CN210454377U - Shock-absorbing structure and mobile robot - Google Patents
Shock-absorbing structure and mobile robot Download PDFInfo
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- CN210454377U CN210454377U CN201920971421.7U CN201920971421U CN210454377U CN 210454377 U CN210454377 U CN 210454377U CN 201920971421 U CN201920971421 U CN 201920971421U CN 210454377 U CN210454377 U CN 210454377U
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Abstract
The utility model belongs to the technical field of the robot, especially, relate to a shock-absorbing structure and mobile robot, shock-absorbing structure includes: the bracket comprises a bottom plate and a mounting rack, one end of the mounting rack is connected to the bottom surface of one end of the bottom plate, and the other end of the mounting rack extends towards the other end of the bottom plate and has a distance with the bottom plate; the universal wheel is rotatably arranged on the mounting frame; the elastic piece is arranged between the bottom plate and the mounting frame. The utility model provides a shock-absorbing structure, elastic component locate between bottom plate and the mounting bracket, and when the bottom plate received load power, load power passed through the bottom plate and conducted to support and universal wheel on, because the effect of elastic component, the universal wheel atress will play absorbing effect, locate mounting bracket and elastic component under the bottom plate, the elastic component does not occupy other spaces, compact structure, and shock-absorbing structure's whole is small, can be applied to different chassis height's mobile robot.
Description
Technical Field
The utility model belongs to the technical field of the robot, especially, relate to a shock-absorbing structure and mobile robot.
Background
The wheel type mobile robot is a robot with self-planning, self-organization and self-adaptation capability working in a complex environment, most of service type wheel type mobile robots are mainly applied to indoor narrow space passageways at present, and the application scene of the service type wheel type mobile robot requires that the wheel type mobile robot has hard requirements of small turning radius, in-situ turning and the like. On the premise, the chassis of the compact type double-wheel differential driving mobile robot necessarily requires a compact type supporting wheel set structure to assist walking and turning.
For a mobile robot, a compact chassis structure is not suitable for a complex damping structure with a large occupied space due to a narrow space, universal wheels for the mobile robot on the market are all in rigid contact bolt connection, most of the universal wheels do not have the function of a spring type damping mechanism, and the balancing and flexible damping effects of the chassis under load cannot be achieved only by the materials of the wheels, namely the universal wheels of the existing chassis of the mobile robot mostly adopt conventional universal wheel products, the universal wheels are directly and rigidly connected and installed on the chassis, and the conventional universal wheels do not have the spring damping mechanism or only have the elasticity of the materials of the wheels and have a tiny damping function. Other damping mechanisms with damping functions mostly occupy large space, are not compact in overall structure, require a certain height of a chassis from the ground, and improve the ground clearance of the compact mobile robot chassis to enable the center of gravity of the chassis to be higher, so that the stability of mobile walking is unfavorable.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a shock-absorbing structure aims at solving the whole occupation space of shock-absorbing structure among the prior art big, the not compact technical problem of structure.
In order to achieve the above object, the utility model adopts the following technical scheme: a shock-absorbing structure comprising:
the bracket comprises a bottom plate and a mounting rack, one end of the mounting rack is connected to the bottom surface of one end of the bottom plate, and the other end of the mounting rack extends towards the other end of the bottom plate and has a distance with the bottom plate;
the universal wheel is rotatably arranged on the mounting frame;
the elastic piece is arranged between the bottom plate and the mounting frame.
Further, the elastic piece is a spring vertically arranged between the bottom plate and the mounting frame.
Further, the other end of the mounting bracket is fixed with a connecting block, and the spring is arranged between the bottom plate and the connecting block.
Further, the vertical adaptation that is fixed with of top surface of connecting block in the guide bar of spring, the spring housing is located outside the guide bar, the one end of spring with the top surface of connecting block pastes mutually and contacts, the other end of spring with the interval has between the bottom surface of bottom plate.
Furthermore, the mounting rack comprises two support arms arranged in parallel at intervals and a pin component connected between the two support arms, each support arm comprises an inclined section and a horizontal section, one end of each inclined section is connected with the bottom plate, and the other end of each inclined section is connected with one end of each horizontal section; in the direction perpendicular to the bottom plate, the projection of the two supporting arms is positioned in the projection range of the bottom plate.
