CN210191060U - Damping mechanism of ground intelligent inspection robot and ground intelligent inspection robot - Google Patents
Damping mechanism of ground intelligent inspection robot and ground intelligent inspection robot Download PDFInfo
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- CN210191060U CN210191060U CN201920500291.9U CN201920500291U CN210191060U CN 210191060 U CN210191060 U CN 210191060U CN 201920500291 U CN201920500291 U CN 201920500291U CN 210191060 U CN210191060 U CN 210191060U
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Abstract
The utility model discloses a damping mechanism of a ground intelligent inspection robot and the ground intelligent inspection robot, wherein the damping mechanism comprises a double rocker arm component with a parallelogram structure arranged in parallel with the direction of wheels; the double-rocker arm assembly comprises an upper rocker arm and a lower rocker arm, one end of the upper rocker arm is hinged with the upper rocker arm fixing seat, and the other end of the upper rocker arm is hinged with the upper end of the axle center of the wheel; one end of the lower rocker arm is hinged with the lower rocker arm fixing seat, and the other end of the lower rocker arm is hinged with the lower end of the wheel axle center; the upper rocker arm fixing seat is arranged at the upper end of the motor base, and the lower rocker arm fixing seat is arranged on the chassis.
Description
Technical Field
The utility model belongs to the technical field of robot is patrolled and examined to intelligence, a robot damper and robot is patrolled and examined to ground intelligence is related to.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
Along with the continuous rising of intelligent inspection robot coverage, more and more places begin to use intelligent inspection robot to replace the manual work to carry out daily work of patrolling and examining. However, the inventor finds that, in the research and development process, when the ground conditions are severe, the existing inspection robot can vibrate strongly and even can not move forward, so that the inspection work of the intelligent inspection robot is influenced. Therefore, the variable road conditions provide higher requirements for the vibration reduction performance of the intelligent patrol robot.
In addition, along with the successive use in different places, the environment that the intelligent inspection robot is located also puts forward higher requirement to the waterproof performance of intelligent inspection robot.
SUMMERY OF THE UTILITY MODEL
To the deficiency that exists among the prior art, one or more embodiments of this disclosure provide a ground intelligence patrols and examines robot damper and ground intelligence and patrols and examines robot, provide unique parallel double-wishbone design, when the unilateral utilizes two parallelogram structures to realize the wheel and floats from top to bottom, keep unchangeable with transmission axle center distance to the wheel is when floating from top to bottom, and the wheel gesture keeps unchangeable, has solved the inside waterproof problem of automobile body when the shock attenuation.
According to an aspect of one or more embodiments of the present disclosure, there is provided a shock-absorbing mechanism of a ground intelligent inspection robot.
The utility model provides a robot damper is patrolled and examined to ground intelligence, includes:
the double rocker arm assembly is arranged in parallel to the direction of the wheels and has a parallelogram structure;
the double-rocker arm assembly comprises an upper rocker arm and a lower rocker arm, one end of the upper rocker arm is hinged with the upper rocker arm fixing seat, and the other end of the upper rocker arm is hinged with the upper end of the axle center of the wheel; one end of the lower rocker arm is hinged with the lower rocker arm fixing seat, and the other end of the lower rocker arm is hinged with the lower end of the wheel axle center;
the upper rocker arm fixing seat is arranged at the upper end of the motor base, and the lower rocker arm fixing seat is arranged on the chassis.
Further, damper includes 4 two rocking arm subassemblies of group, sets up respectively in ground intelligence and patrols and examines robot both sides, and ground intelligence patrols and examines two sets of robot one side the last rocking arm one end sharing of two rocking arm subassemblies go up the rocking arm fixing base, two sets of the lower rocking arm one end sharing of two rocking arm subassemblies rocking arm fixing base down.
Furthermore, the wheel axle center outer lane suit hinge mechanisms, hinge mechanisms do not follow the wheel rotates, hinge mechanisms includes central fixing base, goes up pin joint and pin joint down, the fixed connection of center fixing base upper end goes up the pin joint, center fixing base lower extreme fixed connection pin joint down.
