CN111497547A - Damping device of robot and wheel set structure with damping device - Google Patents
Damping device of robot and wheel set structure with damping device Download PDFInfo
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- CN111497547A CN111497547A CN202010291685.5A CN202010291685A CN111497547A CN 111497547 A CN111497547 A CN 111497547A CN 202010291685 A CN202010291685 A CN 202010291685A CN 111497547 A CN111497547 A CN 111497547A
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- fork arm
- robot
- damping
- wheel set
- cover body
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G15/00—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type
- B60G15/02—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring
- B60G15/04—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring and mechanical damper or dynamic damper
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/18—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram
- B60G3/20—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram all arms being rigid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
- B60G2204/10—Mounting of suspension elements
- B60G2204/14—Mounting of suspension arms
- B60G2204/148—Mounting of suspension arms on the unsprung part of the vehicle, e.g. wheel knuckle or rigid axle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/16—Running
- B60G2800/162—Reducing road induced vibrations
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention relates to the technical field of robots, in particular to a damping device of a robot and a wheel set structure with the damping device. The damping device comprises an adjustable structure and a plurality of damping mechanisms, the elastic range can be adjusted according to the inspection environment of the robot, the impact force on the wheel set structure can be buffered, absorbed and eliminated step by step in a segmented mode, the whole buffering and damping process is more stable, the impact and vibration of the wheel set structure from the ground can be absorbed and buffered more effectively, the stable operation of the robot body is ensured, and the structural damage to each circuit component in the robot body is effectively reduced. The wheel set structure with the damping device has the advantages that the upper fork arm, the lower fork arm and the damping device form a double-fork arm structure, the weight of the robot body can be effectively shared, the impact force from the ground is relieved to the wheel set structure, and the suspension type wheel set structure can carry the robot body to conduct routing inspection work in complex and severe environments such as various potholes and soil slopes more flexibly.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a damping device of a robot and a wheel set structure with the damping device.
Background
At present, the inspection robot is mainly driven by wheels and can only run on a relatively flat hard road. In view of the fact that most transformer substations do not reserve a robot inspection channel in planning and design, the transformer substations run on bumpy and uneven road surfaces for a long time, structural damage to internal circuits of the inspection robot is easily caused, and stability of equipment is affected.
In order to solve the above problems, in the prior art, a damping device is mostly added to a chassis or a wheel set structure of a robot.
For example, chinese patent with publication number CN206048171U discloses a shock-absorbing wheel set of a substation inspection robot, which includes left and right wheel shock-absorbing assemblies respectively located on two sides of a chassis, and each of the left and right wheel shock-absorbing assemblies includes a rotating wheel, a wheel seat, a first connecting plate, a second connecting plate, a first elastic module, a second elastic module, a first fixing plate, and a second fixing plate. Through transmitting the impact of the road surface to the runner to first elastic module, second elastic module via first connecting plate, second connecting plate, first connecting plate, second connecting plate can rotate rectangle outer tube small-angle relatively to the extrusion rubber cylinder, the rubber cylinder produces elastic damping, reduces the impact of transmitting to the chassis from this, thereby reduces the structural damage to the inner circuit of the robot of patrolling and examining.
But the damping of the damping wheel set in the patent only utilizes the elastic damping generated by the rubber cylinder to reduce the impact finally, and the absorbed vibration is limited. However, the working environment of the inspection robot is mostly located outdoors, and some complex terrains such as potholes and soil slopes and flat terrains may exist in the working environment, so that the robot has different vibration and different damping requirements during inspection operation. The shock-absorbing structure of the above patent is difficult to satisfy the shock-absorbing requirement of the robot in a complex environment.
Disclosure of Invention
The invention aims to provide a damping device of a robot and a wheel set structure with the damping device, which have good autonomous navigation capability and can flexibly carry a robot body to carry out routing inspection work in various complex environments such as potholes, soil slopes and the like.
The above object of the present invention is achieved by the following technical solutions:
a robot damping device comprises a damper installed between a wheel set and a robot body. The shock absorber comprises a telescopic sleeve, a telescopic rod, a shock absorption spring, an adjusting seat and a bearing seat; the upper end of the telescopic rod is normally sleeved in the telescopic sleeve; the outer wall of the telescopic sleeve is provided with a thread section, and the adjusting seat is connected to the outer wall of the telescopic sleeve in a thread mode; the pressure bearing seat is fixed at the lower part of the telescopic rod; the damping spring surrounds the telescopic sleeve and the telescopic rod and is positioned between the bearing seat and the adjusting seat.