Further, the pin subassembly includes first pin, second pin and third pin, the bottom surface interval of bottom plate one end is provided with two engaging lugs, two the one end of support arm is passed through first pin is installed respectively in two on the engaging lug, the universal wheel passes through the second pin with mounting bracket rotatable coupling, the connecting block passes through third pin installation is fixed in two between the support arm.
Furthermore, one side of the connecting lug is provided with a limiting bump, and the limiting bump is provided with a limiting inclined plane which is attached to the side wall of the inclined section to limit the support arm to rotate relative to the connecting lug.
Further, the shock-absorbing structure also comprises a bearing which is fixed on the top surface of the bottom plate and is used for installing a chassis of the mobile robot.
Further, the bearing is fixed at the central position of the bottom plate.
Another object of the present invention is to provide a mobile robot, including the above damping structure.
The utility model has the advantages that: the utility model discloses a shock-absorbing structure, elastic component locate between bottom plate and the mounting bracket, and when the bottom plate received load power, load power passed through the bottom plate and conducts to support and universal wheel on, because the effect of elastic component, the universal wheel atress will play absorbing effect, locates mounting bracket and elastic component under the bottom plate, and the elastic component does not occupy other spaces, compact structure, and shock-absorbing structure's whole is small, can be applied to the mobile robot of different chassis heights.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.
Fig. 1 is a schematic perspective view of a shock-absorbing structure provided in an embodiment of the present invention;
FIG. 2 is an exploded view of the shock absorbing structure shown in FIG. 1;
FIG. 3 is a side view of the shock absorbing structure shown in FIG. 1;
fig. 4 is a schematic perspective view of the shock absorbing structure shown in fig. 1 at another angle.
Wherein, in the figures, the respective reference numerals:
10-support 100-base plate 200-mounting rack
110-engaging lug 120-limit bump 210-support arm
211-inclined section 212-horizontal section 221-first pin
222-second pin 213-third pin 300-Universal wheel
400-spring 500-connecting block 510-guide rod
600-bearing.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
As shown in FIGS. 1-2, the embodiment of the present invention provides a damping structure, which comprises a support 10, a universal wheel 300 and an elastic member. The support 10 includes a bottom plate 100 and a mounting bracket 200, one end of the mounting bracket 200 is connected to the bottom surface of one end of the bottom plate 100, the other end of the mounting bracket 200 extends to the other end of the bottom plate 100 and has a distance with the bottom plate 100, the bottom plate 100 and the mounting bracket 200 can be made of metal material, such as stainless steel, and one end of the mounting bracket 200 can be welded or connected with the bottom plate 100 through a connecting member. The universal wheel 300 is rotatably mounted on the mounting bracket 200, and the universal wheel 300 may be, but is not limited to, a rubber wheel. The elastic member is disposed between the bottom plate 100 and the mounting frame 200, that is, one end of the elastic member may be connected to or attached to the bottom plate 100, and at this time, the other end of the elastic member may have a distance from the mounting frame 200, or one end of the elastic member may be connected to or attached to the mounting frame 200, and at this time, the other end of the elastic member may have a distance from the bottom plate 100. When the whole robot receives load force, the load force is transmitted to the support 10 and the universal wheel 300 through the bottom plate 100, the universal wheel 300 is stressed to achieve a damping effect due to the action of the elastic piece, the whole robot is simple in structure, the elastic piece is contained below the bottom plate 100, other spaces are not occupied, the structure is compact, the whole size of the damping structure is small, and the robot can be applied to mobile robots with different chassis heights.
The shock-absorbing structure that this embodiment provided, the elastic component is located between bottom plate 100 and the mounting bracket 200, when bottom plate 100 received the loading force, the loading force was conducted to support 10 and universal wheel 300 through bottom plate 100 on, because the effect of elastic component, universal wheel 300 atress will play absorbing effect, locate mounting bracket 200 and elastic component under bottom plate 100, the elastic component does not occupy other spaces, compact structure, shock-absorbing structure's whole is small, can be applied to the mobile robot of different chassis heights.
