CN110203030B - Damping shock absorption mechanism, guide wheel and circular rail robot - Google Patents
Damping shock absorption mechanism, guide wheel and circular rail robot Download PDFInfo
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- CN110203030B CN110203030B CN201910446736.4A CN201910446736A CN110203030B CN 110203030 B CN110203030 B CN 110203030B CN 201910446736 A CN201910446736 A CN 201910446736A CN 110203030 B CN110203030 B CN 110203030B
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- sleeve
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/02—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally
- B60G13/06—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally of fluid type
- B60G13/08—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally of fluid type hydraulic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/20—Type of damper
- B60G2202/24—Fluid damper
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2300/00—Indexing codes relating to the type of vehicle
- B60G2300/10—Railway vehicles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a damping shock absorption mechanism, a guide wheel and a circular rail robot, which comprise a rotating part, a sleeve, a sliding part and an elastic supporting part, wherein the rotating part is arranged on the sleeve; damping liquid is arranged in the sleeve; one end of the sliding part is hinged with the rotating part, the rotating part swings in a reciprocating manner to drive the other end of the sliding part to reciprocate in the sleeve, and the end of the sliding part generates a damping effect under the action of damping liquid; an elastic supporting piece is arranged outside the sleeve, and the end part of the elastic supporting piece is supported on the sliding piece and provides resistance for the sliding piece when the sliding piece reciprocates. The damping mechanism can ensure that the robot can restrain the impact and the oscillation from the track surface in the operation process, reduce the operation noise of the robot and prolong the service life of the circular orbit robot.
Description
Technical Field
The disclosure relates to the technical field of damping of guide wheels of circular rail robots, in particular to a damping mechanism, a guide wheel and a circular rail robot.
Background
At present, in the running process of a circular track robot, due to the fluctuation and turning of a slope and the instability of the circular track slope, vibration is generated to a certain degree on a guide wheel running on the circular track robot, the vibration of the guide wheel can be directly transmitted to the robot, the normal running of the robot is influenced, certain damage can be caused to the robot due to the vibration in the long term, and the service life of the robot is shortened; in addition, the noise generated by vibration also affects the overall performance index of the robot.
Disclosure of Invention
The purpose of the present disclosure is to overcome the above-mentioned deficiencies of the prior art, and to provide a damping mechanism, a guide wheel and a circular rail robot; the damping mechanism can ensure that the robot can restrain the impact and the oscillation from the track surface in the operation process, reduce the operation noise of the robot and prolong the service life of the circular orbit robot.
The first purpose of the present disclosure is to provide a damping mechanism, in order to achieve the above purpose, the present disclosure adopts the following technical scheme:
a damping and shock-absorbing mechanism comprises a rotating part, a sleeve, a sliding part and an elastic supporting part;
damping liquid is arranged in the sleeve;
one end of the sliding part is hinged with the rotating part, the rotating part swings in a reciprocating manner to drive the other end of the sliding part to reciprocate in the sleeve, and the end of the sliding part generates a damping effect under the action of damping liquid;
an elastic supporting piece is arranged outside the sleeve, and the end part of the elastic supporting piece is supported on the sliding piece and provides resistance for the sliding piece when the sliding piece reciprocates.
The working principle of the damping mechanism is as follows:
when the circular rail robot runs, the rotating part is connected with the guide wheel of the circular rail robot, the guide wheel can drive the rotating part to swing up and down when the guide wheel vibrates and goes up and down a slope and turns when the track runs, the rotating part further drives the sliding part to reciprocate in the sleeve, and the elastic supporting part on the outer side of the sleeve and the damping liquid in the sleeve form double damping shock absorption on the sliding part so as to absorb impact and shock from a track surface.
As a further technical scheme, the end part of the sliding piece, which is matched with the sleeve, is provided with a piston, and the piston is in contact fit with the inner wall of the sleeve.
As a further technical scheme, the piston is provided with a liquid inlet and outlet hole.
As a further technical scheme, a plug is arranged between the end part of the sleeve and the sliding part.
As a further technical scheme, the elastic supporting piece is a damping spring, and the thread pitch of the damping spring is gradually increased from two ends to the middle part.
As a further technical scheme, the outer side wall of the sleeve is sleeved with a position-adjustable stop part, and the elastic supporting part is supported between the stop part and the sliding part.
As a further technical scheme, the rotating part and the sleeve are hinged to the fixed plate.
As a further technical scheme, the upper side part and the lower side part of the rotating part, which are matched with the fixed plate, are provided with limit inclined planes.
As a further technical scheme, the inclination of the limiting inclined planes of the upper side part and the lower side part is different.
A second object of the present disclosure is to provide a guide wheel, which includes a guide wheel body connected to the rotating member of the damping mechanism.
A third object of the present disclosure is to provide a circular rail robot including the guide wheel as described above.