Furthermore, one end of the upper rocker arm is hinged to the upper rocker arm fixing seat through an upper rocker arm rotating shaft, and the other end of the upper rocker arm is hinged to the upper end of the axle center of the wheel through an upper hinge point.
Furthermore, lower rocking arm one end is articulated through rocking arm pivot down with lower rocking arm fixing base, the rocking arm other end is articulated through lower pin joint with wheel axle center lower extreme down.
Furthermore, the upper hinge point and the lower hinge point are connected through a connecting line, the upper rocker arm rotating shaft and the lower rocker arm rotating shaft are connected through a connecting line, and the upper rocker arm and the lower rocker arm are always in a parallelogram structure.
Furthermore, the damping mechanism further comprises a buffer, one end of the buffer is connected with the chassis, and the other end of the buffer is connected with the lower rocker arm.
Further, a motor is installed in the motor base, a motor rotating shaft of the motor is connected with a synchronizing wheel, and the synchronizing wheel is connected with the axle center of the wheel through a synchronizing belt.
According to an aspect of one or more embodiments of the present disclosure, there is provided a ground intelligent inspection robot.
The utility model provides a robot is patrolled and examined to ground intelligence, uses a robot damper is patrolled and examined to ground intelligence.
Further, ground intelligence inspection robot still includes waterproof casing, waterproof casing is along chassis outer fringe parcel, damper set up in the waterproof shell outside, ground intelligence inspection robot's electrical components set up in the waterproof shell.
The beneficial effect of this disclosure:
(1) the damping mechanism of the ground intelligent inspection robot and the ground intelligent inspection robot provided by the disclosure have the advantages that a unique parallel double-rocker design is provided, the distance between a single side and a transmission axis is kept unchanged when a wheel floats up and down by utilizing two parallelogram structures, and the posture of the wheel is kept unchanged when the wheel floats up and down;
(2) the utility model provides a pair of robot damper and ground intelligence are patrolled and examined to ground intelligence patrols and examines robot, goes up the rocking arm and carries out the shock attenuation with lower rocking arm through the buffer and keep simultaneously and the chassis between the position relation.
(3) The utility model provides a pair of robot damper and ground intelligence are patrolled and examined to ground intelligence patrols and examines robot, waterproof casing is along chassis outer fringe parcel, puts damper in the shell outside entirely, and electrical components is whole to be arranged in the shell, and the shell inner space occupies for a short time, more is favorable to waterproof design.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
Fig. 1 is an overall schematic diagram of a shock absorbing mechanism of a ground intelligent inspection robot in accordance with one or more embodiments;
FIG. 2 is a schematic diagram of a dual swing arm assembly of a shock absorbing mechanism of a ground intelligent inspection robot in accordance with one or more embodiments;
FIG. 3 is a schematic diagram of a waterproof enclosure of a shock absorbing mechanism of a ground intelligent inspection robot in accordance with one or more embodiments;
fig. 4 is a schematic diagram of a hinge point of a shock absorbing mechanism of a ground intelligent inspection robot in accordance with one or more embodiments;
fig. 5 is a schematic diagram of an upper swing arm and a fixed seat thereof of a shock absorbing mechanism of a ground intelligent inspection robot according to one or more embodiments;
fig. 6 is a schematic diagram of a bumper of a shock absorbing mechanism of a ground intelligent inspection robot in accordance with one or more embodiments.
The automatic transmission device comprises a base, a transmission mechanism, an upper rocker arm, a lower rocker arm, a wheel, a buffer, a transmission mechanism, a motor base, an upper rocker arm fixing base, a lower rocker arm fixing base, a waterproof shell, a motor rotating shaft, 11, a synchronizing wheel, 12, an upper rocker arm rotating shaft, 13, a lower rocker arm rotating shaft, 14, an upper hinge point, 15, a lower hinge point, 16 and a chassis, wherein the transmission mechanism is connected with the motor base through the transmission mechanism.
