CN209111058U - A kind of antidetonation stabilization type intelligent robot - Google Patents
A kind of antidetonation stabilization type intelligent robot Download PDFInfo
- Publication number
- CN209111058U CN209111058U CN201821850662.8U CN201821850662U CN209111058U CN 209111058 U CN209111058 U CN 209111058U CN 201821850662 U CN201821850662 U CN 201821850662U CN 209111058 U CN209111058 U CN 209111058U
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- CN
- China
- Prior art keywords
- storehouse
- block
- antidetonation
- intelligent robot
- mounting blocks
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
The utility model discloses a kind of antidetonation stabilization type intelligent robots, it applies in the field of intelligent robot, solves the technical problem that antidetonation anti-shake effect is bad in existing intelligent robot motion process, its key points of the technical solution are that including mobile base and mechanical gripper, it is characterized in that: being equipped with buffer layer between the mechanical gripper and mobile base, the buffer layer includes horizontal shock-absorbing block and pressure shock-absorbing block, the horizontal shock-absorbing block includes the mounting blocks for mechanical gripper installation and the limitting casing that mounting blocks surrounding is arranged in, the side of the mounting blocks is connected by the side of damping spring and limitting casing, the damping spring is along the circumferentially distributed of mounting blocks；The pressure shock-absorbing block includes the inserted block storehouse, grafting storehouse and the shock-proof spring being arranged between inserted block storehouse and grafting storehouse that limitting casing lower end is arranged in, it is mating between the grafting storehouse and inserted block storehouse, there is the technical effect for improving the anti-shudder performance of intelligent robot antidetonation.
Description
Technical field
The utility model relates to field in intelligent robotics, in particular to a kind of antidetonation stabilization type intelligent robot.
Background technique
Currently, intelligent robot technology has industrially obtained large-scale use, by the automatic cruising of robot with
And artificial control, it can be realized industrial efficient and mechanization, significantly facilitate the work of producers while also improving
The production efficiency of enterprise.
In view of such industrial intelligent robot is during moving traveling, either normal road surface movement is still set
For the movement of itself, the concussion and impact of certain amplitude can be all generated, causes the center of gravity of whole equipment to deviate, especially meets
The stability of whole equipment is unable to get guarantee under to emergency braking condition, and easily occur during heavy goods prestowage
Phenomena such as toppling, turning on one's side has seriously affected the normal work of entire intelligent robot.
Utility model content
The purpose of the utility model is to provide a kind of antidetonation stabilization type intelligent robots, its advantage is that machine can be effectively reduced
Concussion and shake in device people's motion process improve stability.
The above-mentioned technical purpose of the utility model has the technical scheme that
Preferably, a kind of antidetonation stabilization type intelligent robot, including mobile base and mechanical gripper, it is characterized in that: described
Buffer layer is equipped between mechanical gripper and mobile base, the buffer layer includes horizontal shock-absorbing block and pressure shock-absorbing block, the water
Flat damping block includes the mounting blocks for mechanical gripper installation and the limitting casing that mounting blocks surrounding is arranged in, the side of the mounting blocks
Side is connected by the side of damping spring and limitting casing, and the damping spring is along the circumferentially distributed of mounting blocks；The pressure shock-absorbing
Block includes the inserted block storehouse, grafting storehouse and the shock-proof spring being arranged between inserted block storehouse and grafting storehouse that limitting casing lower end is arranged in,
Mating between the grafting storehouse and inserted block storehouse, the inserted block storehouse is surrounded by ring side, and the grafting storehouse is surrounded by
The position-limited edge contradicted with ring margin position.
Preferably, the inner wall of the limitting casing is equipped with anticollision flexible pad.
Preferably, the surrounding of the mounting blocks is fixed by the surrounding of flexible sealing block and limitting casing, the damping spring
Set on the lower section of flexible sealing block.
Preferably, the inside of the shock-proof spring is equipped with a pair of of elastomer block, a pair of elastomer block respectively with grafting storehouse
Inner wall and the inner wall in inserted block storehouse are fixed.