The beneficial effect of this disclosure does:
1) the damping elastic support piece and the damping liquid double damping and damping method are adopted in the method, so that impact and vibration from a track surface can be absorbed, the noise in the running process of the robot is greatly reduced, and the service life of the robot is prolonged.
2) The position of this disclosure accessible adjusting sleeve lateral wall stop part and then adjust the size of elastic support piece elasticity, adjust the orbital power of holding tightly of leading wheel pair that is connected with the rotation piece from this, can adjust damping shock attenuation effect according to the vibrations condition of site operation.
3) Hinge type motion structures are adopted between the rotating part and the sliding part and between the rotating part and the fixed plate and between the sleeve and the fixed plate, so that the stability of mechanical motion is improved.
4) The guide wheel disclosed by the invention adopts the damping and shock-absorbing mechanism, so that the robot can provide larger friction force for the driving wheel in the processes of ascending, descending and turning, and the smoothness of the running process of the robot is ensured.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a cross-sectional view of a damping mechanism disclosed in one embodiment;
FIG. 2 is a front view of the damping mechanism;
FIG. 3 is an isometric view of the damping mechanism in cooperation with the guide wheel;
in the drawing, 1, a fixed plate, 2, a rotating part, 3, a sleeve, 4, a sliding part, 5, a plug, 6, a piston, 7, a damping spring, 8, a flat nut, 9, a pan head hexagon socket screw, 10, a star-shaped sealing ring, 11, a guide wheel, 12, a master-slave screw, 13, a POM wear-resistant gasket and 14, damping fluid.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an", and/or "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;
for convenience of description, the words "up", "down", "left" and "right" in this disclosure, if any, merely indicate correspondence with up, down, left and right directions of the drawings themselves, and do not limit the structure, but merely facilitate description of the disclosure and simplify description, rather than indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the disclosure.
The noun explains: the "rotation member" described in the present embodiment means an element capable of rotation; "slider" means an element capable of sliding movement; "elastic support" means an element having an elastic supporting function.
As introduced in the background art, the vibration generated when the circular orbit robot runs can damage the robot and affect the overall performance index of the robot. In order to solve the technical problem, the application provides a damping mechanism applied to a guide wheel of a circular rail robot.
The application provides a damping and shock-absorbing mechanism, which comprises a rotating part, a sleeve, a sliding part and an elastic supporting part;
damping fluid is arranged in the sleeve;
one end of the sliding part is hinged with the rotating part, the rotating part swings in a reciprocating manner to drive the other end of the sliding part to reciprocate in the sleeve, and the end of the sliding part generates a damping effect under the action of damping liquid;
an elastic supporting piece is arranged outside the sleeve, and the end part of the elastic supporting piece is supported on the sliding piece and provides resistance for the sliding piece when the sliding piece reciprocates.
Example 1
The damping mechanism disclosed in the present embodiment will be further described with reference to fig. 1 to 3;
referring to fig. 1, the damping mechanism includes a rotating member 2, a sleeve 3, a sliding member 4 and an elastic supporting member;
damping fluid 14 is arranged in the sleeve 3, and hydraulic oil can be considered as the damping fluid;
one end of the sliding part 4 is hinged with the rotating part 2, the rotating part 2 swings to and fro to drive the other end of the sliding part 4 to reciprocate in the sleeve 3, and the end of the sliding part 4 generates damping effect under the action of the damping liquid 14; specifically, the sliding part 4 can be in a pull rod form, the sliding part 4 extends into the sleeve 3 and is fixedly connected with the piston 6 through a pan head hexagon socket head cap screw 9, and the piston 6 is in contact fit with the inner wall of the sleeve 3;
the piston 6 is provided with a liquid inlet and outlet hole, the cavity of the sleeve 3 is filled with hydraulic oil, the hydraulic oil in the cavity of the sleeve 3 is extruded by the reciprocating motion of the piston 6, so that the damping mechanism has a damping effect, mechanical vibration from a rail surface is counteracted, noise in the motion process is reduced, and the hydraulic oil plays roles in energy transfer, wear resistance, system lubrication, corrosion resistance, rust resistance, cooling and the like.
A plug 5 is arranged between the end of the sleeve 3 and the sliding part 4, the plug 5 is fastened to the sleeve 3 in a threaded connection mode, the sliding part 4 sequentially penetrates through the plug 5 and the piston 6, the piston 6 is fastened to the sliding part 4 through a pan head hexagon socket head cap screw 9, and the reciprocating motion of the piston 6 is driven by the reciprocating motion of the sliding part 4.
The sliding part 4 and the plug 5 are respectively provided with a groove for placing a star-shaped sealing ring 10, the star-shaped sealing ring 10 is a sealing element which can seal two directions, and under the action of pressure, the cross section shape of the sealing ring can enable the pressure to be uniformly transmitted to all aspects, so that the sealing ring has a good sealing effect and plays a role in preventing oil leakage.