By adopting the technical scheme, the shock absorber is positioned between the wheel set and the robot body, and the compression amount of the shock absorbing spring can be adjusted by the adjusting seat along the thread section of the outer wall of the telescopic sleeve according to the requirement of the robot in the inspection working environment when the shock absorber is used, so that the elastic range of the whole shock absorber is adjusted, and the practical range of the robot shock absorbing device is expanded.
When the damping device is used, wheels are impacted from the ground and are transmitted to the telescopic rod through the wheel set, the telescopic rod moves to the telescopic sleeve along the axial direction, meanwhile, the bearing seat drives the damping spring to move to the adjusting seat, and the damping spring is compressed and buffered axially, so that the buffering and damping requirements are met sequentially.
The invention is further configured to: and a second damping spring is arranged between the upper end of the telescopic rod and the top wall of the telescopic sleeve.
By adopting the technical scheme, the second damping spring can increase the damping performance of the damping device.
When the telescopic link moved to telescopic sleeve, be located between the two second damping spring and receive pressure simultaneously, can undertake the pressure that the wheelset conveyed with damping spring jointly.
The invention is further configured to: and a third damping mechanism is connected below the pressure bearing seat.
By adopting the technical scheme, the third damping mechanism further enhances the damping performance of the damping device.
The third damping mechanism is positioned below the bearing seat and can absorb and resolve the impact force on the wheel set in a segmented manner together with the shock absorber. If the third damping mechanism is located at a position close to the wheel set, the impact force is firstly absorbed and relieved by the third damping mechanism, then is transmitted to the shock absorber through the telescopic rod and is absorbed by the shock absorber, so that the impact force on the wheel set is eliminated as much as possible, the stability of the robot body in the operation process is kept, and the structural damage to all circuit parts in the robot body is effectively reduced.
The invention is further configured to: the third damping mechanism comprises a third damping spring and an upper cover body and a lower cover body which are opposite in opening; the third damping spring is positioned between the upper cover body and the lower cover body; the inner diameter of the upper cover body is larger than the outer diameter of the lower cover body; the axial length of the third damping spring is normally greater than the axial lengths of the upper cover body and the lower cover body; and the axial length of the third damping spring is less than the sum of the axial lengths of the upper cover body and the lower cover body.
By adopting the technical scheme, the third damping mechanism provided by the invention is internally provided with a plurality of springs with different specifications, so that the damping requirement is met. Meanwhile, the third damping mechanism is internally provided with a structure mode that the upper cover body and the lower cover body are at least partially overlapped, so that external soil, rainwater and the like can be prevented from entering the damping structure, and the damping performance of the third damping mechanism is influenced by external factors as much as possible.
The invention is further configured to: the third damping spring includes a main supporting spring and a plurality of auxiliary supporting springs disposed around the main supporting spring; the elasticity of the main supporting spring is larger than that of the auxiliary supporting spring.
By adopting the technical scheme, the springs in the third damping mechanism have different elastic force sizes, can absorb impact force in sections, gradually buffer, improve damping performance and avoid the situation that each damping part in the damping device is stressed to generate reverse force at the same time.
Go up cover body diapire and cover body roof down can set up respectively with supplementary support spring assorted recess, avoid supplementary support spring skew in the use. The damping block is arranged in the main supporting spring and can be fixed on the bottom wall of the upper cover body or the top wall of the lower cover body.
The utility model provides a wheelset structure with damping device, is located the robot body outside, is connected with the actuating system of robot, includes damping device and wheel, drive shaft, drive universal joint, connecting seat, goes up yoke and lower yoke.
One end of the driving shaft is fixed on the wheel, and the other end of the driving shaft is hinged with the driving universal joint; the other end of the driving universal joint is hinged with a driving system; the connecting seat is sleeved on the driving shaft, and a bearing is arranged between the connecting seat and the driving shaft; one end of the damping device is hinged to the upper fork arm, and the other end of the damping device is hinged to the side wall of the robot body; the outer ends of the upper fork arm and the lower fork arm are respectively hinged to the upper part and the lower part of the connecting seat, the inner ends of the upper fork arm and the lower fork arm are respectively hinged to the side wall of the robot body, and the upper fork arm and the lower fork arm are kept parallel.
