CN209257818U - Suspension shock absorber, robot chassis and robot - Google Patents
Suspension shock absorber, robot chassis and robot Download PDFInfo
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- CN209257818U CN209257818U CN201821607873.9U CN201821607873U CN209257818U CN 209257818 U CN209257818 U CN 209257818U CN 201821607873 U CN201821607873 U CN 201821607873U CN 209257818 U CN209257818 U CN 209257818U
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- interconnecting piece
- shock absorber
- robot
- coil spring
- suspension shock
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Abstract
This application provides a kind of suspension shock absorber, robot chassis and robots.Wherein suspension shock absorber includes sequentially connected upper interconnecting piece, hydraulic damper and lower interconnecting piece, variable stiffness coil spring is arranged with outside the hydraulic damper, one end of the variable stiffness coil spring is connect with the upper interconnecting piece, and the other end is connect with the lower interconnecting piece.The structure that variable stiffness coil spring cooperation hydraulic damper is used in suspension shock absorber structure realizes damping effect, avoids running plus-minus fast mode due to robot, generation is shaken repeatedly, to guarantee the stationarity of robot motion.It can produce variation rigidity by the particular design of variable stiffness coil spring self structure, it can satisfy that be supported on a certain range adjustable, it, can be to avoid chassis fixed load phenomenon after being applied to chassis structure, it can satisfy a kind of specification chassis, be suitable for a variety of loads or several scenes.And then solves the technical problem for driving wheel suspension system resistant and oscillation resistant ability difference in the related technology.
Description
Technical field
This application involves robotic technology fields, and in particular to a kind of suspension shock absorber, it is outstanding to further relate to be equipped with this
The robot chassis of frame shock absorber and robot.
Background technique
With the rapid development of robot technology, robot application is more and more extensive, for example, guest-meeting robot, feeder
Device people and educational robot, bio-robot etc..Robot is the automatic installations for executing work, it can be with acceptor
Class commander, can also run the program of preparatory layout, the principle action that can also be formulated according to artificial intelligence technology.With country
The attention of Macroscopic Strategy, the research of China's mobile robot come into the period of unprecedented hot topic.Various mobile machines
People's sight is gradually mirrored on people chassis, and in the prior art, the mobile robot chassis with suspension is varied, substantially
Meet function, but still comes with some shortcomings.
Service robot is in heavy duty situation, since the driving wheel suspension system of existing robot only has spring,
Plus-minus fast mode is run in robot, robot pitch attitude is bigger than normal, and shakes repeatedly；Further for special applications scene, example
It is overflowed as fluid often occurs for dining room operation, it is more to will lead to robot fluctuation of service situation.
For the problem for driving wheel suspension system resistant and oscillation resistant ability difference in the related technology, effective solution is not yet proposed at present
Scheme.
Utility model content
The main purpose of the application is to provide a kind of suspension class shock-absorbing knot that can be used in robotically-driven wheel system
Structure, to solve to drive the technical problem of wheel suspension system resistant and oscillation resistant ability difference in the related technology.
To achieve the goals above, according to the one aspect of the application, this application provides a kind of suspension shock absorbers.
The suspension shock absorber includes sequentially connected upper interconnecting piece, hydraulic damper and lower interconnecting piece, the oil pressure damping
Variable stiffness coil spring is arranged with outside device, one end of the variable stiffness coil spring is connect with the upper interconnecting piece, the other end and
The lower interconnecting piece connection.
Further, the variable stiffness coil spring generates variation rigidity by the central diameter of the spiral coil of consecutive variations.
Further, the variable stiffness coil spring is gradually reduced from centre to the central diameter of both ends spiral coil.
Further, the both ends of the variable stiffness coil spring are symmetrical arranged.
Further, the upper interconnecting piece includes upper binding head and overhead gage, the lower interconnecting piece include lower union joint and
Lower baffle plate, the variable stiffness coil spring are arranged between the overhead gage and lower baffle plate.
Further, the upper binding head and lower union joint are elastomer connector.
Further, the hydraulic damper includes that the outer cylinder connecting with the lower interconnecting piece and the upper interconnecting piece connect
The piston roofbolt that connects, the piston valve that the piston post end is arranged in, the piston valve and the outer tube inner wall slide
Connection, the outer barrel is divided into upper working chamber and lower working chamber by the piston valve, if being formed on the piston valve
The damping hole of the upper working chamber and the lower working chamber is led in involvement.