The specific implementation mode is as follows:
the technical solutions in one or more embodiments of the present disclosure will be described clearly and completely with reference to the accompanying drawings in one or more embodiments of the present disclosure, and it is to be understood that the described embodiments are only some embodiments, but not all embodiments, of the present disclosure. All other embodiments, which can be derived by one of ordinary skill in the art based on one or more embodiments of the disclosure without any creative effort, shall fall within the protection scope of the present disclosure.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
Without conflict, the embodiments and features of the embodiments in the present disclosure may be combined with each other, and the present disclosure will be further described with reference to the drawings and the embodiments.
Example one
According to an aspect of one or more embodiments of the present disclosure, there is provided a shock-absorbing mechanism of a ground intelligent inspection robot.
In this embodiment, four wheels and actuating mechanism are installed through the bottom to ground intelligence inspection robot, and the removal of robot is patrolled and examined to drive ground intelligence, actuating mechanism install the motor in the motor cabinet 6, synchronizing wheel 11 is connected to the motor shaft 10 of motor, synchronizing wheel 11 passes through synchronous belt and connects the wheel axle center. The motor shaft 10 is linked with a synchronous wheel 11 to drive a synchronous belt to drive a wheel, and the axle center of the wheel is driven by the synchronous wheel 11 and the synchronous belt. As shown in figure 1, a damping mechanism of the intelligent ground inspection robot is installed on wheels and a base, the distance between the damping mechanism and a transmission axis is kept unchanged when the wheels 3 float up and down by utilizing two parallelogram structures on one side, and the postures of the wheels 3 are kept unchanged when the wheels 3 float up and down. The fork arms are placed in parallel to the direction of the wheels, the problem of water resistance inside the automobile body is solved, and the fork arms and the belt are placed on the outer side of the waterproof shell.
As shown in fig. 1-6, a damping mechanism of a ground intelligent inspection robot comprises: 4 groups of double rocker arm assemblies with parallelogram structures are arranged in parallel to the direction of the wheels; set up respectively in ground intelligence and patrol and examine robot both sides, and ground intelligence patrol and examine robot one side two sets of 1 one end sharing of last rocking arm of two rocking arm subassemblies go up rocking arm fixing base 7, two sets of 2 one end sharing of lower rocking arm of two rocking arm subassemblies rocking arm fixing base 8 down.
The double-rocker arm assembly comprises an upper rocker arm 1 and a lower rocker arm 2, one end of the upper rocker arm 1 is hinged with an upper rocker arm fixing seat 7, and the other end of the upper rocker arm 1 is hinged with the upper end of a wheel axle center; one end of the lower rocker arm 2 is hinged with the lower rocker arm fixing seat 8, and the other end of the lower rocker arm 2 is hinged with the lower end of the wheel axle center;
the fixing seat of the upper rocker arm 1 is arranged at the upper end of the motor base 6, and the fixing seat of the lower rocker arm 2 is arranged on the chassis 16.
The wheel axle center outer ring is sleeved with a hinge mechanism, the hinge mechanism does not rotate along with the wheel, the hinge mechanism comprises a center fixing seat, an upper hinge point 14 and a lower hinge point 15, the upper end of the center fixing seat is fixedly connected with the upper hinge point 14, and the lower end of the center fixing seat is fixedly connected with the lower hinge point 15.
One end of the upper rocker arm 1 is hinged with the upper rocker arm fixing seat 7 through an upper rocker arm rotating shaft 12, and the other end of the upper rocker arm 1 is hinged with the upper end of the axle center of the wheel through an upper hinge point 14.
One end of the lower rocker arm 2 is hinged to the lower rocker arm fixing seat 8 through a lower rocker arm rotating shaft 13, and the other end of the lower rocker arm 2 is hinged to the lower end of the axle center of the wheel through a lower hinge point 15.
