CN210162183U

CN210162183U - Desert operation robot capable of moving in all directions

Info

Publication number: CN210162183U
Application number: CN201920802311.8U
Authority: CN
Inventors: 陈磊
Original assignee: Wuhan Flying Robot Technology Co Ltd
Current assignee: Wuhan Flying Robot Technology Co Ltd
Priority date: 2019-05-30
Filing date: 2019-05-30
Publication date: 2020-03-20
Anticipated expiration: 2029-05-30

Abstract

The utility model discloses a desert operation robot capable of moving in all directions, which comprises a desert operation robot, wherein a suspension arm controlled by a suspension driving motor is arranged at the bottom of the desert operation robot, a spiral roller is respectively arranged at the tail end of the suspension arm, one end of the spiral roller, which is close to the suspension arm, is a roller tail sleeve, the other end of the spiral roller is a pointed cone part, the roller tail sleeve and an outer rotor of a brushless motor in an inner cavity of the suspension arm are fixedly connected with each other, and a damping upper fork plate is fixedly connected on the inner wall of the inner cavity of the pointed cone part of the spiral roller; the utility model discloses possess the impact that receives the spiral gyro wheel and the effect that the impact cushioned the decomposition, reached reinforcing spiral gyro wheel resistance to compression absorbing ability, prolonged the life of spiral gyro wheel to avoid the separation between external rotor and the stator.

Description

Desert operation robot capable of moving in all directions

Technical Field

The utility model relates to a desert work robot technical field, concretely relates to desert work robot that can omnidirectional movement.

Background

Desert is mainly the deserts in which the ground is completely covered by sand, vegetation is very rare, rainwater is rare and air is dry, one third of the earth land is desert, the desert is lower than most of sand beaches or sand dunes, and rocks under sand are also frequent.

The desert is poor in environment, manual work is difficult to operate in the desert, and certain dangerousness exists, so that at present, a large amount of operation is carried out by machines to replace manual work, and the existing desert operation robots are various.

Particularly, the desert operation robot capable of moving in all directions adopts the spiral idler wheels to move in all directions in cooperation with the existing desert operation robot capable of moving in all directions, and the spiral idler wheels move in the desert. The screw thread is embedded into the sand, and when the spiral roller rotates, component force can be generated in the axial direction of the spiral roller to block the rolling direction of the spiral roller, and the spiral roller can move along the axial direction and cooperatively control the plurality of spiral rollers to move in all directions.

However, the spiral roller is directly broken when encountering sand dunes or rocks under sand in deserts, and directly collides with the sand dunes and the rocks under sand, and the desert working robot keeps high-speed advance, so that once colliding with the sand dunes and the rocks under sand, the inside of the spiral roller does not have the compression-resistant and shock-absorbing capacity, the inside of the spiral roller is easily damaged, the connection tightness between the spiral roller and the outer rotor is influenced, even the outer rotor and the stator are easily separated, and the brushless motor for driving the spiral roller is influenced.

SUMMERY OF THE UTILITY MODEL

Not enough to prior art, the utility model provides a but omni-directional movement's desert work robot possesses the impact and the impact that receive the spiral gyro wheel and cushions the effect of decomposition, has reached reinforcing spiral gyro wheel resistance to compression absorbing ability, has prolonged spiral gyro wheel's life to avoid the separation between external rotor and the stator.