Further, the working media in the upper working chamber and lower working chamber is hydraulic oil.
To achieve the goals above, according to further aspect of the application, present invention also provides a kind of robot chassis.
The robot chassis includes above-mentioned suspension shock absorber provided by the present application, and the suspension shock absorber is located at robot bottom
Between the main body and driving wheel of disk.
To achieve the goals above, according to another aspect of the application, present invention also provides a kind of robots.
The robot includes above-mentioned robot chassis provided by the present application.
Variable stiffness coil spring cooperation oil pressure damping is used in suspension shock absorber structure provided by the embodiments of the present application
The structure of device realizes damping effect, avoids running plus-minus fast mode due to robot, generation is shaken repeatedly, to guarantee robot
The stationarity of movement.It can produce variation rigidity by the particular design of variable stiffness coil spring self structure, can satisfy load
It is adjustable in a certain range, after being applied to chassis structure, a kind of specification bottom can be can satisfy to avoid chassis fixed load phenomenon
Disk is suitable for a variety of loads or several scenes；It is adjustable that initial precompression can also be met, can satisfy same chassis, in difference
Initial precompression under load or different scenes is adjustable, guarantees the stationarity on chassis.And then solves driving wheel in the related technology
The technical problem of suspension frame structure resistant and oscillation resistant ability difference.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide further understanding of the present application, so that the application's is other
Feature, objects and advantages become more apparent upon.The illustrative examples attached drawing and its explanation of the application is for explaining the application, not
Constitute the improper restriction to the application.In the accompanying drawings:
Fig. 1 is the structural schematic diagram according to a kind of suspension shock absorber of the embodiment of the present application；
In figure:
1, upper interconnecting piece；101, upper binding head；102, overhead gage；2, hydraulic damper；201, outer cylinder；202, piston rod
Column；203, piston valve；204, upper working chamber；205, lower working chamber；206, damping hole；3, lower interconnecting piece；301, lower union joint；
302, lower baffle plate；4, variable stiffness coil spring.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
The embodiment of the application a part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, all should belong to the model of the application protection
It encloses.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to embodiments herein described herein.In addition, term " includes " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing a series of steps or units
Process, method, system, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include without clear
Other step or units listing to Chu or intrinsic for these process, methods, product or equipment.
In this application, term " on ", "lower", "inner", " in ", "outside", the orientation of the instructions such as "front", "rear" or position close
System is to be based on the orientation or positional relationship shown in the drawings.These terms are primarily to better describe the application and its implementation
Example, is not intended to limit indicated device, element or component must have particular orientation, or carries out structure with particular orientation
It makes and operates.
Also, above-mentioned part term is other than it can be used to indicate that orientation or positional relationship, it is also possible to for indicating it
His meaning, such as term " on " also are likely used for indicating certain relations of dependence or connection relationship in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in this application can be understood as the case may be.
In addition, term " setting ", " connection ", " fixation " shall be understood in a broad sense.For example, " connection " may be a fixed connection,
It is detachably connected or monolithic construction；It can be mechanical connection, or electrical connection；It can be directly connected, or pass through centre
Medium is indirectly connected, or is two connections internal between device, element or component.For ordinary skill
For personnel, the concrete meaning of above-mentioned term in this application can be understood as the case may be.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Embodiment one
As shown in Figure 1, giving suspension shock absorber provided by the present application.Suspension shock absorber includes sequentially connected upper connection
Portion 1, hydraulic damper 2 and lower interconnecting piece 3, hydraulic damper 3 are arranged with variable stiffness coil spring 4, variable stiffness coil spring 4 outside
One end connect with upper interconnecting piece 1, the other end is connect with lower interconnecting piece 3.It uses and becomes in the present embodiment suspension shock absorber structure
Stiffness helix spring cooperates the structure of hydraulic damper to realize damping effect, avoids running plus-minus fast mode due to robot, produce
Life is shaken repeatedly, to guarantee the stationarity of robot motion.