By adopting the technical scheme, the wheel set structure is positioned on the outer side of the robot body, is connected with a drive control system of the robot body through the drive shaft and the drive universal joint, and is controlled to operate by the drive control system.
The wheel set structure enables the wheels to be suspended through the upper fork arm and the lower fork arm. The wheel set structure can be vertically deviated in a large range relative to the robot body, and can better run in complex working environments with uneven ground surfaces such as potholes and soil slopes.
Meanwhile, the upper fork arm, the lower fork arm and the damping device form a double-fork-arm structure, so that the weight of the robot body can be effectively shared, the impact force from the ground on the wheel set structure is relieved, and the running process of the robot is kept stable.
Go up yoke, lower yoke and further play the cushioning effect, meet pothole section when making the robot move, even also can improve the stationarity than slowing down, make this internal each part of robot keep steady as far as possible, reduce because of vibrations to patrolling and examining the influence that the effect caused, also reduce vibrations and make each part erection joint take place not hard up.
The robot is further provided with auxiliary arms which are L-shaped, the outer ends of the two auxiliary arms are fixedly connected to the middle parts of the upper fork arm and the lower fork arm respectively, and the inner ends of the two auxiliary arms are hinged to the side wall of the robot body respectively.
By adopting the technical scheme, the upper fork arm and the lower fork arm are additionally provided with the auxiliary arm, so that the connection strength between the wheel set structure and the robot body can be enhanced.
The invention is further configured to: the upper fork arm and the lower fork arm are respectively provided with two fork arms, the two upper fork arms are positioned on the same plane, and the two lower fork arms are positioned on the same plane.
By adopting the technical scheme, the two groups of upper fork arms and lower fork arms can enhance the connection strength between the wheel set structure and the robot body. The two groups of upper fork arms and lower fork arms move up and down along with the running of the wheels on uneven ground.
The invention is further configured to: the upper fork arm, the lower fork arm and the connecting seat are connected through universal joints respectively; the upper fork arm, the lower fork arm, the damping device and the side wall of the robot body are connected through universal joints.
By adopting the technical scheme, the upper fork arm, the lower fork arm, the connecting seat and the robot body are connected by adopting universal joints, and the damping device is connected by adopting the universal joints, so that the upper fork arm and the lower fork arm can longitudinally or transversely deviate along with the advancing of wheels, the device is suitable for more complicated field operation environments, the impact force and the resistance of a wheel set from the ground are reduced, and the robot body can more stably advance; meanwhile, the damping device can be used for absorbing and relieving the impact and vibration from all directions on the wheel set structure for the robot body.
The invention is further configured to: the middle of the driving universal joint is provided with an adjusting sleeve and an adjusting rod which are connected in a matching way; the inner ends of the upper fork arm and the lower fork arm are respectively provided with a fork arm adjusting sleeve and a fork arm adjusting rod which are connected in a matching way; and the fork arm adjusting rod is provided with a limit nut in threaded connection with the fork arm adjusting rod in a matching manner.
By adopting the technical scheme, the distance between the wheels and the robot body can be adjusted through the adjusting structures of the driving universal joint, the upper fork arm and the lower fork arm according to the complex conditions of the working environment of the robot. For example, the lengths of the driving universal joint, the upper fork arm and the lower fork arm can be adjusted to be long due to the high soil slope and deep pothole existing in the working environment; the working environment is relatively flat, no pothole or soil slope exists, and the lengths of the driving universal joint, the upper fork arm and the lower fork arm are correspondingly shortened.
In conclusion, the beneficial technical effects of the invention are as follows:
1. the damping device can adjust the elastic force range according to the inspection environment of the robot, can absorb and buffer the impact and vibration of the wheel set structure from the ground, ensures the stable operation of the robot body, and effectively reduces the structural damage to each circuit component in the robot body.
2. The damping device provided by the invention adopts a plurality of damping mechanisms, so that the impact force on the wheel set structure can be buffered, absorbed and eliminated step by step, and the whole buffering and damping process is more stable.
