CN210456702U - Self-adaptive walking device and leveling robot thereof - Google Patents
Self-adaptive walking device and leveling robot thereof Download PDFInfo
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- CN210456702U CN210456702U CN201921279540.2U CN201921279540U CN210456702U CN 210456702 U CN210456702 U CN 210456702U CN 201921279540 U CN201921279540 U CN 201921279540U CN 210456702 U CN210456702 U CN 210456702U
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Abstract
The utility model discloses a self-adaptation running gear and flush bin robot thereof, wherein self-adaptation running gear includes two chassis units to and connect the expansion bracket between two chassis units, be equipped with the rotation support frame on the chassis unit, be equipped with the supporting seat on the rotation support frame, the cover is equipped with rotatory pedestal on the supporting seat, the roating seat physical stamina is turned around the supporting seat, be equipped with the supporting pin axle on the rotatory pedestal, the axial lead of supporting pin axle with rotatory pedestal centre of turning circle line is perpendicular, the expansion bracket with supporting pin axle rotatable coupling. The utility model provides a self-adaptation running gear can carry out automatically regulated according to the road surface condition and walking speed to two chassis unit speed difference problems about the uneven and of adaptation road surface height.
Description
Technical Field
The utility model relates to a grain storage field, concretely relates to self-adaptation running gear and flush bin robot thereof.
Background
The flat-bin operation is an important link in grain storage, and directly influences the overall level of grain storage work. At present, most domestic granaries are manual leveling warehouses, and the problems of high labor intensity, harsh operation environment and the like exist. Therefore, a leveling robot is developed to replace manual leveling operation. The existing leveling robot generally comprises two chassis and a telescopic frame connected between the two chassis, a grain scraping frame is arranged below the telescopic frame, a plurality of scraping claws are arranged on the grain scraping frame side by side, the grain scraping frame is driven to move through the walking of the two chassis, and therefore the scraping claws scrape grain surfaces. However, the telescopic frame of the existing leveling robot is hard connected with the two chassis, and when the walking road surfaces of the two chassis are uneven and the speed is inconsistent, jamming easily occurs, and leveling operation is further influenced.
SUMMERY OF THE UTILITY MODEL
The utility model discloses aim at: the telescopic frame is connected with the two chassis firmly to current flat storehouse robot, when two chassis walking road surface height are uneven and speed are inconsistent, the problem of jamming appears easily, provides a self-adaptation running gear, and this running gear can carry out automatically regulated according to the road surface condition and walking speed, adapts to the road surface height and uneven and control two chassis speed difference problems.
In order to realize the purpose, the utility model discloses a technical scheme be:
the utility model provides a self-adaptation running gear, includes two chassis units to and connect the expansion bracket between two chassis units, be equipped with rotatory support frame on the chassis unit, be equipped with the supporting seat on the rotatory support frame, the cover is equipped with rotatory pedestal on the supporting seat, rotatory pedestal physical stamina is around the supporting seat gyration, be equipped with the supporting pin axle on the rotatory pedestal, the axial lead of supporting pin axle with rotatory pedestal centre of gyration line is perpendicular, the expansion bracket with supporting pin axle rotatable coupling.
The utility model is provided with two chassis units and a telescopic frame connected between the two chassis units, because the chassis units are provided with rotary support frames, the rotary support frames are provided with support seats, the support seats are sleeved with rotary base bodies, the rotary base bodies can rotate around the support seats, meanwhile, the rotary base bodies are provided with support pin shafts, the axial leads of the support pin shafts are vertical to the rotary central line of the rotary base bodies, and the telescopic frame is rotatably connected with the support pin shafts, thereby leading the chassis units to have horizontal plane rotary freedom degree and vertical plane rotary freedom degree relative to the telescopic frame, when the road surface is uneven, the chassis units and the telescopic frame can rotate around the support pin shafts, when the walking speeds of the two chassis units are different, the chassis units and the telescopic frame can rotate around the support seats, the walking device can automatically adjust according to the road surface condition and the walking speed, thereby adapting to the problems of uneven road surface and speed difference of the left chassis unit and the right chassis unit.
As the preferred scheme of the utility model, rotatory pedestal with be equipped with the copper sheathing between the supporting seat. Through set up the copper sheathing between rotatory pedestal and supporting seat, can increase wear resistance between the two, make rotatory pedestal and supporting seat rotate in a flexible way simultaneously.