Wherein, in variable stiffness coil spring 4 implementation of variation rigidity can have it is a variety of, such as can be along spiral side
The variation to realize rigidity is gradually increased to the pitch from one end to the other end；It can also be by changing obstructed position spring silk
Thickness realizes the variation of rigidity.Preferably, change is generated by the central diameter of the spiral coil of consecutive variations in the embodiment of the present application
Rigidity.The rigidity that spring may be implemented in such setting changes with deformation quantity and linear change occurs, and can satisfy and is supported on centainly
Range is adjustable, avoids fixed load phenomenon
Preferably, as shown in Figure 1, variable stiffness coil spring 4 is from centre to the central diameter of both ends spiral coil in the present embodiment
It is gradually reduced.More preferably, the both ends of variable stiffness coil spring 4 are symmetrical arranged.Variable-stiffness helix may be implemented in above structure
Spring is taper layout, to guarantee the stability of variable stiffness coil spring.
As shown in Figure 1, upper interconnecting piece 1 includes upper binding head 101 and overhead gage 102, lower interconnecting piece 3 includes lower union joint
301 and lower baffle plate 302, variable stiffness coil spring 4 is arranged between overhead gage 102 and lower baffle plate 302.Wherein upper binding head 101
For accepting load, lower union joint 301 is for connecting driving wheel or other component, and overhead gage 102 and lower baffle plate 302 are for fixing
Variable stiffness coil spring 4.
In order to further enhance anti-seismic performance, upper binding head 101 and lower union joint 301 in the present embodiment are all made of rubber
Connector.
As shown in Figure 1, hydraulic damper 2 includes the outer cylinder 201 connecting with lower interconnecting piece 3, the work that connect with upper interconnecting piece 1
Stopper rod column 202, the piston valve 203 that 202 end of piston roofbolt is arranged in, piston valve 203 and the sliding of 201 inner wall of outer cylinder connect
It connects, piston valve 203 will be divided into upper working chamber 204 and lower working chamber 205 inside outer cylinder 201, if being formed on piston valve 203
The damping hole 206 of involvement logical upper working chamber 204 and lower working chamber 205.Wherein, the work in upper working chamber 204 and lower working chamber 205
Making medium is hydraulic oil.
In specific work process, when the load carried on upper binding head shakes, upper interconnecting piece can be close to lower connection
Portion, variable stiffness coil spring 4 compress, and since the rigidity of variable stiffness coil spring 4 changes with deformation quantity and linear change occurs, and make
Itself has damping action, can reduce the deformation quantity of variable stiffness coil spring 4, and deformational displacement is further transferred to oil pressure damping
Device 2, piston roofbolt 202 decline, and piston valve 203 is driven to move downward in outer cylinder 201, compress lower working chamber 205, so that under
Damping hole 206 of the hydraulic oil on piston valve 203 in working chamber 205 returns in upper working chamber 204, and hydraulic oil passes through damping
Frictional damping is generated during hole, so that the stopping concussion that variable stiffness coil spring 4 is exceedingly fast, keeps equipment moving process
In steady posture.
Embodiment two
The embodiment of the present application provides a kind of robot chassis comprising the suspension shock absorber that embodiment one provides.
Specifically, robot chassis includes at least floor body and driving wheel, suspension shock absorber is located at robot chassis
Between main body and driving wheel.Suspension shock absorber includes sequentially connected upper interconnecting piece 1, hydraulic damper 2 and lower interconnecting piece 3, oil
It is arranged with variable stiffness coil spring 4 outside pressure damper 3, one end of variable stiffness coil spring 4 is connect with upper interconnecting piece 1, the other end
It is connect with lower interconnecting piece 3.Variable stiffness coil spring 4 is gradually reduced from centre to the central diameter of both ends spiral coil and both ends are symmetrically set
It sets.Upper interconnecting piece 1 includes upper binding head 101 and overhead gage 102, and lower interconnecting piece 3 includes lower union joint 301 and lower baffle plate 302, is become
Stiffness helix spring 4 is arranged between overhead gage 102 and lower baffle plate 302.Upper binding head 101 and lower union joint 301 are all made of rubber
Cemented joint.Hydraulic damper 2 include the outer cylinder 201 being connect with lower interconnecting piece 3, the piston roofbolt 202 being connect with upper interconnecting piece 1,
The piston valve 203 of 202 end of piston roofbolt is set, and piston valve 203 is slidably connected with 201 inner wall of outer cylinder, piston valve
203 will be divided into upper working chamber 204 and lower working chamber 205 inside outer cylinder 201, be formed with work in several connections on piston valve 203
Make the damping hole 206 of chamber 204 and lower working chamber 205.Wherein, the working media in upper working chamber 204 and lower working chamber 205 is liquid
Pressure oil.