3. The wheel set structure with the damping device is hung outside the robot body, so that the wheel set structure can carry the robot body more flexibly to perform inspection work in complex and severe environments such as various potholes, soil slopes and the like.
Drawings
FIG. 1 is a schematic structural view of a state of use of the present invention;
FIG. 2 is a schematic structural view of a shock-absorbing device according to embodiment 1 of the present invention;
FIG. 3 is a sectional view taken along line A-A of FIG. 2;
FIG. 4 is a schematic structural view of example 2 of the present invention;
FIG. 5 is a sectional view taken along line B-B of FIG. 4;
FIG. 6 is a schematic structural view of the wheel assembly of the present invention;
FIG. 7 is an enlarged view of portion C of FIG. 6;
FIG. 8 is a schematic structural view of a wheel assembly structure according to embodiment 5
FIG. 9 is a schematic structural view of a wheel assembly structure according to embodiment 6.
In the figure, 1, wheel group; 2. a robot body; 3. a shock absorber; 4. a telescopic sleeve; 5. a telescopic rod; 6. a damping spring; 7. an adjusting seat; 8. a pressure bearing seat; 9. a threaded segment; 10. a second damping spring; 11. a third damper mechanism; 12. a third damping spring; 13. an upper cover body; 14. a lower cover body; 15. a main support spring; 16. an auxiliary support spring; 17. a groove; 18. a damping block; 19. a drive system; 20. a damping device; 21. a wheel; 22. a drive shaft; 23. a drive gimbal; 24. a connecting seat; 25. an upper yoke; 26. a lower yoke; 27. a bearing; 28. an auxiliary arm; 29. a universal joint; 30. an adjusting sleeve; 31. adjusting a rod; 32. a yoke adjusting sleeve; 33. a yoke adjusting lever; 34. and a limiting nut.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Example 1:
as shown in fig. 1, a robot damping device includes a damper 3 installed between a wheel set 1 and a robot body 2.
As shown in fig. 2, the shock absorber 3 comprises an expansion sleeve 4, an expansion rod 5, a shock absorbing spring 6, an adjusting seat 7 and a bearing seat 8; the upper end of the telescopic rod 5 is normally sleeved in the telescopic sleeve 4; the outer wall of the telescopic sleeve 4 is provided with a thread section 9, and the adjusting seat 7 is in threaded connection with the outer wall of the telescopic sleeve 4; the pressure bearing seat 8 is fixed at the lower part of the telescopic rod 5; and the damping spring 6 surrounds the telescopic sleeve 4 and the telescopic rod 5 and is positioned between the pressure bearing seat 8 and the adjusting seat 7.
The shock absorber 3 is positioned between the wheel set 1 and the robot body 2, and when the shock absorber is used, the compression amount of the shock absorbing spring 6 can be adjusted by the adjusting seat 7 along the thread section 9 on the outer wall of the telescopic sleeve 4 according to the requirement of the robot in the inspection working environment, so that the elastic range of the whole shock absorber 3 is adjusted, and the practical range of the robot shock absorbing device is expanded.
When the damping device is used, wheels are impacted from the ground and are transmitted to the telescopic rod 5 through the wheel set, the telescopic rod 5 moves towards the telescopic sleeve 4 along the axial direction, meanwhile, the bearing seat 8 drives the damping spring 6 to move towards the adjusting seat 7, the damping spring 6 is compressed and buffered axially, and the buffering and damping requirements are sequentially met.
Example 2:
based on embodiment 1, as shown in fig. 3, a second damping spring 10 is disposed between the upper end of the telescopic rod 5 and the top wall of the telescopic sleeve 4.
The second damping spring 10 can increase the damping performance of the damping device.
When the telescopic rod 5 moves towards the telescopic sleeve 4, the second damping spring 10 between the telescopic rod and the telescopic sleeve is simultaneously stressed, and can share the pressure transmitted by the wheel set 1 with the damping spring 6.
Example 3:
based on embodiment 1 or embodiment 2, as shown in fig. 4, a third damping mechanism 11 is connected to the lower surface of the pressure receiving base 8.
The third damper mechanism 11 further enhances the damping performance of the damper device of the present invention.
