CN207737076U - A kind of connection structure of robot wheel shaft - Google Patents

Abstract

The utility model discloses a kind of connection structure of robot wheel shaft, including pedestal, multiple slide assemblies, movable part and wheel connector, pedestal has left side and right side, right side offers deep gouge, sink groove bottom is convexly equipped with a mounting portion, through-hole has been provided in the middle part of mounting portion, the multiple pilot holes being connected to deep gouge are provided in the circumferential direction of base outer wall, each slide assemblies include elastic component and removable pin, movable part is installed in deep gouge, wheel connector is annularly arranged, and it is set on pedestal, the inner wall of wheel connector is provided with the storage tank stretched into for removable pin.Technical solutions of the utility model are by providing a kind of connection structure of robot wheel shaft, including pedestal, movable part, slide assemblies and wheel connector, pedestal is fixedly connected with the axle of robot, wheel connector is fixedly connected with the wheel of robot, it by removable pin Fast Installation or is detached between pedestal and wheel connector, to realize the technique effect of quick-replaceable wheels of robot.

Description

A kind of connection structure of robot wheel shaft

Technical field

The utility model is related to the wheel shaft technical field of robot, more particularly to a kind of connection structure of robot wheel shaft.

Background technology

Present robot (such as pipe robot, cable duct robot, nuclear power detect robot) wheel is typically all logical Screw and car body axis connection are crossed, although this connection is simple, when the wheel of robot needs to frequently replace, such as pipeline machine When people needs replacing different size of wheel to match different calibers, wheel needs parbuckle screw and twists during replacing Screw, these are required for the regular hour, very time-consuming, and efficiency is also very low.Meanwhile screw thread frequently elastic be easy to cause cunning Silk, influences the reliability that robot uses, it is also desirable to and it is additional to prepare screw in case replacing or with anti-lost, increase the difficulty of maintenance Degree.

Utility model content

The main purpose of the utility model is to provide a kind of connection structure of robot wheel shaft, it is intended to solve to replace robot Relatively time-consuming technical problem when wheel.

To achieve the above object, the utility model proposes a kind of robot wheel shaft connection structure, including：

Pedestal, the pedestal have left side and the right side opposite with the left side for being connected with the axle of robot Side, the right side offer a deep gouge, the deep gouge have a notch and it is opposite with the notch in the vertical direction The slot bottom of extension, the slot bottom middle part are convexly equipped with a mounting portion, and the axle installation for robot is provided in the middle part of the mounting portion Through-hole, be provided with the multiple pilot holes being connected to the deep gouge in the circumferential direction of the base outer wall；

Multiple slide assemblies, each slide assemblies include elastic component and removable pin, and the slide assemblies correspond to installation In in the pilot hole, the removable pin compresses the mounting portion or the slot bottom by the elastic component；

Movable part inside and outside can be slidably mounted in the deep gouge, with when the movable part moves inward, described in promotion Removable pin is to contract；

Wheel connector, it is annular in shape to be arranged, it is set on the pedestal, the inner wall of the wheel connector is provided with for institute State the storage tank that removable pin stretches into.

Preferably, the movable part includes the closed cylinder in one end, and the open end of the cylinder is stretched into the deep gouge, and The periphery of the open end is convexly equipped with annular abutment；The connection structure of the robot wheel shaft further includes a block, the gear Block includes an annular cap body and from the convex edge portion that the annular cap body extends into the deep gouge, the inner face in the convex edge portion with Gap is formed between the slot bottom of the deep gouge, the annular abutment is limited in the gap, and the annular abutment Thickness is less than the depth in the gap.

Preferably, the mounting portion outer wall is provided with the mounting groove for elastic component installation.

Preferably, the pilot hole tilts from the base outer wall to the left side and extends.

Preferably, the removable pin has and the matched inner face of the elastic component and opposite with the inner face outer End face is provided with to two tippers of the removable pin inner recess and between two tippers on the removable pin Blocking part, two tippers are oppositely arranged on the both sides of the removable pin, and each tipper has a bottom wall, Yi Jiyu The second sidewall of the bottom wall adjacent and the first side wall close to the inner face and the separate inner face, the first side wall It tilts and extends to the outer end face；Be arranged on the movable part it is jagged, the notch have for placing the blocking part Holding tank, and two tippers being connected with the holding tank, two tippers are arranged in the both sides of the holding tank, and And the tipper has the inclined surface that fitting is adapted to the first side wall.

