate; a rotating connection is provided between the outer fixing plate and the inner fixing plate. The rotating connection assembly is fixedly connected to the bottom plate; a damping mechanism is rotatably arranged between the outer fixing plate and the inner fixing plate, and the end of the damping mechanism away from the outer fixing plate is rotatably connected to the bottom plate; The shock mechanism and the rotating connection assembly are located on both sides of the coupling.

Further, the rotating connection assembly includes a rotating shaft rotatably connected between the outer fixing plate and the inner fixing plate, and a bearing seat sleeved on the rotating shaft, and the bearing seat is provided with the rotating shaft. The connecting bearing is connected, and the bearing seat is fixed on the base plate.

Further, a support bearing is fixed on the outer fixing plate and/or the inner fixing plate, and the rotating shaft is connected in the support bearing.

Further, a baffle is integrally formed on the rotating shaft and at one side of the connecting bearing; a sleeve is sleeved on the rotating shaft, and the connecting bearing is located between the sleeve and the baffle.

Further, a support rod is fixed between the outer fixing plate and the inner fixing plate.

Further, the shock absorbing mechanism includes a rotating shaft fixed between the outer fixing plate and the inner fixing plate, a first bushing sleeved on the rotating shaft, and a shock absorbing mechanism fixed on the first shaft sleeve A rod, a connecting rod connected to the bottom plate, a base rotatably connected to the connecting rod, the end of the shock-absorbing rod away from the shaft sleeve is slidably connected in the base, and the shock-absorbing rod is sleeved on the shock-absorbing rod Has shock springs.

Further, the base includes a second shaft sleeve rotatably connected to the connecting rod, and a sleeve fixed on the side wall of the second sleeve, a first abutment plate is fixed on the outside of the telescopic sleeve, A second abutting plate is fixed on the side wall of the shock-absorbing rod; one end of the shock-absorbing rod is slidably connected in the sleeve, and two ends of the shock-absorbing spring are respectively abutted on the first abutting plate and the second abutting plate superior.

Further, the support bearing is a deep groove ball bearing and/or an angular contact ball bearing.

The embodiments of the present invention have the following advantages:

In the embodiment of the present invention, the shock-absorbing spring is used to cooperate with the rotating connecting component at the same time, and the two can play a good shock-absorbing effect. The structure has a certain degree of flexibility, has low requirements on the flatness of the driving ground, and is suitable for a wider range of scenarios; it is not easy to produce slippage, and the control accuracy is higher; the outer and inner fixed plates are provided, which greatly improves the motor shaft force. , improve motor life and reduce production costs.

Description of drawings

In order to illustrate the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that are required to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only exemplary, and for those of ordinary skill in the art, other implementation drawings can also be obtained according to the extension of the drawings provided without creative efforts.

The structures, proportions, sizes, etc. shown in this specification are only used to cooperate with the contents disclosed in the specification, so as to be understood and read by those who are familiar with the technology, and are not used to limit the conditions for the implementation of the present invention, so there is no technical The substantive meaning above, any modification of the structure, the change of the proportional relationship or the adjustment of the size should still fall within the technical content disclosed in the present invention without affecting the effect and the purpose that the present invention can produce. within the range that can be covered.

1 is a schematic diagram of the overall structure of a shock-absorbing wheel of a mobile robot according to an embodiment of the present invention;

2 is a schematic diagram of a protruding and rotating connecting component in a shock-absorbing wheel of a mobile robot according to an embodiment of the present invention;

3 is a cross-sectional view of a protruding rotating connection component in a shock-absorbing wheel of a mobile robot according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a protruding damping mechanism in a damping wheel of a mobile robot according to an embodiment of the present invention.

In the figure: 1. Inner fixing plate; 2. Outer fixing plate; 21. Support rod; 3. Omni-directional wheel; 4. Motor; 41. Coupling; ; 512, sleeve; 52, bearing seat; 53, connecting bearing; 54, supporting bearing; 6, damping mechanism; 61, rotating shaft; 62, first bushing; 63, damping rod; 631, second contact receiving plate; 64, connecting rod; 65, base; 651, second bushing; 652, sleeve; 653, first abutting plate; 66, shock-absorbing spring.