The third damping mechanism 11 is positioned below the bearing seat 8 and can absorb and resolve the impact force received by the wheel set 1 with the damper 3 in a segmented manner. If the third damping mechanism 11 is located at a position close to the wheel set 1, the impact force is absorbed and relieved by the third damping mechanism 11, then is transmitted to the damper 3 through the telescopic rod 5, and is absorbed by the damper 3, so that the impact force applied to the wheel set 1 is eliminated as much as possible, the stability of the robot body 2 in the operation process is kept, and the structural damage to each circuit component in the robot body 2 is effectively reduced.
As shown in fig. 5, the third damper mechanism 11 includes a third damper spring 12 and an upper cover 13 and a lower cover 14 having opposite openings; the third damping spring 12 is positioned between the upper cover body 13 and the lower cover body 14; the inner diameter of the upper cover body 13 is larger than the outer diameter of the lower cover body 14; the axial length of the third damping spring 12 is normally greater than the axial lengths of the upper cover body 13 and the lower cover body 14; the axial length of the third damping spring 12 is smaller than the sum of the axial lengths of the upper cover body 13 and the lower cover body 14.
The third damping mechanism 11 of the present invention is provided with a plurality of springs with different specifications, so as to meet the damping requirement. Meanwhile, the third damping mechanism 11 is at least partially overlapped by the upper cover body 13 and the lower cover body 14, so that external soil, rainwater and the like can be prevented from entering the damping mechanism, and the damping performance of the third damping mechanism 11 is influenced by external factors as much as possible.
The third damping spring 12 includes a main supporting spring 15 and a plurality of auxiliary supporting springs 16 disposed around the main supporting spring 15; the elastic force of the main supporting spring 15 is greater than that of the auxiliary supporting spring 16.
The springs in the third damping mechanism 11 have different elastic forces, so that impact force can be absorbed in sections, the damping performance is improved, and the situation that each damping part in the damping device is stressed at the same time to generate reverse force is avoided.
Example 4:
based on embodiment 1, embodiment 2, or embodiment 3, as shown in fig. 1 and fig. 6, a wheel set structure having a damping device is located outside a robot body 2 and connected to a drive system 19 of the robot.
As shown in fig. 7, the wheel set structure includes a damper 20 and a wheel 21, a drive shaft 22, a drive universal joint 23, a connecting seat 24, an upper yoke 25, and a lower yoke 26.
One end of the driving shaft 22 is fixed on the vehicle 21, and the other end is hinged with the driving universal joint 23; the other end of the driving universal joint 23 is hinged with the driving system 19; the connecting seat 24 is sleeved on the driving shaft 22.
A bearing 27 is arranged between the connecting seat 24 and the driving shaft 22; the drive shaft 22 is connected with the connecting seat 4 through a bearing 27 in an empty sleeve way, so that the connecting seat 24 is prevented from rotating along with the drive shaft 22.
One end of the damping device 20 is hinged to the upper fork arm 25, and the other end of the damping device is hinged to the side wall of the robot body 2; the outer ends of the upper fork arm 25 and the lower fork arm 26 are respectively hinged to the upper part and the lower part of the connecting seat 24, the inner ends of the upper fork arm 25 and the lower fork arm 26 are respectively hinged to the side wall of the robot body 2, and the upper fork arm 25 and the lower fork arm 26 are kept parallel.
The wheel set structure of the invention is positioned at the outer side of the robot body 2, is connected with a drive control system 19 of the robot body 2 through a drive shaft 22 and a drive universal joint 23, and is controlled by the drive control system 19 to operate.
The wheel set structure enables the wheel to be suspended through the upper fork arm 25 and the lower fork arm 26. The wheel set structure can be vertically deviated in a large range relative to the robot body 2, and the robot can better run in complex working environments with uneven ground surfaces such as potholes and soil slopes.
Meanwhile, the upper fork arm 25, the lower fork arm 26 and the damping device 20 form a double-fork arm structure, so that the weight of the robot body 2 can be effectively shared, the impact force from the ground on the wheel set structure is relieved, the robot meets a hollow section during operation, the stability can be improved even if the speed is reduced, all parts in the robot body 2 are kept stable as far as possible, the influence on the inspection effect due to vibration is reduced, and the looseness of installation and connection of all parts due to vibration is also reduced.