Preferably, the folder of the inclined direction of the pilot hole and the angle of vertical direction and the inclined surface and vertical direction The sum of angle is more than or equal to 30 °.

Preferably, it is less than close to the inclined direction of plane of the left side and the angle of vertical direction in the storage tank Equal to the inclined direction of the pilot hole and the angle of vertical direction.

Preferably, it is provided with a card slot on the inner face of the removable pin.

Preferably, on the removable pin card slot is provided with on the matched face of the elastic component.

Preferably, an anti-transfer part is provided on the outer wall of the pedestal, in the anti-transfer part by being parallel to the deep gouge slot The outer profile for the cross section that the plane at bottom is intercepted is in non-circular setting, the inner wall of the wheel connector and the anti-transfer part card Hold adaptation.

Technical solutions of the utility model are by providing a kind of connection structure of robot wheel shaft, including pedestal, movable part, cunning Dynamic component and wheel connector, pedestal are fixedly connected with the axle of robot, and the wheel of wheel connector and robot, which is fixed, to be connected It connects, by removable pin Fast Installation or is detached between pedestal and wheel connector, to realize quick-replaceable wheels of robot Technique effect.

Description of the drawings

In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor Under, the structure that can also be shown according to these attached drawings obtains other attached drawings.

Fig. 1 is the structural schematic diagram of the connection structure of the utility model robot wheel shaft；

Fig. 2 a are the front view after pedestal in Fig. 1, slide assemblies and movable part assembling；

Fig. 2 b are sectional views of Fig. 2 a along line A-A；

Fig. 2 c are the vertical view of Fig. 2 a；

Fig. 3 a are the front view of wheel connector in Fig. 1；

Fig. 3 b are sectional views of Fig. 3 a along line B-B；

Fig. 4 is the stereogram of pedestal in Fig. 2 a；

Fig. 5 a are the front view of pedestal in Fig. 2 a；

Fig. 5 b are sectional views of Fig. 5 a along line C-C；

Fig. 6 is the structural schematic diagram of movable part in Fig. 2 a；

Fig. 7 is the structural schematic diagram of removable pin in Fig. 2 a；

Fig. 8 is the assembling structure schematic diagram of movable part and removable pin in Fig. 2 a；

Fig. 9 is the assembling structure schematic diagram at another visual angle of movable part and removable pin in Fig. 2 a；

Figure 10 is the assembling structure schematic diagram of removable pin, movable part and wheel connector in Fig. 1；

Figure 11 is the structural schematic diagram of the various embodiments of the concave surface on pedestal in Fig. 2 a；

Figure 12 is the sectional view after pedestal in Fig. 1, slide assemblies and movable part assembling.

Drawing reference numeral explanation：

The embodiments will be further described with reference to the accompanying drawings for the realization, functional characteristics and advantage of the utility model aim.

Specific implementation mode

The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model Clearly and completely describing, it is clear that described embodiment is only a part of the embodiment of the utility model, rather than all Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise Lower obtained every other embodiment, shall fall within the protection scope of the present invention.

It is to be appreciated that the directional instruction (such as up, down, left, right, before and after ...) of institute in the utility model embodiment It is only used for explaining relative position relation, the motion conditions etc. under a certain particular pose (as shown in the picture) between each component, such as When the fruit particular pose changes, then directionality instruction also correspondingly changes correspondingly.

In addition, the description for being related to " first ", " second " etc. in the present invention is used for description purposes only, and cannot understand To indicate or implying its relative importance or implicitly indicate the quantity of indicated technical characteristic.Define as a result, " first ", The feature of " second " can explicitly or implicitly include at least one of the features.In addition, the technical side between each embodiment Case can be combined with each other, but must can be implemented as basis with those of ordinary skill in the art, when the combination of technical solution Conflicting or cannot achieve when occur will be understood that the combination of this technical solution is not present, also not in the requires of the utility model Protection domain within.