In an embodiment, the elastic member is a spring 400 vertically disposed between the base plate 100 and the mounting bracket 200, the spring 400 may be specifically a compression spring, and the vertical disposition of the spring 400 may further reduce the occupied space.
In an embodiment, the other end of the mounting bracket 200 is fixed with a connecting block 500, the spring 400 is disposed between the bottom plate 100 and the connecting block 500, and the outline of the connecting block 500 may be a cuboid or a cube, and may be set according to the specific size between the mounting brackets 200. For example, one end of the spring 400 is fixed to the connection block 500, the other end of the spring 400 is spaced apart from the bottom surface of the base plate 100, and when the base plate 100 receives a load force, the bottom surface of the base plate 100 abuts against the top end of the spring 400, and the spring 400 is compressed between the base plate 100 and the connection block 500.
In one embodiment, a guide rod 510 adapted to the spring 400 is vertically fixed on the top surface of the connecting block 500, the guide rod 510 is perpendicular to the top surface of the connecting block 500, the spring 400 is sleeved outside the guide rod 510, one end of the spring 400 contacts with the top surface of the connecting block 500, and a space is provided between the other end of the spring 400 and the bottom surface of the bottom plate 100.
In one embodiment, as shown in fig. 1 and 3, the mounting bracket 200 includes two support arms 210 and a pin assembly, wherein the two support arms 210 are disposed in parallel and spaced apart, and the pin assembly is connected between the two support arms 210. The support arm 210 comprises an inclined section 211 and a horizontal section 212, one end of the inclined section 211 is connected with the bottom plate 100, the other end of the inclined section 211 is connected with one end of the horizontal section 212, and the support arm 210 is integrally arched; in the direction perpendicular to the base plate 100, the projections of the two support arms 210 are located within the projection range of the base plate 100, that is, the two support arms 210 are accommodated in the space right below the base plate 100, and the mounting frame 200 does not occupy other spaces, so that the whole damping structure has a smaller volume and a more compact structure.
In an embodiment, the pin assembly includes a first pin 221, a second pin 222 and two third pins 213, two engaging lugs 110 are spaced apart from one end of the base plate 100, one ends of the two supporting arms 210 are respectively mounted on the two engaging lugs 110 through the first pin 221, the universal wheel 300 is rotatably connected to the mounting bracket 200 through the second pin 222, and the connecting block 500 is fixedly mounted between the two supporting arms 210 through four third pins 213, that is, two third pins 213 are respectively disposed on the left and right sides to fix the connecting block 500 between the two supporting arms 210. One end of each pin can be sleeved with a fastener, such as a nut, a gasket and the like.
In one embodiment, as shown in fig. 2 to 4, a limiting protrusion 120 is disposed on one side of the engaging lug 110, and the limiting protrusion 120 has a limiting inclined surface attached to a side wall of the inclined section 211 to limit the rotation of the supporting arm 210 relative to the engaging lug 110. That is to say, the side of the limit protrusion 120 close to the support arm 210 is provided with a limit inclined plane, and the limit inclined plane is closely attached to the side of the support arm 210, so that one end of the inclined section 211 of the support arm 210 is abutted against the limit inclined plane, and the support arm 210 can be prevented from rotating relative to the base plate 100.
In one embodiment, as shown in fig. 1 and 4, the shock absorbing structure further includes a bearing fixed on the top surface of the base plate 100 and used for mounting the mobile robot chassis. The chassis of the mobile robot may be installed with a connecting shaft, the connecting shaft is inserted and fixed to the inner ring of the bearing, and the chassis is connected with the base plate 100 through the connecting shaft, thereby realizing a rotation function of 360 degrees, so that the corresponding mobile robot has the rotation type universal wheel 300 with a damping function. The bottom plate 100 may be formed with a through hole having a size matching that of an inner race of the bearing, and an outer race of the bearing is fixed to the top surface of the bottom plate 100.