Above-mentioned robot chassis can produce variation rigidity, energy by the particular design of variable stiffness coil spring self structure
It is enough to meet that be supported on a certain range adjustable, after being applied to chassis structure, one can be can satisfy to avoid chassis fixed load phenomenon
Kind specification chassis, is suitable for a variety of loads or several scenes；It is adjustable that initial precompression can also be met, can satisfy same bottom
Disk, the initial precompression under different loads or different scenes is adjustable, guarantees the stationarity on chassis.
Embodiment three
The embodiment of the present application provides a kind of robot, including robot chassis described in embodiment two.
In heavy duty, operation plus-minus fast mode or robot pitch attitude are bigger than normal for robot provided in this embodiment
When, it can be eliminated by the suspension shock absorber being arranged thereon and be shaken repeatedly, so that robot is stable.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (7)
1. a kind of suspension shock absorber, which is characterized in that including sequentially connected upper interconnecting piece (1), hydraulic damper (2) He Xialian
Socket part (3), the hydraulic damper (2) are arranged with variable stiffness coil spring (4) outside, and the one of the variable stiffness coil spring (4)
End is connect with the upper interconnecting piece (1), and the other end is connect with the lower interconnecting piece (3)；
The variable stiffness coil spring (4) generates variation rigidity by the central diameter of the spiral coil of consecutive variations；The variable-stiffness helix
Spring (4) is gradually reduced from centre to the central diameter of both ends spiral coil；The both ends of the variable stiffness coil spring (4) are symmetrical arranged.
2. suspension shock absorber according to claim 1, which is characterized in that the upper interconnecting piece (1) includes upper binding head
(101) and overhead gage (102), the lower interconnecting piece (3) include lower union joint (301) and lower baffle plate (302), the variation rigidity spiral shell
Spring (4) are revolved to be arranged between the overhead gage (102) and lower baffle plate (302).
3. suspension shock absorber according to claim 2, which is characterized in that the upper binding head (101) and lower union joint
It (301) is elastomer connector.
4. suspension shock absorber according to claim 1, which is characterized in that the hydraulic damper (2) include with it is described under
The outer cylinder (201) of interconnecting piece (3) connection, is arranged in the piston piston roofbolt (202) connecting with the upper interconnecting piece (1)
The piston valve (203) of roofbolt (202) end, the piston valve (203) are slidably connected with the outer cylinder (201) inner wall, institute
Upper working chamber (204) and lower working chamber (205), the piston valve will be divided into inside the outer cylinder (201) by stating piston valve (203)
The damping hole (206) of several the connection upper working chambers (204) and the lower working chamber (205) is formed on piece (203).
5. suspension shock absorber according to claim 4, which is characterized in that the upper working chamber (204) and lower working chamber
(205) working media in is hydraulic oil.
6. a kind of robot chassis, which is characterized in that described including suspension shock absorber as described in any one in claim 1-5
Suspension shock absorber is located between the main body and driving wheel on robot chassis.
7. a kind of robot, which is characterized in that including robot chassis as claimed in claim 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821607873.9U CN209257818U (en) | 2018-09-29 | 2018-09-29 | Suspension shock absorber, robot chassis and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821607873.9U CN209257818U (en) | 2018-09-29 | 2018-09-29 | Suspension shock absorber, robot chassis and robot |
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| Publication Number | Publication Date |
|---|---|
| CN209257818U true CN209257818U (en) | 2019-08-16 |
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ID=67553280
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821607873.9U Active CN209257818U (en) | 2018-09-29 | 2018-09-29 | Suspension shock absorber, robot chassis and robot |
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| CN (1) | CN209257818U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109094321A (en) * | 2018-09-29 | 2018-12-28 | 北京云迹科技有限公司 | Suspension shock absorber, robot chassis and robot |
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2018
- 2018-09-29 CN CN201821607873.9U patent/CN209257818U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109094321A (en) * | 2018-09-29 | 2018-12-28 | 北京云迹科技有限公司 | Suspension shock absorber, robot chassis and robot |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: Room 702, 7th floor, NO.67, Beisihuan West Road, Haidian District, Beijing 100089 Patentee after: Beijing Yunji Technology Co.,Ltd. Address before: Room 702, 7th floor, NO.67, Beisihuan West Road, Haidian District, Beijing 100089 Patentee before: BEIJING YUNJI TECHNOLOGY Co.,Ltd. |
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| CP01 | Change in the name or title of a patent holder |