Preferably, the middle part in the grafting storehouse is equipped with hemisphere block, is equipped in the middle part of the inner wall in the inserted block storehouse and matches with hemisphere block
Half ball groove closed.
Preferably, the inner wall of half ball groove is equipped with wearing layer.
Preferably, the roller surface of the mobile base is equipped with flexible protective circle.
Compared with prior art, the utility model has the following beneficial effects:
1, the intelligent robot in the actual working process, as entire robot may be implemented in the movement of mobile base
The movement of top mechanical gripper realizes the opening and closing of motion state, in intelligent robot braking process under the control of operator
In, since the self inertia of whole equipment can bring the horizontal sliding of mechanical gripper part, can be realized by horizontal shock-absorbing block
Timely absorption to horizontal hunting shock wave, the flexible of multiple damping springs may be implemented to the cheap shape of mechanical gripper part of horizontal
Power is let out under state, so that the activity trend of mechanical gripper reduces, improves the stability of entire robot device；
It 2, can be real between inserted block storehouse and grafting storehouse when the intelligent robot is in the pressure and vibration by vertical direction
It now stretching, drives shock-proof spring to stretch, while when inserted block storehouse is displaced downwardly to certain position, half ball groove and hemisphere block cooperate,
The conflict between inserted block storehouse and grafting storehouse is limited, has ensured the stabilization shock-absorbing anti-shake effect of pressure shock-absorbing block；
3, idler wheel and ground face contact, can reduce ground by the setting of flexible protective circle during intelligent robot rolls
Face influences the stable motion of equipment, and flexible protective circle can realize the effect of damping stabilization by the elastic deformation of itself.
Detailed description of the invention
Fig. 1 is for showing intelligent robot structural schematic diagram in embodiment；
Fig. 2 is the partial sectional view for showing intelligent robot in embodiment；
Fig. 3 is the enlarged drawing of A in Fig. 2；
Fig. 4 is the structural schematic diagram for showing flexible protective circle in embodiment.
Appended drawing reference: 1, mobile base；2, mechanical gripper；3, buffer layer；31, horizontal shock-absorbing block；311, mounting blocks；312,
Limitting casing；3121, anticollision flexible pad；313, damping spring；32, pressure shock-absorbing block；321, inserted block storehouse；322, grafting storehouse；323,
Shock-proof spring；4, ring side；41, position-limited edge；5, flexible sealing block；6, elastomer block；7, hemisphere block；71, half ball groove；8, wearing layer；
9, flexible protective circle.
Specific embodiment
The utility model is described in further detail below in conjunction with attached drawing.
Embodiment: a kind of antidetonation stabilization type intelligent robot, as shown in Figure 1, including mobile base 1 and mechanical gripper 2, behaviour
Make personnel in the operation operational process for carrying out intelligent robot, mechanical gripper 2 is able to drive by the movement of mobile base 1
Activity, to realize the crawl and transhipment work to cargo.In order to reduce working environment above ground portion to entire mobile base 1
The influence for dividing running stability, the roller surface under mobile base 1 are equipped with flexible protective circle 9 (as shown in Figure 4), can reduce
Bring of jolting in traveling process slightly shakes, and can realize effective buffering by the elastic deformation of flexible protective circle 9.
As shown in Figure 1, Figure 2 and Figure 3, in the process of running due to intelligent robot, it may appear that the situations such as emergency braking,
With and what is come is shake and swing that whole equipment will appear different amplitudes.It may be brought to reduce excessive swing amplitude
To intelligent robot crawl work influence, between mechanical gripper 2 and mobile base 1 be equipped with buffer layer 3, buffer layer 3 wrap
Include horizontal shock-absorbing block 31 and pressure shock-absorbing block 32.