As the preferred scheme of the utility model, the copper sheathing has two, locates both ends about the rotatory pedestal respectively. The copper sleeves are arranged at the upper end and the lower end of the rotary seat body, so that the rotary seat body is not contacted with the middle part of the supporting seat, and the contact friction between the rotary seat body and the supporting seat is reduced.
As the utility model discloses an optimal scheme, the supporting seat terminal surface is equipped with the apron, and this apron is used for pairing rotation pedestal and copper sheathing to fix a position and fix.
As the utility model discloses an optimal scheme, be equipped with on the backing pin axle be used for with the support connection piece that the expansion bracket links to each other, the support connection piece can wind the backing pin axle revolves. Adopt the support connecting block, be convenient for rotate the expansion bracket with supporting pin axle and be connected.
As the utility model discloses an optimal scheme, the supporting connection piece with the cooperation has the supporting axle sleeve between the backing pin axle, can increase the wearability between the two.
As the utility model discloses an optimal scheme, the supporting pin axle has two, and the symmetry is located on the rotatory pedestal, can make expansion bracket and rotatory pedestal atress symmetry balanced, be favorable to increase of service life.
As the utility model discloses an optimal scheme, the rotating support frame is the frame construction that square tube welding formed, the last rotating support board that is equipped with of rotating support frame. The use of the frame structure is easy to manufacture and light in weight, while the rotating support plate is used for mounting the support base.
As the preferred scheme of the utility model, the supporting seat is inside to be hollow structure, is favorable to weight reduction.
The utility model also provides a leveling robot, including above self-adaptation running gear to and locate the grain frame of scraping of expansion bracket below. Through adopting above-mentioned self-adaptation running gear on the flat storehouse robot to set up in the expansion bracket below and scrape the grain frame after, when carrying out the flat storehouse operation, can carry out automatically regulated according to road surface condition and walking speed, thereby two chassis unit speed difference problems about adaptation road surface height is uneven and control, and the jamming phenomenon appears in the robot walking when avoiding the flat storehouse operation.
To sum up, owing to adopted above-mentioned technical scheme, the beneficial effects of the utility model are that:
the utility model is provided with two chassis units and a telescopic frame connected between the two chassis units, because the chassis units are provided with rotary support frames, the rotary support frames are provided with support seats, the support seats are sleeved with rotary base bodies, the rotary base bodies can rotate around the support seats, meanwhile, the rotary base bodies are provided with support pin shafts, the axial leads of the support pin shafts are vertical to the rotary central line of the rotary base bodies, and the telescopic frame is rotatably connected with the support pin shafts, thereby leading the chassis units to have horizontal plane rotary freedom degree and vertical plane rotary freedom degree relative to the telescopic frame, when the road surface is uneven, the chassis units and the telescopic frame can rotate around the support pin shafts, when the walking speeds of the two chassis units are different, the chassis units and the telescopic frame can rotate around the support seats, the walking device can automatically adjust according to the road surface condition and the walking speed, thereby adapting to the problems of uneven road surface and speed difference of the left chassis unit and the right chassis unit.
Drawings
Fig. 1 is a schematic view of the self-adaptive walking device of the present invention.
Fig. 2 is a partially enlarged schematic view of fig. 1.
Fig. 3 is a schematic view of fig. 2 with the telescopic frame hidden.
Fig. 4 is a partial cutaway schematic view of fig. 3.
The labels in the figure are: 1-chassis unit, 2-telescopic frame, 3-rotary support frame, 3 a-rotary support plate, 4-support seat, 5-rotary seat body, 6-support pin shaft, 7-copper sleeve, 8-cover plate, 9-support connecting block and 10-support shaft sleeve.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.
Example 1
The embodiment provides a self-adaptive walking device;
as shown in fig. 1 to 4, the adaptive walking device in this embodiment includes two chassis units 1 and a telescopic frame 2 connected between the two chassis units 1, where the chassis units 1 are provided with rotating support frames 3, the rotating support frames 3 are provided with support seats 4, the support seats 4 are sleeved with rotating base bodies 5, the rotating base bodies 5 can rotate around the support seats 4, the rotating base bodies 5 are provided with support pins 6, axes of the support pins 6 are perpendicular to a rotation center line of the rotating base bodies 5, and the telescopic frame 2 is rotatably connected to the support pins 6.