The utility model proposes a kind of connection structure of robot wheel shaft, for be placed on robot axle and wheel it Between.When needing replacing the wheel of robot, pressed by the part in the connection structure to robot wheel shaft, it will be able to Fast implement the disengaging between robot axle and wheel.After having reinstalled new wheel, the company of robot wheel shaft is unclamped again Part in binding structure, between robot axle and wheel by the connection structure of robot wheel shaft can quick-snap, in turn Complete the quick-replaceable of wheels of robot.

Please refer to Fig. 1 to Fig. 5, the utility model proposes a kind of robot wheel shaft connection structure 10, including：

Pedestal 11, the pedestal 11 have the left side 11 connecting for the axle with robot and with the left side 11 Opposite right side 112, the right side 112 offer a deep gouge 115, the deep gouge 115 have a notch and with the slot The opposite slot bottom extended in vertical direction of mouth, the slot bottom middle part are convexly equipped with a mounting portion, are provided in the middle part of the mounting portion The through-hole 113 that has the axle installation for robot is provided in the circumferential direction of 11 outer wall of the pedestal and is connected to the deep gouge 115 Multiple pilot holes 114；

Multiple slide assemblies, each slide assemblies include elastic component 13 and removable pin 14, and the slide assemblies correspond to It is installed in the pilot hole 114, the removable pin 14 compresses the mounting portion or the slot bottom by the elastic component 13；

Movable part 12 inside and outside can be slidably mounted in the deep gouge 115, with when the movable part 12 moves inward, Push the removable pin 14 to contract；

Wheel connector 18, it is annular in shape to be arranged, it is set on the pedestal 11, the inner wall setting of the wheel connector 18 There is the storage tank 181 stretched into for the removable pin 14.

Specifically, please continue to refer to Fig. 2 a to Fig. 9, axle that the pedestal 11 passes through the through-hole 113 and robot After fixation, the movable part 12 inside and outside can be slidably mounted in the deep gouge 115.When needing replacing wheel, the work Moving part 12 moves under the action of pressing, from the right side 112 to the left side 11, to push the removable pin 14 to institute It is mobile to state 11 inside of pedestal, and then the removable pin 14 is made to be detached from the storage tank 181, at this time the pedestal 11 and the vehicle Connector 18 is taken turns to detach.When the wheel more renewed, the wheel connector 18 is matched with the pedestal 11 again, described in release After movable part 12, the removable pin 14 under the spring return of the elastic component 13, to the pedestal 11 outside move, Jin Ershen Enter into the storage tank 181.Meanwhile under the movement of the removable pin 14, and then also drive the movable part 12 to described Right side 112 is moved to return to original position, and the replacement of wheels of robot is completed.

For the movable part 12, Fig. 1 to Fig. 9 is please referred to, the movable part 112 being capable of 111 He of the left side Done between the right side 112 it is certain slide axially, when being moved to position similar in the right side 112, the deep gouge The locating part of restricted 12 axial displacement of the movable part is set between 115 and the movable part 12.The locating part can be It is provided with screw thread in the side wall surface of the deep gouge 115, after the movable part 12 and 115 screw-thread fit of the deep gouge are complete, enters It in the deep gouge 115, is moved up in the axis of the deep gouge 115, the movable part 12 can be limited at the screw thread will not be from The right side 112 skids off.

For the pilot hole 114, please refer to Fig. 1 to Fig. 4, can be arranged there are two, or three, six It is a, seven etc., the corresponding each slide assemblies are mounted in the pilot hole 114, preferably, the pilot hole 114 is set It there are three setting, and is uniformly arranged in the circumferential direction of the pedestal 11, not only makes processing more convenient, while three guiding Hole 114 can make being fixed on the pedestal 11 of the wheel stability of robot enough.

For the elastic component 13, please continue to refer to Fig. 1 to Fig. 2 c, the elastic component 13 can be rubber or bullet Spring, in order to make the removable pin 14 preferably be moved in the pilot hole 114, preferably, the elastic component 13 is spring.