Example 5:
based on embodiment 4, as shown in fig. 8, in the wheel set structure of the present invention, the upper yoke 25 and the lower yoke 26 are respectively provided with an auxiliary arm 28, the auxiliary arm is "L" type, outer ends of the two auxiliary arms 28 are respectively fixedly connected to middle portions of the upper yoke 25 and the lower yoke 26, and inner ends of the two auxiliary arms 28 are respectively hinged to a side wall of the robot body 2.
The auxiliary arms 28 are added to the upper fork arm 25 and the lower fork arm 26 to enhance the connection strength between the wheel set structure and the robot body 2.
Example 6:
based on embodiment 4, as shown in fig. 9, in the wheel set structure of the present invention, there are two upper forks 25 and two lower forks 26, where the two upper forks 25 are located on the same plane and the two lower forks 26 are located on the same plane.
The two sets of upper and lower forks 25 and 26 can enhance the connection strength between the wheel set structure and the robot body 2. The two sets of upper and lower forks 25, 26 move up and down simultaneously with the wheel 21 travelling over uneven ground.
The upper fork arm 25, the lower fork arm 26 and the connecting seat 24 are connected through universal joints 29 respectively; the upper fork arm 25, the lower fork arm 26, the damping device 20 and the side wall of the robot body 2 are connected through a universal joint 29.
The upper fork arm 25 and the lower fork arm 26 are connected with the connecting seat 24 and the robot body 2 through universal joints 29, and the damping device 20 is connected with the robot body 2 through the universal joints 29, so that the upper fork arm 25 and the lower fork arm 26 can longitudinally or transversely shift along with the advancing of the wheels 21, the device is suitable for more complex field operation environments, the impact force and resistance of a wheel set from the ground are reduced, and the robot body can more stably advance; meanwhile, the damping device 20 can be used for absorbing and relieving the impact and vibration from all directions to the wheel set structure for the robot body 2.
As shown in fig. 7, an adjusting sleeve 30 and an adjusting rod 31 which are connected in a matching manner are arranged in the middle of the driving universal joint 23; the inner ends of the upper yoke 25 and the lower yoke 26 are respectively provided with a yoke adjusting sleeve 32 and a yoke adjusting rod 33 which are connected in a matching way; the yoke adjusting rod 33 can be provided with a limit nut 34 which is connected with the matching thread.
According to the complex situation of the robot working environment, the distance between the wheels 21 and the robot body 2 can be adjusted through the adjusting structure of the driving universal joint 23, the upper fork arm 25 and the lower fork arm 26. For example, the driving universal joint 23, the upper yoke 25 and the lower yoke 26 can be adjusted to be long due to the high soil slope and deep hollow in the working environment; the working environment is relatively flat, no pothole or soil slope exists, and the lengths of the driving universal joint 23, the upper fork arm 25 and the lower fork arm 26 are correspondingly shortened.
The embodiments of the present invention are preferred embodiments of the present invention, and the scope of the present invention is not limited by these embodiments, so: all equivalent changes made according to the structure, shape and principle of the invention are covered by the protection scope of the invention.
Claims (10)
1. A robot damping device comprises a damper (3) arranged between a wheel set (1) and a robot body (2); the method is characterized in that: the shock absorber (3) comprises a telescopic sleeve (4), a telescopic rod (5), a damping spring (6), an adjusting seat (7) and a pressure bearing seat (8); the upper end of the telescopic rod (5) is normally sleeved in the telescopic sleeve (4); the outer wall of the telescopic sleeve (4) is provided with a thread section (9), and the adjusting seat (7) is in threaded connection with the outer wall of the telescopic sleeve (4); the pressure bearing seat (8) is fixed at the lower part of the telescopic rod (5); the damping spring (6) surrounds the telescopic sleeve (4) and the telescopic rod (5) and is positioned between the pressure bearing seat (8) and the adjusting seat (7).
2. The robot shock absorbing device of claim 1, wherein: and a second damping spring (10) is arranged between the upper end of the telescopic rod (5) and the top wall of the telescopic sleeve (4).
3. The robot shock absorbing device of claim 1, wherein: the lower end of the telescopic rod (5) is connected with a third damping mechanism (11).