Detailed ways

The embodiments of the present invention are described below by specific specific embodiments. Those who are familiar with the technology can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are part of the present invention. , not all examples. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Terms such as "upper", "lower", "left", "right", "middle", etc. quoted in this specification are only for the convenience of description and clarity, and are not used to limit the scope of the present invention. Changes or adjustments of their relative relationships, without substantial changes to the technical content, should also be regarded as the scope of the present invention.

A shock-absorbing wheel of a mobile robot is arranged on a base plate, and in the process of supporting and moving the mobile robot, it has a shock-absorbing effect to a certain extent. As shown in FIG. 1 , the damping wheel includes an inner fixing plate 1 and an outer fixing plate 2. On both sides of the inner fixing plate 1 and the outer fixing plate 2 away from each other, an omnidirectional wheel 3 and a motor 4 are respectively provided. The motor 4 adopts DC brushless motor. The omnidirectional wheel 3 is connected with the motor 4 through a coupling 41, and the coupling 41 is located between the outer fixing plate 2 and the inner fixing plate 1; a rotating connection assembly 5 is rotated between the outer fixing plate 2 and the inner fixing plate 1. , the rotating connection assembly 5 is fixedly connected to the bottom plate; a damping mechanism 6 is rotatably arranged between the outer fixed plate 2 and the inner fixed plate 1, and the end of the damping mechanism 6 away from the outer fixed plate 2 is rotatably connected to the bottom plate. Among them, the rotating connection assembly 5 and the damping mechanism 6 are located on both sides of the coupling 41, and one side is connected to the bottom plate in rotation. The connection assembly 5 cooperates for reducing vibration to the base plate.

2 and 3 , the rotating connection assembly 5 includes a rotating shaft 51 rotatably connected between the outer fixing plate 2 and the inner fixing plate 1 , and a bearing seat 52 sleeved on the rotating shaft 51 , and provided in the bearing seat 52 There is a connecting bearing 53 connected with the rotating shaft 51, and the bearing seat 52 is fixed on the vehicle floor. A supporting bearing 54 is fixed on the outer fixing plate 2 and/or the inner fixing plate 1 , and the rotating shaft 51 is connected in the supporting bearing 54 . The support bearing 54 is selected as a deep groove ball bearing and/or an angular contact ball bearing, which plays the role of supporting, reducing resistance, and bearing axial and radial loads.

A baffle 511 is integrally formed on the rotating shaft 51 and on the side of the connecting bearing 53; a sleeve 512 is sleeved on the rotating shaft 51, and the connecting bearing 53 is located between the sleeve 512 and the baffle 511, and the baffle 511 and The sleeve 512 limits and fixes the connecting bearing 53 on both sides of the connecting bearing 53 , so that the displacement is not easy to occur along the rotation length direction during use, and the service life is longer.

In order to make the connection between the outer fixing plate 2 and the inner fixing plate 1 more stable, a support rod 21 is fixed between the outer fixing plate 2 and the inner fixing plate 1 .

As shown in FIG. 4 , the damping mechanism 6 includes a rotating shaft 61 fixed between the outer fixing plate 2 and the inner fixing plate 1 , a first sleeve 62 sleeved on the rotating shaft 61 , and a first sleeve 62 fixed on the first sleeve 62 . The shock-absorbing rod 63 on the upper side, the connecting rod 64 connected to the bottom plate of the vehicle, the base 65 connected to the connecting rod 64 in rotation, the end of the shock-absorbing rod 63 away from the shaft sleeve is slidably connected in the base 65, and the shock-absorbing rod 63 is slidably connected to the base 65. A shock-absorbing spring 66 is sleeved on 63 .

The base 65 includes a second shaft sleeve 651 rotatably connected to the connecting rod 64, and a sleeve 652 fixed on the side wall of the second sleeve 651. A first abutment plate 653 is fixed on the outside of the sleeve 652. A second contact plate 631 is fixed on the side wall of the shock rod 63; one end of the shock rod 63 is slidably connected in the sleeve 652, and the two ends of the shock spring 66 are respectively abutted against the first abutment disk 653 and the second abutment disk 631 on.