For the wheel connector 18, Fig. 1, Fig. 3 a and Fig. 3 b are please referred to, the wheel connector 18 can be single It solely processes and is mounted on as independent component on the wheel of robot, directly can also directly be processed on the wheel hub of wheel Out, it is integrally formed with wheel, when the diameter of wheel is smaller, preferably, the wheel of the wheel connector 18 and robot It is integrally formed.

Technical solutions of the utility model are by providing a kind of connection structure 10 of robot wheel shaft, including pedestal 11, activity Part 12, slide assemblies and wheel connector 18, pedestal 11 are fixedly connected with the axle of robot, wheel connector 18 and robot Wheel be fixedly connected, by 14 Fast Installation of removable pin or detached between pedestal 11 and wheel connector 18, it is fast to realize Speed replaces the technique effect of wheels of robot.

Further, Fig. 2 a to Fig. 5 b are please referred to, the movable part 12 includes the closed cylinder 122 in one end, the cylinder 122 open end is stretched into the deep gouge 115, and the periphery of the open end is convexly equipped with annular abutment 123；The robot The connection structure 10 of wheel shaft further includes a block 15, and the block 15 includes an annular cap body 151 and from the annular cap body 151 The convex edge portion 152 extended into the deep gouge 115, shape between the inner face and the slot bottom of the deep gouge 115 in the convex edge portion 152 Between at gap, the annular abutment 123 is limited in the gap, and the thickness of the annular abutment 123 is less than described in The depth of gap.It so, it is possible that the annular abutment 123 is made to slidably reciprocate in the gap.The block 15 and the base Seat 11 can be fixedly connected by the modes such as screw-thread fit or interference connection, can also be convex by being arranged on the block 15 It rises, groove is set on the pedestal 11 and is coordinated.Preferably, the block 15 and the pedestal 11 be by screw-thread fit, Facilitate the installation and removal between the block 15 and the pedestal 11.

Further, please continue to refer to Fig. 2 a to Fig. 5 b, the connection structure 10 of the robot wheel shaft can also include one Baffle 16, the baffle 16 are fixedly connected with the movable part 12, the side that can be connected between the two by screw thread or interference Formula is fixed together.When replacing wheel, it can directly press the baffle 16 and then push the movable part 12 to the left side Side 111 is slided, to drive the removable pin 14 to 11 internal contraction of the pedestal.

Further, Fig. 2 b are please referred to, the mounting portion outer wall is provided with the mounting groove for elastic component installation, so Can make the elastic component 13 from inside the pedestal 11 closer to, can also be compared with when correspondingly the removable pin 14 is inwardly flexible It mostly stretches into inside the pedestal 11, saves 14 occupied space of the removable pin.The extending direction of the pilot hole 114 can To be vertically to not necessarily have certain angle of inclination to the internal stretch of the pedestal 11, but be to be able to make described Movable part 12 preferably coordinates with the removable pin 14, and the movable part 12 is enable more swimmingly to push the removable pin 14 It is moved inside to the pedestal 11, preferably, the pilot hole 114 tilts extension from the pedestal 11 to the left side 111.

Further, Fig. 2 a to Fig. 9 are please referred to, the movable part 12 pushes the removable pin 14 to inside the pedestal 11 There are many mobile modes.Such as：An inclined-plane can be convexly equipped on the removable pin 14, the movable part 12 is slided along the inclined-plane It is dynamic, and then push the removable pin 14 to moving inside the pedestal 11.On the basis of a upper embodiment, the movable part 12 On can be provided with a skewed slot, the slot bottom of the skewed slot matches with the inclined-plane and then pushes the removable pin 14 to the base 11 inside of seat is mobile.In order to save cost, at the same it is easy to produce, preferably, the removable pin 14 has and the elastic component 13 Matched inner face and the outer end face opposite with the inner face are provided with into the removable pin 14 on the removable pin 14 Two tippers and the blocking part between two tippers, two tippers of portion's recess are oppositely arranged on the activity The both sides of pin 14, each tipper have a bottom wall 141, and adjacent with the bottom wall 141 and close inner face The first side wall 143 and far from the inner face second sidewall 144, the first side wall 13 to the outer end face inclination prolongs It stretches；Be arranged jagged on the movable part 12, the notch has a holding tank for placing the blocking part, and with it is described Two connected skewed slots of holding tank, two skewed slots are arranged in the both sides of the holding tank, and the skewed slot have with it is described The inclined surface 121 of the adaptation fitting of the first side wall 13.At this time can more convenient movable part 12 push the removable pin 14 to 11 inside of the pedestal is mobile, that is, excessive pressure is not needed when pressing the movable block 12 can push the removable pin 14 It is moved inside to the pedestal 11.