The utility model discloses a desert operation robot capable of moving in all directions, which comprises a desert operation robot, wherein a suspension arm controlled by a suspension driving motor is arranged at the bottom of the desert operation robot, a spiral roller is respectively arranged at the tail end of the suspension arm, the spiral roller comprises a forward spiral roller and a reverse spiral roller, the forward spiral roller is arranged at the left front part of the desert operation robot, the reverse spiral roller is arranged at the right front part, the reverse spiral roller is arranged at the left rear part, the forward spiral roller is arranged at the right rear part, a roller tail sleeve is arranged at one end of the spiral roller close to the suspension arm, the other end of the spiral roller is a pointed cone part, the roller tail sleeve is fixedly connected with an outer rotor of a brushless motor in an inner cavity of the suspension arm, a damping upper fork plate is fixedly connected on the inner wall of the inner cavity of the pointed cone part of the spiral roller, an opening is arranged at the middle part of the damping upper fork plate, a, the ends of the upper shock absorption fork plate and the lower shock absorption fork plate, which are close to each other, are both connected with two spring shock absorption rods in a sliding way, one end of the spring shock absorption rod, which is far away from the shock absorption upper fork plate or the shock absorption lower fork plate, is fixedly connected with the inner wall of the spiral roller, the outer surface of the spring shock absorption rod is sleeved with a pressure spring, one side of the shock absorption upper fork plate close to the opening is fixedly connected with a connecting frame, a second damping spring is fixedly connected to one side of the connecting frame, which is far away from the damping upper fork plate, two symmetrically arranged buffer rods are fixedly connected to one side of the second damping spring, which is far away from the connecting frame, and the two buffer rods are connected through a spring hinge, the spiral roller inner cavity is provided with a plurality of groups of buffer rods and spring hinges at equal intervals along the axial direction, each group comprises two buffer rods and one spring hinge, and each group of buffer rods is connected with the spring hinge through a first damping spring.

The utility model discloses a but desert work robot of omnidirectional movement, wherein the movable groove with the looks adaptation of the fixed lantern ring is seted up to the inner chamber of gyro wheel tail cover, fixed lantern ring cup joints in the surface of external rotor, the fixed lantern ring includes two semi-rings, two the laminating has anti-skidding rubber, two on the inner wall of the one end that the semi-ring is close to each other the one end middle part that the semi-ring was kept away from each other is seted up flutedly, it has the screw rod to peg graft in the recess, the screw hole with screw rod looks adaptation is still seted up to the inner chamber of gyro wheel tail cover, the screw hole is in on the same axis with.

The utility model discloses a but omni-directional movement's desert work robot, wherein the inner chamber of gyro wheel tail cover still fixed mounting have the nut, the inner chamber threaded connection of nut has the fastening bolt who runs through the gyro wheel tail cover, fastening bolt is close to the external rotor and closely laminates rather than.

The utility model discloses a but desert work robot of omnidirectional movement wherein hangs and has seted up the cavity in the inner chamber of arm, the one end of gyro wheel tail cover runs through and extends to in the cavity, the gyro wheel tail cover runs through fixedly connected with L type balladeur train on the body that hangs in the arm, two slide bars of fixedly connected with on the L type balladeur train, two slide bars respectively with hang first slide rail and the second slide rail looks sliding connection of seting up on the arm inner wall, and be close to fixedly connected with third damping spring on the slide bar of second slide rail, the one end that the slide bar was kept away from to third damping spring and the inner wall fixed connection who hangs the arm.

The utility model discloses a but desert work robot of omnidirectional movement, wherein the laminating has the inner bag on the inner wall of spiral gyro wheel.

The utility model discloses a but omni-directional movement's desert work robot, wherein brushless motor pass through the motor cabinet and hang arm fixed connection.

The utility model discloses a but omni-directional movement's desert work robot, wherein the overlooking face width of fork board is the same under open-ended size and the shock attenuation.

Compared with the prior art, the beneficial effects of the utility model are as follows:

1. the utility model discloses an inner bag that sets up, the bulk strength of helical roller has been strengthened to the preliminary degree, helical roller's resistance to compression shock-absorbing capacity has been improved, and fork board on the shock attenuation through cross arrangement, fork board under the shock attenuation and with shock attenuation inner bag fixed connection's spring damper, cooperation spring damper slows down the pressure spring of impact force, the impact force that can effectual reduction helical roller point awl part received, the anti-seismic force that strikes point awl part and receive hard thing is alleviated, thereby avoid the vibrations power to continue to transmit, and through setting up the second damping spring who is connected with shock attenuation fork board on, can further alleviate the impact force that the longitudinal axis brought (because the speed of horizontal translation is slower, and do not possess the ability of smashing hard thing, therefore the impact force is less, can alleviate through the first damping spring who sets up the cable form connection), still can alleviate through the buffer beam who sets up simultaneously, Spring hinge and first damping spring can effectually cushion the impact force that second damping spring slowed down once more to can adopt the connected mode of distributing type, can play the fixed effect of support to the inside of spiral gyro wheel, reach the purpose of reinforceing spiral gyro wheel structural strength itself.