In the state of the movement of mobile base 1, braking, 2 part of mechanical gripper on top can occur under the action of inertia
The horizontal-shift of certain amplitude.31 part of horizontal shock-absorbing block of the intelligent robot includes the installation installed for mechanical gripper 2
Block 311 and the limitting casing 312 that 311 surrounding of mounting blocks is arranged in pass through damping spring 313 and limit in the side of mounting blocks 311
The side connection of position frame 312, once 311 part of mounting blocks occurs to slide with the relative position of limitting casing 312, damping spring 313
Stress is flexible immediately, and the absorption to impact force may be implemented, weaken, while damping spring 313 is along the circumferential direction point of mounting blocks 311
Cloth can be realized the shock-absorbing protecting effect under whole equipment any angle and direction.Simultaneously in view of once inertia impact is excessive,
It may collide between 312 inner wall of mounting blocks 311 and limitting casing, in order to reduce the excessive of mounting blocks 311 under extreme situation
Offset is equipped with a circle anticollision flexible pad 3121 in the inner wall of limitting casing 312, is conducive to real by the work of anticollision flexible pad 3121
Now the buffering of excessive impact force is slackened, reduces the substantially swing of mounting blocks 311 and 2 part of mechanical gripper.
Due to being equipped with gap between limitting casing 312 and mounting blocks 311, damping bullet is influenced in order to reduce external working environment
The normal work of spring 313 is fixed in the surrounding of mounting blocks 311 by flexible sealing block 5 and the surrounding of limitting casing 312, and satisfaction subtracts
The lower section that spring 313 is set to flexible sealing block 5 is shaken, it is flexible close with the variation being spaced between limitting casing 312 and mounting blocks 311
The synchronous deformation of block 5 is sealed, the metastable working environment of damping spring 313 is can satisfy, reduces being mixed into for introduced contaminants.
Meanwhile the swing of horizontal direction also can include that setting is limiting along with the activity of vertical direction, pressure shock-absorbing block 32
Inserted block storehouse 321, grafting storehouse 322 and the shock-proof spring being arranged between inserted block storehouse 321 and grafting storehouse 322 of position 312 lower end of frame
323, it is mating between grafting storehouse 322 and inserted block storehouse 321, it can be realized freely stretching between grafting storehouse 322 and inserted block storehouse 321
Contracting is surrounded by ring side 4 in inserted block storehouse 321, and grafting storehouse 322 is surrounded by the position-limited edge 41 contradicted with the limit of ring side 4, limit
Position while 41 can be to ring while 4 limit, reduce the generation that situation is detached between inserted block storehouse 321 and grafting storehouse 322.
While with being stretched between grafting storehouse 322 and inserted block storehouse 321 by external force, internal shock-proof spring 323 also can
With telescopic deformation, the suction to pressure between inserted block storehouse 321 and grafting storehouse 322 may be implemented by the work of shock-proof spring 323
Receipts slacken, and ensure the stabilization of 2 part of mechanical gripper.It is equipped with hemisphere block 7 at the middle part in grafting storehouse 322, the middle part in inserted block storehouse 321 is set
There is half ball groove 71 cooperated with hemisphere block 7, once relative distance narrows down to defined position between inserted block storehouse 321 and grafting storehouse 322
When, hemisphere block 7 and half ball groove 71 are full, can be realized to the safe spacing between inserted block storehouse 321 and grafting storehouse 322, in hemisphere
The inner wall of slot 71 is additionally provided with wearing layer 8, can reduce rub repeatedly between hemisphere block 7 and half ball groove 71 it is possible to hemisphere
Attrition inside slot 71.
It is equipped with a pair of of elastomer block 6 in the inside of shock-proof spring 323 simultaneously, a pair of of elastomer block 6 is respectively and in grafting storehouse 322
Wall and the inner wall in inserted block storehouse 321 are fixed, it is contemplated that once ambient pressure is excessive, extruding can be contradicted between a pair of of elastomer block 6, it is real
Now to the timely elimination of pressure, the flexible of shock-proof spring 323 can also be limited, reduce the excessive shape of shock-proof spring 323
Become.