Further, Figure 10, the inclined direction of the pilot hole 114 and the angle α of vertical direction are please referred to and described is inclined The sum of inclined-plane 121 and the angle β of vertical direction are more than or equal to 30 °.In order to enable the removable pin 14 in the pilot hole 114 In more smoothly slide, as long as the sum of α and β be more than storeroom angle of friction.In order to keep processing and practical operation simpler Easily, when the sum of α and β are more than or equal to 30 °, more preferably operating effect can be obtained.

Further, please continue to refer to Figure 10, close to the inclination of the plane of the left side 111 in the storage tank 181 The angle γ of direction and vertical direction is less than or equal to the angle α of the inclined direction and vertical direction of the pilot hole 114.The appearance 181 inclined angle of slot is set also to play an important role to the effect of 14 clamping of the removable pin, when γ is less than or equal to α, Neng Goushi Now best clamping effect.

Further, please continue to refer to Fig. 3 a and Fig. 3 b, the storage tank 181 can be the heavy of removable pin 14 described in clamping Hole, easy to loading and unloading between the pedestal 11 and the wheel connector 18 in order to preferably facilitate, the storage tank 181 also may be used To be set as a ring segment slot of removable pin 14 described in clamping.Most preferably, the storage tank 181 is an annular groove, can so be made Removable pin 14 rapidly stretches into the storage tank 181, while also can rapidly be detached from the storage tank 181.In turn, Neng Gougeng Add the wheel for rapidly replacing robot, improves working efficiency.

Further, Fig. 7 to Fig. 9 is please referred to, a card slot 142 is provided on the inner face of the removable pin 14.So make During the elastic component 13 is firmly secured at 142 in the card slot, when the removable pin 14 being made to compress the elastic component 14 and The elastic component 13 restore when, the elastic component 13 will not all be staggered with the removable pin 14, make the elastic component 13 with it is described Cooperation between removable pin 14 is more stablized.

Further, Fig. 3 a, Fig. 5 a and Figure 11 are please referred to, an anti-transfer part 116 is provided on the outer wall of the pedestal 11, The outer profile for the cross section that the anti-transfer part 116 is intercepted by the plane for being parallel to 115 slot bottom of the deep gouge is in non-circular setting, The inner wall of the wheel connector 18 is adapted to 116 clamping of anti-transfer part, i.e., is arranged on the inner wall of the wheel connector 18 There is the holding section 182 being adapted to 116 clamping of anti-transfer part.When the storage tank 181 is annular groove, the pedestal 11 and institute It states and will produce certain relative rotation between wheel connector 18.In order to limit the pedestal 11 and the wheel connector 18 it Between produce relative rotation, the anti-transfer part 116 could be provided as the figure as shown in Fig. 3 a and Fig. 5 a, the anti-transfer part shown in figure 116 and holding section 182 be each provided with three, while the anti-transfer part 116 and the holding section 182 can also each be provided with one It is a, as long as the relative rotation of limitation pedestal 11 and the wheel connector 18 can be played.Further, the anti-transfer part 116 can also be arranged to other shapes, and as shown in figure 11, these shapes can use, other to be obtained by simple association The scheme relatively rotated must be limited also all within the protection domain of the present embodiment.

Further, Fig. 2 b and Figure 12 are please referred to, sealing ring is provided between the baffle 16 and the movable part 12 17, it is provided with sealing ring 17 between the movable part 12 and the block 15, is also set between the block 15 and the pedestal 11 It is equipped with sealing ring 17, sealing ring 17 is also equipped between the removable pin 14 and the pedestal 11, passes through the sealing ring 17 Sealing function makes 11 inside of the pedestal form confined space can make mechanism activity more by the way that lubricating oil is added wherein It is smooth.