2. The utility model discloses still through the gyro wheel tail cover that sets up, the fixed lantern ring, a nut, fastening bolt, can strengthen itself through welding or the connection compactness between the external rotor that fixed connection is in the same place and the gyro wheel tail cover, and cooperation shock attenuation measure carries out the same use, the probability of separation between external rotor and the stator has been reduced, still through the third damping spring who sets up, L type balladeur train, the slide bar, first slide rail and second slide rail, can alleviate the vertical impact force that hangs the arm and receive, and avoid hanging the arm and receive the impact force and be broken, the purpose that the arm was hung in the protection has been played.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic cross-sectional view of the spiral roller and the suspension arm;

FIG. 3 is a schematic view of the structure at A in FIG. 2;

FIG. 4 is a schematic view of the structure at B in FIG. 2;

FIG. 5 is a schematic view of the structure of FIG. 2 at C;

FIG. 6 is a schematic top view of the shock absorbing upper fork plate;

fig. 7 is a schematic side view of the fixing collar.

In the figure: 1. a positive helical roller; 2. a reverse spiral roller; 3. a suspension arm; 4. a desert operation robot; 5. a helical roller; 6. a buffer rod; 7. a spring hinge; 8. a first damping spring; 9. a cavity; 10. a brushless motor; 11. a motor base; 12. a shock absorbing upper fork plate; 121. an opening; 122. a pressure spring; 13. a connecting frame; 14. a shock absorbing lower fork plate; 15. a spring shock-absorbing lever; 16. A second damping spring; 17. a fixed collar; 171. anti-skid rubber; 172. a half ring; 173. a groove; 174. a screw; 18. fastening a bolt; 19. a roller tail sleeve; 20. an outer rotor; 21. a nut; 22. a slide bar; 23. an L-shaped carriage; 24. a third damping spring; 25. a first slide rail; 26. A second slide rail.

Detailed Description

In the following description, numerous implementation details are set forth in order to provide a more thorough understanding of the present invention. It should be understood, however, that these implementation details should not be used to limit the invention. That is, in some embodiments of the invention, details of these implementations are not necessary. In addition, some conventional structures and components are shown in simplified schematic form in the drawings.

In addition, the descriptions related to "first", "second", etc. in the present invention are only for description purposes, not specifically referring to the order or sequence, and are not intended to limit the present invention, but only to distinguish the components or operations described in the same technical terms, and are not to be construed as indicating or implying any relative importance or implicit indication of the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

Referring to fig. 1-7, the desert working robot capable of moving in all directions of the present invention comprises a desert working robot 4, a suspension arm 3 controlled by a suspension driving motor is mounted at the bottom of the desert working robot 4, a spiral roller 5 is mounted at each end of the suspension arm 3, the spiral roller 5 comprises a forward spiral roller 1 and a reverse spiral roller 2, the forward spiral roller 1 is mounted at the left front of the desert working robot 4, the reverse spiral roller 2 is mounted at the right front, the reverse spiral roller 2 is mounted at the left rear, the forward spiral roller 1 is mounted at the right rear, a roller tail sleeve 19 is mounted at one end of the spiral roller 5 close to the suspension arm 3, the other end of the spiral roller 5 is a pointed cone, the roller tail sleeve 19 is fixedly connected with an outer rotor 20 of a brushless motor 10 in an inner cavity of the suspension arm 3, a shock absorbing upper fork plate 12 is fixedly connected to the inner wall of the inner cavity, an opening 121 is formed in the middle of the upper damping fork plate 12, a lower damping fork plate 14 fixedly connected with the pointed cone portion penetrates through the opening 121, two spring damping rods 15 are slidably connected to the ends, close to each other, of the upper damping fork plate 12 and the lower damping fork plate 14, one ends, far away from the upper damping fork plate 12 or the lower damping fork plate 14, of the spring damping rods 15 are fixedly connected with the inner wall of the spiral roller 5, a pressure spring 122 is sleeved on the outer surface of each spring damping rod 15, a connecting frame 13 is fixedly connected to one side, close to the opening 121, of the upper damping fork plate 12, one side, far away from the upper damping fork plate 12, of each connecting frame 13 is fixedly connected with a second damping spring 16, one side, far away from the connecting frame 13, of the second damping spring 16 is fixedly connected with two symmetrically arranged buffer rods 6, the two buffer rods 6 are connected through a spring hinge 7, a plurality of buffer rods 6 and spring hinges 7 are axially, every group includes two buffer beam 6 and a spring hinge 7, and is connected through first damping spring 8 between every group buffer beam 6 and the spring hinge 7, and the laminating has the inner bag on the inner wall of helical roller 5, and brushless motor 10 passes through motor cabinet 11 and hangs arm 3 fixed connection.