As shown in fig. 1 and 3, an elastic supporting member is disposed outside the sleeve 3, and an end of the elastic supporting member is supported by the sliding member 4 to provide resistance to the sliding member 4 when the sliding member 4 reciprocates; in this embodiment, the elastic supporting element is a damping spring 7, the damping spring 7 is sleeved outside the sleeve 3, one side of the damping spring 7 is limited by a disc structure on the sliding element 4, the other side of the damping spring is fixed and limited by a stop element, the stop element is sleeved on the outer side wall of the sleeve and can adjust the position, the damping spring 7 is supported between the stop element and the disc structure of the sliding element 4, in this embodiment, the stop element is a flat nut 8, the flat nut 8 is connected to the outer side wall of the sleeve 3 through a thread, the elastic force of the damping spring 7 can be adjusted by adjusting the position of the flat nut 8 on the damper sleeve 3, and further the holding force of the guide wheel 11 on the guide rail is adjusted.
The screw pitches of the damping spring 7 are unequal, the screw pitches on two sides are small and gradually increase towards the middle, and the damping spring has the advantages of good stability, low noise, good vibration isolation effect, good damping effect, long service life and the like. This is more advantageous for damping and reducing vibrations, and minimizes noise generated by vibrations.
Further, as shown in fig. 2 and 3, the sliding part 4 and the rotating part 2 are fastened by a primary and secondary screw 12 with a smooth surface, POM wear-resistant gaskets 13 are arranged on two sides of the primary and secondary screw 12, the sliding part 4 and the rotating part 2 can rotate relatively, and the primary and secondary screws function as rotating shafts, so that relative movement between the two parts can be smoother. The rotating member 2 drives the sliding member 4 to reciprocate in the cavity of the sleeve 3 during the up-and-down rotation.
Further, as shown in fig. 1-3, the rotating member 2 is an L-shaped structure, and when the rotating member 2 is used in a guide wheel of a circular track robot, the rotating member 2 is fixedly connected to a wheel shaft of the guide wheel 11, and as shown in fig. 3, the rotating member 2 swings while driving the guide wheel 11 to move up and down, so that the guide wheel 11 is ensured to be held tightly with a track surface at any time and provide sufficient supporting force, and the robot can normally and stably run when turning, going up and down a slope.
As shown in fig. 1-3, the rotating member 2 and the sleeve 3 are both hinged to the fixed plate 1, the fixed plate 1 is fixed to the frame by hexagon socket head cap screws, and the assembled guide wheel 11 can be just attached to a circular rail, and two sets of fixing rib plates are arranged on the fixed plate 1, and the rotating member 2 and the sleeve 3 are fixed by the main and sub screws 12. The rotating member 2 and the sleeve 3 can rotate around the joint with the fixed plate 1, and when the guide wheel 11 vibrates, the double damping and shock absorption effects are achieved through the cooperation between the shock absorption spring 7, the sleeve 3 and the sliding member 4, and the impact and the vibration from the track surface are absorbed.
As shown in fig. 2, the upper side portion and the lower side portion of the rotating member 2 engaged with the fixed plate 1 are provided with a limiting inclined surface, and the inclination of the limiting inclined surface of the upper side portion is different from that of the lower side portion. This allows the rotor 2 to swing up and down within a predetermined range. When the lower inclined plane is limited, the piston 6 just moves to a position which is attached to the end face of the plug 5; when the upper inclined plane is limited, the piston 6 just moves to the inner bottom surface of the sleeve 3, and the phenomenon of mutual interference can not occur.
The specific application method of the device is as follows:
when the circular orbit robot runs, the rotating part 2 is fixedly connected with a wheel shaft of the guide wheel 11 of the circular orbit robot, the guide wheel 11 can drive the rotating part 2 to swing up and down when the circular orbit runs and goes up and down and turns, the end parts of the rotating part 2 and the sleeve 3 are hinged to the fixed plate 1, the rotating part 2 and the sleeve 3 can rotate around the joint of the rotating part and the fixed plate 1, the rotating part 2 further drives the sliding part 4 to do reciprocating motion in the sleeve 3, the damping spring 7 on the outer side of the sleeve 3 and the damping liquid 14 in the sleeve 3 form double damping on the sliding part 4, and impact and vibration from an orbit surface are absorbed.
In addition, the damping mechanism can be applied to the guide wheel of the circular rail robot in the background technology, and can also be applied to various wheels which need damping when running on the track.