It should be noted that the upper rocker arm 1 and the lower rocker arm 2 are respectively connected with the upper rocker arm fixing seat 7 and the lower rocker arm fixing seat 8 in a hinged manner (the upper rocker arm rotating shaft 12 and the lower rocker arm rotating shaft 13), and the holding surfaces and the surfaces are matched to move, so that the upper rocker arm 1 and the lower rocker arm 2 can only rotate around the hinged point (the upper rocker arm rotating shaft 12 and the lower rocker arm rotating shaft 13). The upper rocker arm 1 and the lower rocker arm 2 are connected with the wheels 3 (wheels) through hinge mechanisms (an upper hinge point 14 and a lower hinge point 15) to limit the wheels 3 (wheels) to move only in the vertical direction.
The upper hinge point 14 is connected with the lower hinge point 15, the upper rocker arm rotating shaft 12 is connected with the lower rocker arm rotating shaft 13, and the upper rocker arm 1 and the lower rocker arm 2 are in a parallelogram structure all the time.
The damping mechanism further comprises a buffer 4, one end of the buffer 4 is connected with a chassis 16, and the other end of the buffer 4 is connected with the lower rocker arm 2.
In this embodiment, a ground intelligence inspection robot damper passes through last pin joint 14 links with lower pin joint 15, goes up rocking arm pivot 12 and 13 lines of lower rocking arm pivot, goes up rocking arm 1 and lower rocking arm 2 and is the parallelogram structure all the time, has guaranteed that at the motion in-process, driven wheel-center distance keeps unchangeable. When the wheel 3 floats up and down, the upper rocker arm fixing seat 7 and the lower rocker arm fixing seat 8 are fixedly wound to rotate through up-and-down swinging so as to keep the posture of the wheel 3 stable, and the motor power drives the wheel 3 to rotate through the transmission mechanism 5. The upper swing arm 1 and lower swing arm 2 mechanisms are damped by the damper 4 while maintaining a positional relationship with the chassis 16.
Example two
According to an aspect of one or more embodiments of the present disclosure, there is provided a ground intelligent inspection robot.
The utility model provides a robot is patrolled and examined to ground intelligence, uses a robot damper is patrolled and examined to ground intelligence.
Further, ground intelligence inspection robot still includes waterproof casing, waterproof casing is along 16 outer fringe parcels on the chassis, damper set up in the waterproof shell 9 outside, ground intelligence inspection robot's electrical components set up in the waterproof shell 9.
The waterproof shell is wrapped along the outer edge of the chassis 16, the damping mechanisms are all placed on the outer side of the shell, the electrical components are all placed in the shell, the space in the shell occupies a small space, and the waterproof design is facilitated.
The beneficial effect of this disclosure:
(1) according to the damping mechanism of the ground intelligent inspection robot and the ground intelligent inspection robot, a unique parallel double-rocker design is provided, when the wheels 3 float up and down by utilizing two parallelogram structures on one side, the distance between the wheels and a transmission axis is kept unchanged, and when the wheels 3 float up and down, the postures of the wheels 3 are kept unchanged;
(2) the utility model provides a pair of robot damper and robot is patrolled and examined to ground intelligence, go up rocking arm 1 and lower rocking arm 2 and carry out the shock attenuation through buffer 4 and keep the positional relationship with chassis 16 simultaneously.
(3) The utility model provides a pair of robot damper and ground intelligence are patrolled and examined to ground intelligence patrols and examines robot, waterproof casing is along 16 outer fringe parcels on chassis, puts damper in the shell outside totally, and electrical components is whole to be arranged in the shell, and the shell inner space occupies for a short time, more is favorable to waterproof design.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The utility model provides a robot damper is patrolled and examined to ground intelligence which characterized in that includes:
the double rocker arm assembly is arranged in parallel to the direction of the wheels and has a parallelogram structure;
the double-rocker arm assembly comprises an upper rocker arm and a lower rocker arm, one end of the upper rocker arm is hinged with the upper rocker arm fixing seat, and the other end of the upper rocker arm is hinged with the upper end of the axle center of the wheel; one end of the lower rocker arm is hinged with the lower rocker arm fixing seat, and the other end of the lower rocker arm is hinged with the lower end of the wheel axle center;
the upper rocker arm fixing seat is arranged at the upper end of the motor base, and the lower rocker arm fixing seat is arranged on the chassis.