In one embodiment, the bearing is fixed to the base plate 100 at a central location. For example, the base plate 100 is a substantially rectangular plate as a whole, and the bearing is fixed to the center of the base plate 100, that is, the axial center line of the bearing coincides with the axial center line of the base plate 100.
The utility model discloses mobile robot, including the shock-absorbing structure of above-mentioned embodiment. Locate the elastic component between bottom plate 100 and mounting bracket 200, after the universal wheel 300 atress, the elastic component compresses tightly between mounting bracket 200 and bottom plate 100, can effectively play absorbing effect, locates mounting bracket 200 and elastic component under bottom plate 100, and the elastic component does not occupy other spaces, compact structure, and shock-absorbing structure's whole is small, can be suitable for the mobile robot of different chassis heights.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A shock-absorbing structure characterized in that: the method comprises the following steps:
the bracket comprises a bottom plate and a mounting rack, one end of the mounting rack is connected to the bottom surface of one end of the bottom plate, and the other end of the mounting rack extends towards the other end of the bottom plate and has a distance with the bottom plate;
the universal wheel is rotatably arranged on the mounting frame;
the elastic piece is arranged between the bottom plate and the mounting frame.
2. The shock-absorbing structure according to claim 1, wherein: the elastic piece is a spring vertically arranged between the bottom plate and the mounting frame.
3. The shock-absorbing structure according to claim 2, wherein: the other end of the mounting bracket is fixed with a connecting block, and the spring is arranged between the bottom plate and the connecting block.
4. The shock-absorbing structure according to claim 3, wherein: the vertical guide bar that is fixed with the adaptation in of top surface of connecting block the spring, the spring housing is located outside the guide bar, the one end of spring with the top surface of connecting block pastes mutually and touches, the other end of spring with the interval has between the bottom surface of bottom plate.
5. The shock-absorbing structure according to claim 3, wherein: the mounting frame comprises two support arms arranged in parallel at intervals and a pin component connected between the two support arms, each support arm comprises an inclined section and a horizontal section, one end of each inclined section is connected with the bottom plate, and the other end of each inclined section is connected with one end of the corresponding horizontal section; in the direction perpendicular to the bottom plate, the projection of the two supporting arms is positioned in the projection range of the bottom plate.
6. The shock-absorbing structure according to claim 5, wherein: the pin subassembly includes first pin, second pin and third pin, the bottom surface interval of bottom plate one end is provided with two engaging lugs, two the one end of support arm is passed through first pin is installed respectively in two on the engaging lug, the universal wheel passes through the second pin with mounting bracket rotatable coupling, the connecting block passes through the third pin installation is fixed in two between the support arm.
7. The shock-absorbing structure according to claim 6, wherein: one side of engaging lug is equipped with spacing lug, spacing lug have with the lateral wall of slope section pastes in order to restrict the support arm is for the spacing inclined plane of engaging lug pivoted.
8. The vibration damping structure according to any one of claims 1 to 7, wherein: the damping structure further comprises a bearing which is fixed on the top surface of the bottom plate and used for mounting the chassis of the mobile robot.
9. The shock-absorbing structure according to claim 8, wherein: the bearing is fixed at the central position of the bottom plate.
10. A mobile robot, characterized in that: comprising the shock-absorbing structure as set forth in any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920971421.7U CN210454377U (en) | 2019-06-26 | 2019-06-26 | Shock-absorbing structure and mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920971421.7U CN210454377U (en) | 2019-06-26 | 2019-06-26 | Shock-absorbing structure and mobile robot |
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| Publication Number | Publication Date |
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| CN210454377U true CN210454377U (en) | 2020-05-05 |
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| CN201920971421.7U Active CN210454377U (en) | 2019-06-26 | 2019-06-26 | Shock-absorbing structure and mobile robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114227714A (en) * | 2021-12-29 | 2022-03-25 | 天津中科智能技术研究院有限公司 | Intelligent mobile platform for medicine delivery |
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2019
- 2019-06-26 CN CN201920971421.7U patent/CN210454377U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114227714A (en) * | 2021-12-29 | 2022-03-25 | 天津中科智能技术研究院有限公司 | Intelligent mobile platform for medicine delivery |
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