The inner cavity of the roller tail sleeve 19 is provided with a movable groove matched with the fixed sleeve ring 17, the fixed sleeve ring 17 is sleeved on the surface of the outer rotor 20, the fixed sleeve ring 17 comprises two half rings 172, the inner wall of one end, close to each other, of the two half rings 172 is laminated with anti-slip rubber 171, the middle part of one end, far away from each other, of the two half rings 172 is provided with a groove 173, a screw rod 174 is inserted in the groove 173, the inner cavity of the roller tail sleeve 19 is further provided with a threaded hole matched with the screw rod 174, and the threaded hole and the movable groove are located.

The inner cavity of the roller tail sleeve 19 is also fixedly provided with a nut 21, the inner cavity of the nut 21 is in threaded connection with a fastening bolt 18 penetrating through the roller tail sleeve 19, and the fastening bolt 18 is close to the outer rotor 20 and is tightly attached to the outer rotor.

A cavity 9 is formed in an inner cavity of the suspension arm 3, one end of a roller tail sleeve 19 penetrates through and extends into the cavity 9, the roller tail sleeve 19 penetrates through an L-shaped sliding frame 23 fixedly connected to a body in the suspension arm 3, two sliding rods 22 are fixedly connected to the L-shaped sliding frame 23, the two sliding rods 22 are respectively in sliding connection with a first sliding rail 25 and a second sliding rail 26 which are arranged on the inner wall of the suspension arm 3, a third damping spring 24 is fixedly connected to the sliding rod 22 close to the second sliding rail 26, and one end, away from the sliding rod 22, of the third damping spring 24 is fixedly connected with the inner wall of the suspension arm 3.

The size of the opening 121 is the same as the top width of the shock absorption lower fork 14, which facilitates stable erection between the shock absorption lower fork 14 and the shock absorption upper fork 12, and facilitates movement of the shock absorption lower fork 14 in the shock absorption upper fork 12.

Use the utility model discloses time (theory of operation), during the use, through controller control desert operation robot 4 can, after hard thing is touch to sharp cone, through first damping spring 8, second damping spring 16 and pressure spring 122, can produce deformation to this reaches the purpose of buffering, and through the slide bar 22 that sets up, L type balladeur train 23 and third damping spring 24, first slide rail 25 and second slide rail 26, can play the effect of more excellent shock attenuation and resistance to compression of playing.