Although the present disclosure has been described with reference to specific embodiments, it should be understood that the scope of the present disclosure is not limited thereto, and those skilled in the art will appreciate that various modifications and changes can be made without departing from the spirit and scope of the present disclosure.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (7)
1. A guide wheel of a circular rail robot comprises a guide wheel body and is characterized in that the guide wheel body is connected with a rotating part of a damping shock absorption mechanism;
the damping and shock-absorbing mechanism comprises a rotating part, a sleeve, a sliding part and an elastic supporting part;
damping liquid is arranged in the sleeve;
one end of the sliding part is hinged with the rotating part, the rotating part swings to and fro to drive the other end of the sliding part to move to and fro in the sleeve, and the end of the sliding part generates a damping effect under the action of the damping liquid;
an elastic supporting piece is arranged outside the sleeve, and the end part of the elastic supporting piece is supported on the sliding piece and provides resistance for the sliding piece when the sliding piece reciprocates; the elastic supporting piece adopts a damping spring, the thread pitch of the damping spring is unequal, the thread pitches on two sides are small, and the thread pitches gradually increase towards the middle;
the rotating part and the sleeve are hinged to the fixed plate; the rotating part is of an L-shaped structure, and the upper side part and the lower side part of the rotating part, which are matched with the fixed plate, are provided with limit inclined planes;
when the circular rail robot runs, the rotating part is connected with the guide wheel of the circular rail robot, the guide wheel can drive the rotating part to swing up and down when the guide wheel vibrates and goes up and down a slope and turns when the track runs, the rotating part further drives the sliding part to reciprocate in the sleeve, and the elastic supporting part on the outer side of the sleeve and the damping liquid in the sleeve form double damping shock absorption on the sliding part so as to absorb impact and shock from a track surface.
2. The circular-track robot guide wheel according to claim 1, wherein the end of the sliding member engaged with the sleeve is provided with a piston, and the piston is in contact engagement with the inner wall of the sleeve; the piston is provided with a liquid inlet and outlet hole.
3. The circular rail robot guide wheel according to claim 1, wherein a stopper is provided between the end of the sleeve and the sliding member.
4. The guide wheel according to claim 1, wherein the elastic support member is a damping spring having a pitch gradually increasing from both ends to a middle portion.
5. The circular rail robot guide wheel according to claim 1 or 4, wherein the sleeve has an outer sidewall sleeved with a position adjustable stopper, and the elastic support member is supported between the stopper and the slider.
6. The circular rail robot guide wheel according to claim 1, wherein the inclination of the limit slopes of the upper and lower side portions is different.
7. A circular orbit robot comprising the circular orbit robot guide wheel according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910446736.4A CN110203030B (en) | 2019-05-27 | 2019-05-27 | Damping shock absorption mechanism, guide wheel and circular rail robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910446736.4A CN110203030B (en) | 2019-05-27 | 2019-05-27 | Damping shock absorption mechanism, guide wheel and circular rail robot |
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| CN110203030A CN110203030A (en) | 2019-09-06 |
| CN110203030B true CN110203030B (en) | 2022-07-19 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110566625B (en) * | 2019-09-30 | 2024-05-07 | 永康骑客智能科技股份有限公司 | Shock absorber for vehicle |
| CN112109755B (en) * | 2020-09-29 | 2021-10-26 | 中车株洲电力机车有限公司 | Suspension type monorail train bogie guider and bogie |
| CN112413049A (en) * | 2020-11-03 | 2021-02-26 | 珠海格力电器股份有限公司 | Can install shock attenuation module and mobile device of runner |
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| CN108087485A (en) * | 2017-12-19 | 2018-05-29 | 重庆飞特车辆技术有限公司 | A kind of wheeled robot and its damper |
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| US5956951A (en) * | 1996-09-20 | 1999-09-28 | Mr Technologies | Adjustable magneto-rheological fluid device |
| CN201100358Y (en) * | 2007-08-31 | 2008-08-13 | 中国南车集团株洲电力机车研究所 | Damp varying oil pressure vibration reducer for engine car |
| CN204253714U (en) * | 2014-11-05 | 2015-04-08 | 株洲时代装备技术有限责任公司 | A kind of oil-pressure damper being beneficial to heat radiation |
| CN206943300U (en) * | 2017-06-27 | 2018-01-30 | 周学昌 | Vertical Hydraulic Damper Used used for rail vehicle |
| CN109229235B (en) * | 2018-11-09 | 2024-01-23 | 北京理工大学 | Drive steering unit, modularized vehicle and modularized transportation system |
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| CN207241334U (en) * | 2017-09-14 | 2018-04-17 | 智造未来（北京）机器人系统技术有限公司 | The suspended structure of lateral arrangement and the mechanical walking device chassis for including it |
| CN108087485A (en) * | 2017-12-19 | 2018-05-29 | 重庆飞特车辆技术有限公司 | A kind of wheeled robot and its damper |
| CN109625020A (en) * | 2018-11-08 | 2019-04-16 | 山东康威通信技术股份有限公司 | A kind of wheel design and robot for round tube track |
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