2. The intelligent inspection robot damping mechanism according to claim 1, wherein the damping mechanism includes 4 sets of double-rocker arm assemblies respectively arranged on two sides of the intelligent inspection robot, and one side of the intelligent inspection robot is divided into two sets of upper rocker arm one ends of the double-rocker arm assemblies which are shared by the upper rocker arm fixing seat and two sets of lower rocker arm one ends of the double-rocker arm assemblies which are shared by the lower rocker arm fixing seat.
3. The vibration damping mechanism for the intelligent ground inspection robot according to claim 1, wherein the outer ring of the axle center of the wheel is sleeved with an articulating mechanism, the articulating mechanism does not rotate along with the wheel, the articulating mechanism comprises a central fixed seat, an upper articulating point and a lower articulating point, the upper end of the central fixed seat is fixedly connected with the upper articulating point, and the lower end of the central fixed seat is fixedly connected with the lower articulating point.
4. The intelligent inspection robot damping mechanism according to claim 3, wherein one end of the upper rocker arm is hinged to the upper rocker arm fixing seat through an upper rocker arm rotating shaft, and the other end of the upper rocker arm is hinged to the upper end of the axle center of the wheel through an upper hinge point.
5. The intelligent inspection robot damping mechanism according to claim 3, wherein one end of the lower rocker arm is hinged to the lower rocker arm fixing seat through a lower rocker arm rotating shaft, and the other end of the lower rocker arm is hinged to the lower end of the axle center of the wheel through a lower hinge point.
6. The intelligent inspection robot damping mechanism according to claim 3, wherein the upper and lower connecting points, the upper and lower rocker arm rotating shafts, and the upper and lower rocker arms are all parallelogram structures.
7. The intelligent inspection robot shock absorbing mechanism according to claim 1, wherein the shock absorbing mechanism further includes a buffer, one end of the buffer is connected to the chassis, and the other end of the buffer is connected to the lower swing arm.
8. The intelligent inspection robot shock absorption mechanism according to claim 1, wherein a motor is installed in the motor base, a motor rotating shaft of the motor is connected with a synchronizing wheel, and the synchronizing wheel is connected with a wheel axle center through a synchronizing belt.
9. The vibration damping mechanism for the ground intelligent inspection robot according to claim 1, wherein the ground intelligent inspection robot further comprises a waterproof shell, the waterproof shell is wrapped along the outer edge of the chassis, the vibration damping mechanism is arranged outside the waterproof shell, and electrical components of the ground intelligent inspection robot are arranged in the waterproof shell.
10. A ground intelligent inspection robot, characterized in that, a damping mechanism of the ground intelligent inspection robot according to any one of claims 1-9 is applied.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920500291.9U CN210191060U (en) | 2019-04-12 | 2019-04-12 | Damping mechanism of ground intelligent inspection robot and ground intelligent inspection robot |
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| CN201920500291.9U CN210191060U (en) | 2019-04-12 | 2019-04-12 | Damping mechanism of ground intelligent inspection robot and ground intelligent inspection robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111376667A (en) * | 2020-04-17 | 2020-07-07 | 甄圣超 | Mobile inspection operation robot |
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2019
- 2019-04-12 CN CN201920500291.9U patent/CN210191060U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111376667A (en) * | 2020-04-17 | 2020-07-07 | 甄圣超 | Mobile inspection operation robot |
| CN111376667B (en) * | 2020-04-17 | 2024-02-13 | 合肥中科深谷科技发展有限公司 | Mobile inspection operation robot |
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