4. The robot shock absorbing device of claim 3, wherein: the third damping mechanism (11) comprises a third damping spring (12) and an upper cover body (13) and a lower cover body (14) with opposite openings; the third damping spring (12) is positioned between the upper cover body (13) and the lower cover body (14); the inner diameter of the upper cover body (13) is larger than the outer diameter of the lower cover body (14); the axial length of the third damping spring (12) is normally greater than the axial lengths of the upper cover body (13) and the lower cover body (14); the axial length of the third damping spring (12) is less than the sum of the axial lengths of the upper cover body (13) and the lower cover body (13).
5. The robot shock absorbing device of claim 1, wherein: the third damping spring (12) includes a main supporting spring (15) and a plurality of auxiliary supporting springs (16) disposed around the main supporting spring (15); the elasticity of the main supporting spring (15) is larger than that of the auxiliary supporting spring (16).
6. Wheel set structure with a damping device according to any of claims 1-5, located outside the robot body (2), connected to the drive system (19) of the robot, comprising a damping device (20) and wheels (21), characterized in that: the device also comprises a driving shaft (22), a driving universal joint (23), a connecting seat (24), an upper fork arm (25) and a lower fork arm (26); one end of the driving shaft (22) is fixed on the wheel (21), and the other end is hinged with the driving universal joint (23); the other end of the driving universal joint (23) is hinged with a driving system (19); the connecting seat (24) is sleeved on the driving shaft (22), and a bearing (27) is arranged between the connecting seat (24) and the driving shaft (22); one end of the damping device (20) is hinged to the upper fork arm (25), and the other end of the damping device is hinged to the side wall of the robot body (2); the outer ends of the upper fork arm (25) and the lower fork arm (26) are respectively hinged to the upper portion and the lower portion of the connecting seat (24), the inner ends of the upper fork arm (25) and the lower fork arm (26) are respectively hinged to the side wall of the robot body (2), and the upper fork arm (25) and the lower fork arm (26) are kept parallel.
7. The wheel set structure with the shock absorption device is characterized in that the upper fork arm (25) and the lower fork arm (26) are respectively provided with an auxiliary arm (28), the auxiliary arms (28) are L-shaped, the outer ends of the two auxiliary arms (28) are respectively fixedly connected to the middles of the upper fork arm (25) and the lower fork arm (26), and the inner ends of the two auxiliary arms (28) are respectively hinged to the side wall of the robot body (2).
8. The wheel set structure with a shock-absorbing device as set forth in claim 6, wherein: the number of the upper fork arms (25) and the number of the lower fork arms (26) are two, the two upper fork arms (25) are located on the same plane, and the two lower fork arms (26) are located on the same plane.
9. The wheel set structure with a shock-absorbing device as set forth in claim 8, wherein: the upper fork arm (25), the lower fork arm (26) and the connecting seat (24) are connected through universal joints (29); the upper fork arm (25), the lower fork arm (26), the damping device (20) and the side wall of the robot body (2) are connected through a universal joint (29).
10. The wheel set structure with a shock-absorbing device as set forth in claim 6, wherein: an adjusting sleeve (30) and an adjusting rod (31) which are connected in a matching way are arranged in the middle of the driving universal joint (23); the inner ends of the upper fork arm (25) and the lower fork arm (26) are respectively provided with a fork arm adjusting sleeve (32) and a fork arm adjusting rod (33) which are connected in a matching way; and the fork arm adjusting rod (33) is provided with a limit nut (34) in threaded connection with the fork arm adjusting rod in a matching manner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010291685.5A CN111497547A (en) | 2020-04-14 | 2020-04-14 | Damping device of robot and wheel set structure with damping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010291685.5A CN111497547A (en) | 2020-04-14 | 2020-04-14 | Damping device of robot and wheel set structure with damping device |
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| CN111497547A true CN111497547A (en) | 2020-08-07 |
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| CN202010291685.5A Pending CN111497547A (en) | 2020-04-14 | 2020-04-14 | Damping device of robot and wheel set structure with damping device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116687630A (en) * | 2022-12-30 | 2023-09-05 | 北京和华瑞博医疗科技有限公司 | Prosthesis installation actuator and surgical system |
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2020
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116687630A (en) * | 2022-12-30 | 2023-09-05 | 北京和华瑞博医疗科技有限公司 | Prosthesis installation actuator and surgical system |
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