The above description is only an embodiment of the present invention, and is not intended to limit the present invention. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. The utility model provides a but desert operation robot of omnidirectional movement, including desert operation robot (4), the bottom of desert operation robot (4) is through hanging arm (3) that hangs driving motor control, hang the end of arm (3) and respectively install a spiral gyro wheel (5), spiral gyro wheel (5) are including positive spiral gyro wheel (1) and anti-spiral gyro wheel (2), positive spiral gyro wheel (1) of the left place ahead installation of desert operation robot (4), right front installation anti-spiral gyro wheel (2), left rear installation anti-spiral gyro wheel (2), right rear installation positive spiral gyro wheel (1), its characterized in that: the damping device is characterized in that one end, close to the suspension arm (3), of the spiral roller (5) is a roller tail sleeve (19), the other end of the spiral roller (5) is a pointed cone part, the roller tail sleeve (19) is fixedly connected with an outer rotor (20) of a brushless motor (10) in an inner cavity of the suspension arm (3), a damping upper fork plate (12) is fixedly connected to the inner wall of the pointed cone part of the spiral roller (5), an opening (121) is formed in the middle of the damping upper fork plate (12), a damping lower fork plate (14) fixedly connected with the pointed cone part penetrates through the opening (121), two spring damping rods (15) are slidably connected to the mutually close ends of the damping upper fork plate (12) and the damping lower fork plate (14), one ends, far away from the damping upper fork plate (12) or the damping lower fork plate (14), of the spring damping rods (15) are fixedly connected with the inner wall of the spiral roller (5), the surface of spring shock attenuation pole (15) has cup jointed pressure spring (122), fork plate (12) are close to one side fixedly connected with link (13) of opening (121) department on the shock attenuation, one side fixedly connected with second damping spring (16) of fork plate (12) on the shock attenuation are kept away from in link (13), buffer beam (6) that two symmetries of one side fixedly connected with of link (13) set up are kept away from in second damping spring (16), two connect through spring hinge (7) between buffer beam (6), spiral roller (5) inner chamber still is provided with multiunit buffer beam (6) and spring hinge (7) along the axial equidistance, and every group includes two buffer beam (6) and a spring hinge (7), and is connected through first damping spring (8) between every group buffer beam (6) and spring hinge (7).

2. The desert working robot as claimed in claim 1, wherein: the inner cavity of gyro wheel tail cover (19) offer with the movable groove of fixed lantern ring (17) looks adaptation, the fixed lantern ring (17) cup joints in the surface of external rotor (20), fixed lantern ring (17) includes two semi-rings (172), two laminating on the inner wall of the one end that semi-ring (172) are close to each other has anti-skidding rubber (171), two the one end middle part that semi-ring (172) kept away from each other is seted up flutedly (173), it has screw rod (174) to peg graft in recess (173), the threaded hole with screw rod (174) looks adaptation is still seted up to the inner cavity of gyro wheel tail cover (19), the threaded hole is in same axis with the movable groove.

3. The desert working robot as claimed in claim 1, wherein: the inner cavity of the roller tail sleeve (19) is also fixedly provided with a nut (21), the inner cavity of the nut (21) is in threaded connection with a fastening bolt (18) penetrating through the roller tail sleeve (19), and the fastening bolt (18) is close to the outer rotor (20) and is tightly attached to the outer rotor.

4. The desert working robot as claimed in claim 1, wherein: the suspension arm is characterized in that a cavity (9) is formed in an inner cavity of the suspension arm (3), one end of a roller tail sleeve (19) penetrates through and extends into the cavity (9), the roller tail sleeve (19) penetrates through a body in the suspension arm (3) and is fixedly connected with an L-shaped sliding frame (23), the L-shaped sliding frame (23) is fixedly connected with two sliding rods (22), the two sliding rods (22) are respectively in sliding connection with a first sliding rail (25) and a second sliding rail (26) which are arranged on the inner wall of the suspension arm (3), a third damping spring (24) is fixedly connected onto the sliding rod (22) close to the second sliding rail (26), and one end, far away from the sliding rod (22), of the third damping spring (24) is fixedly connected with the inner wall of the suspension arm (3).

5. The desert working robot as claimed in claim 1, wherein: the inner wall of the spiral roller (5) is attached with an inner container.

6. The desert working robot as claimed in claim 1, wherein: the brushless motor (10) is fixedly connected with the suspension arm (3) through a motor base (11).

7. The desert working robot as claimed in claim 1, wherein: the size of the opening (121) is the same as the top width of the damping lower fork plate (14).