During use, the damping spring 66 can play a buffering effect. At the same time, in cooperation with the rotating connecting assembly 5, the two can play a very good shock absorption effect. The structure has a certain degree of flexibility, low requirements on the flatness of the driving ground, and is suitable for a wider range of scenarios; it is not easy to produce slippage, and the control accuracy is higher; the outer fixing plate 2 and the inner fixing plate 1 are provided, which greatly improves the motor 4-axis The stress condition increases the life of the motor 4 and reduces the production cost.

Although the present invention has been described in detail above with general description and specific embodiments, some modifications or improvements can be made on the basis of the present invention, which will be obvious to those skilled in the art. Therefore, these modifications or improvements made without departing from the spirit of the present invention fall within the scope of the claimed protection of the present invention.

Claims (8)

1. a kind of damping wheel of mobile robot is arranged on bottom plate, it is characterised in that: including inside fixed plate (1) and outside Fixed plate (2) is respectively arranged with omni-directional wheel (3) in the two sides that the inside fixed plate (1) and outside fixed plate (2) are located remotely from each other With motor (4), the omni-directional wheel (3) is connect with motor (4) by shaft coupling (41), and the shaft coupling (41) is fixed positioned at outside Between plate (2) and inside fixed plate (1)；

Rotation is provided with rotation connection component (5), the rotation between the outside fixed plate (2) and inside fixed plate (1) Connection component (5) is fixedly connected with bottom plate；Rotation, which is provided with, between the outside fixed plate (2) and inside fixed plate (1) subtracts It shakes mechanism (6), the damping (6) one end and bottom plate far from outside fixed plate (2) are rotatablely connected；

The damping (6) and the rotation connection component (5) are located at shaft coupling (41) two sides.

2. the damping wheel of mobile robot according to claim 1, it is characterised in that: rotation connection component (5) packet It includes the shaft (51) being rotatably connected between the outside fixed plate (2) and inside fixed plate (1) and is socketed in the shaft (51) bearing block (52) on is provided with the connection bearing (53) connecting with the shaft (51) in the bearing block (52), The bearing block (52) is fixed on the bottom plate.

3. the damping wheel of mobile robot according to claim 2, it is characterised in that: the outside fixed plate (2) and/ Or spring bearing (54) are fixed in inside fixed plate (1), the shaft (51) is connected in the spring bearing (54).

4. the damping wheel of mobile robot according to claim 2, it is characterised in that: on the shaft (51) and be located at The side of connection bearing (53) is integrally formed with baffle (511)；Sleeve (512), institute are socketed on the shaft (51) Connection bearing (53) is stated between the sleeve (512) and baffle (511).

5. the damping wheel of mobile robot according to claim 1, it is characterised in that: fixed plate (2) and inside on the outside Support rod (21) are fixed between fixed plate (1).

6. the damping wheel of mobile robot according to claim 1, it is characterised in that: the damping (6) includes solid It is scheduled on the rotation axis (61) between outside fixed plate (2) and inside fixed plate (1), first be socketed on the rotation axis (61) Axle sleeve (62), the connecting rod (64) being connected on the bottom plate, turns the decoupling rod (63) being fixed on first axle sleeve (62) The dynamic pedestal (65) being connected on the connecting rod (64), the decoupling rod (63) are slipped far from one end of axle sleeve in the pedestal (65) in, damping spring (66) are socketed on the decoupling rod (63).

7. the damping wheel of mobile robot according to claim 6, it is characterised in that: the pedestal (65) includes that rotation connects The second axle sleeve (651) on the connecting rod (64) is connect, and the casing being fixed on the second axle sleeve (651) side wall (652), the first abutting disk (653) is fixed on the outside of the telescopic sleeve (652), the is fixed on the decoupling rod (63) side wall Two abut disk (631)；Described decoupling rod (63) one end is slipped in described sleeve pipe (652), the both ends of the damping spring (66) The first abutting disk (653) and second is connected to respectively to abut on disk (631).

8. the damping wheel of mobile robot according to claim 3, it is characterised in that: the spring bearing (54) is zanjon Ball bearing and/or angular contact ball bearing.