The above is only the preferred embodiment of the present invention, and it does not limit the scope of the patent of the present invention, It is every under the inventive concept of the utility model, equivalent structure made based on the specification and figures of the utility model becomes It changes, or directly/be used in other related technical areas indirectly and be included in the scope of patent protection of the utility model.

Claims (10)

1. a kind of connection structure of robot wheel shaft, which is characterized in that including：

Pedestal, the pedestal have left side and the right side opposite with the left side for being connected with the axle of robot Face, the right side offer a deep gouge, and the deep gouge has a notch and opposite with the notch prolongs in the vertical direction The slot bottom stretched is convexly equipped with a mounting portion in the middle part of the slot bottom, and the axle installation for robot is provided in the middle part of the mounting portion Through-hole is provided with the multiple pilot holes being connected to the deep gouge in the circumferential direction of the base outer wall；

Multiple slide assemblies, each slide assemblies include elastic component and removable pin, and the slide assemblies correspondence is installed on institute It states in pilot hole, the removable pin compresses the mounting portion or the slot bottom by the elastic component；

Movable part inside and outside can be slidably mounted in the deep gouge, when the movable part moves inward, to push the activity It sells to contract；

Wheel connector, it is annular in shape to be arranged, it is set on the pedestal, the inner wall of the wheel connector is provided with for the work The storage tank that dynamic pin stretches into.

2. the connection structure of robot wheel shaft as described in claim 1, which is characterized in that the movable part includes one end closing Cylinder, the open end of the cylinder is stretched into the deep gouge, and the periphery of the open end is convexly equipped with annular abutment；It is described The connection structure of robot wheel shaft further includes a block, and the block includes an annular cap body and from the annular cap body to described The convex edge portion extended in deep gouge, forms gap, the annular is supported between the inner face and the slot bottom of the deep gouge in the convex edge portion Socket part is limited in the gap, and the thickness of the annular abutment is less than the depth in the gap.

3. the connection structure of robot wheel shaft as described in claim 1, which is characterized in that the mounting portion outer wall is provided with confession The mounting groove of the elastic component installation.

4. the connection structure of robot wheel shaft as described in claim 1, which is characterized in that the pilot hole is outside the pedestal Wall is tilted to the left side to be extended.

5. the connection structure of robot wheel shaft as claimed in claim 4, which is characterized in that the removable pin has and the bullet The property matched inner face of part and the outer end face opposite with the inner face are provided with into the removable pin on the removable pin Two tippers and the blocking part between two tippers, two tippers of portion's recess are oppositely arranged on the activity The both sides of pin, each tipper have a bottom wall, and the first side adjacent with the bottom wall and close to the inner face The second sidewall of wall and the separate inner face, the first side wall is tilted to the outer end face to be extended；It is set on the movable part It is equipped with notch, the notch has the holding tank for placing the blocking part, and two to be connected with the holding tank incline Skewed slot, two tippers are arranged in the both sides of the holding tank, and the tipper has and is adapted to the first side wall The inclined surface of fitting.

6. the connection structure of robot wheel shaft as claimed in claim 5, which is characterized in that the inclined direction of the pilot hole with The sum of the angle of vertical direction and the angle of the inclined surface and vertical direction are more than or equal to 30 °.

7. the connection structure of robot wheel shaft as claimed in claim 6, which is characterized in that close to the left side in the storage tank The inclined direction of the plane of side and the angle of vertical direction are less than or equal to the inclined direction and vertical direction of the pilot hole Angle.

8. the connection structure of robot wheel shaft as claimed in claim 5, which is characterized in that set on the inner face of the removable pin It is equipped with a card slot.

9. the connection structure of robot wheel shaft as described in claim 1, which is characterized in that the storage tank is an annular groove.

10. the connection structure of robot wheel shaft as described in claim 1, which is characterized in that be arranged on the outer wall of the pedestal There is an anti-transfer part, the outer profile in the cross section that the anti-transfer part is intercepted by the plane for being parallel to the sink groove bottom is in not rounded Shape is arranged, and the inner wall of the wheel connector is adapted to the anti-transfer part clamping.