This specific embodiment is only the explanation to the utility model, is not limitations of the present invention, ability
Field technique personnel can according to need the modification that not creative contribution is made to the present embodiment after reading this specification, but
As long as all by the protection of Patent Law in the scope of the claims of the utility model.
Claims (7)
1. a kind of antidetonation stabilization type intelligent robot, including mobile base (1) and mechanical gripper (2), it is characterized in that: the machinery
Buffer layer (3) are equipped between handgrip (2) and mobile base (1), the buffer layer (3) includes that horizontal shock-absorbing block (31) and pressure subtract
It shakes block (32),
The horizontal shock-absorbing block (31) includes the mounting blocks (311) for mechanical gripper (2) installation and is arranged in mounting blocks (311)
The side of the limitting casing (312) of surrounding, the mounting blocks (311) is connected by the side of damping spring (313) and limitting casing (312)
It connects, the damping spring (313) is along the circumferentially distributed of mounting blocks (311)；
The pressure shock-absorbing block (32) include setting the inserted block storehouse (321) of limitting casing (312) lower end, grafting storehouse (322) and
The shock-proof spring (323) being arranged between inserted block storehouse (321) and grafting storehouse (322), the grafting storehouse (322) and inserted block storehouse
(321) mating between, the inserted block storehouse (321) is surrounded by ring side (4), and grafting storehouse (322) are surrounded by
The position-limited edge (41) contradicted with ring side (4) limit.
2. a kind of antidetonation stabilization type intelligent robot according to claim 1, it is characterized in that: the limitting casing (312)
Inner wall is equipped with anticollision flexible pad (3121).
3. a kind of antidetonation stabilization type intelligent robot according to claim 1, it is characterized in that: the mounting blocks (311)
Surrounding is fixed by flexible sealing block (5) and the surrounding of limitting casing (312), and the damping spring (313) is set to flexible sealing block
(5) lower section.
4. a kind of antidetonation stabilization type intelligent robot according to claim 1, it is characterized in that: the shock-proof spring (323)
Inside be equipped with a pair of of elastomer block (6), a pair of elastomer block (6) respectively with the inner wall of grafting storehouse (322) and inserted block storehouse
(321) inner wall is fixed.
5. a kind of antidetonation stabilization type intelligent robot according to claim 1, it is characterized in that: the grafting storehouse (322)
Middle part is equipped with hemisphere block (7), and half ball groove (71) cooperated with hemisphere block (7) is equipped in the middle part of the inner wall of the inserted block storehouse (321).
6. a kind of antidetonation stabilization type intelligent robot according to claim 5, it is characterized in that: half ball groove (71) is interior
Wall is equipped with wearing layer (8).
7. a kind of antidetonation stabilization type intelligent robot according to claim 1, it is characterized in that: the mobile base (1)
Roller surface is equipped with flexible protective circle (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821850662.8U CN209111058U (en) | 2018-11-02 | 2018-11-02 | A kind of antidetonation stabilization type intelligent robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821850662.8U CN209111058U (en) | 2018-11-02 | 2018-11-02 | A kind of antidetonation stabilization type intelligent robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209111058U true CN209111058U (en) | 2019-07-16 |
Family
ID=67204577
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821850662.8U Expired - Fee Related CN209111058U (en) | 2018-11-02 | 2018-11-02 | A kind of antidetonation stabilization type intelligent robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209111058U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110406966A (en) * | 2019-07-27 | 2019-11-05 | 南京昱晟机器人科技有限公司 | A kind of industrial carrying machine people and its anticollision mechanism |
-
2018
- 2018-11-02 CN CN201821850662.8U patent/CN209111058U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110406966A (en) * | 2019-07-27 | 2019-11-05 | 南京昱晟机器人科技有限公司 | A kind of industrial carrying machine people and its anticollision mechanism |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190716 Termination date: 20211102 |
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| CF01 | Termination of patent right due to non-payment of annual fee |