The utility model is provided with two chassis units and a telescopic frame connected between the two chassis units, because the chassis units are provided with rotary support frames, the rotary support frames are provided with support seats, the support seats are sleeved with rotary base bodies, the rotary base bodies can rotate around the support seats, meanwhile, the rotary base bodies are provided with support pin shafts, the axial leads of the support pin shafts are vertical to the rotary central line of the rotary base bodies, and the telescopic frame is rotatably connected with the support pin shafts, thereby leading the chassis units to have horizontal plane rotary freedom degree and vertical plane rotary freedom degree relative to the telescopic frame, when the road surface is uneven, the chassis units and the telescopic frame can rotate around the support pin shafts, when the walking speeds of the two chassis units are different, the chassis units and the telescopic frame can rotate around the support seats, the walking device can automatically adjust according to the road surface condition and the walking speed, thereby adapting to the problems of uneven road surface and speed difference of the left chassis unit and the right chassis unit.
In this embodiment, a copper sleeve 7 is disposed between the rotary seat 5 and the support seat 4, and the cross section of the copper sleeve is L-shaped. Through set up the copper sheathing between rotatory pedestal and supporting seat, can increase wear resistance between the two, make rotatory pedestal and supporting seat rotate in a flexible way simultaneously.
In this embodiment, there are two copper sleeves 7 respectively disposed at the upper and lower ends of the rotating base 5. The copper sleeves are arranged at the upper end and the lower end of the rotary seat body, so that the rotary seat body is not contacted with the middle part of the supporting seat, and the contact friction between the rotary seat body and the supporting seat is reduced.
In this embodiment, the end face of the supporting seat 4 is provided with a cover plate 8, and the cover plate is used for positioning and fixing the rotating seat body and the copper bush.
In this embodiment, the supporting pin shaft 6 is provided with a supporting connection block 9 for connecting with the telescopic frame 2, and the supporting connection block 9 can rotate around the supporting pin shaft 6. Adopt the support connecting block, be convenient for rotate the expansion bracket with supporting pin axle and be connected.
In this embodiment, a supporting shaft sleeve 10 is matched between the supporting connecting block 9 and the supporting pin shaft 6, so that the wear resistance between the supporting connecting block and the supporting pin shaft can be increased.
In this embodiment, two support pins 6 are symmetrically disposed on the rotating base 5, so that the stress on the expansion bracket and the rotating base is balanced, which is beneficial to prolonging the service life.
In this embodiment, the rotating support frame 3 is a frame structure formed by welding square pipes, and the rotating support frame 3 is provided with a rotating support plate 3 a. The use of the frame structure is easy to manufacture and light in weight, while the rotating support plate is used for mounting the support base.
In this embodiment, the supporting seat 4 is a hollow structure, which is beneficial to reducing weight.
Example 2
The embodiment also provides a leveling robot, which comprises the self-adaptive walking device in the embodiment 1 and a grain scraping frame arranged below the telescopic frame. Through adopting above-mentioned self-adaptation running gear on the flat storehouse robot to set up in the expansion bracket below and scrape the grain frame after, when carrying out the flat storehouse operation, can carry out automatically regulated according to road surface condition and walking speed, thereby two chassis unit speed difference problems about adaptation road surface height is uneven and control, and the jamming phenomenon appears in the robot walking when avoiding the flat storehouse operation.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the principles of the present invention should be included within the scope of the present invention.
Claims (10)
1. The utility model provides a self-adaptation running gear, its characterized in that includes two chassis units to and connect the expansion bracket between two chassis units, be equipped with rotatory support frame on the chassis unit, be equipped with the supporting seat on the rotatory support frame, the cover is equipped with rotatory pedestal on the supporting seat, rotatory pedestal physical stamina is turned round around the supporting seat, be equipped with the backing pin axle on the rotatory pedestal, the axial lead of backing pin axle with rotatory pedestal centre of gyration line is perpendicular, the expansion bracket with backing pin axle rotatable coupling.
2. The adaptive walking device according to claim 1, wherein a copper bush is provided between the rotary seat body and the support seat.
3. The adaptive traveling device according to claim 2, wherein two copper sleeves are provided at upper and lower ends of the rotary base.
4. The adaptive walking device of claim 3, wherein the end face of the support seat is provided with a cover plate.
5. The adaptive traveling device according to any one of claims 1 to 4, wherein the support pin is provided with a support connection block for connecting to the telescopic frame, and the support connection block can rotate around the support pin.
6. The adaptive walking device according to claim 5, wherein a support shaft sleeve is fitted between the support connection block and the support pin shaft.
7. The adaptive traveling device according to claim 6, wherein two of the support pins are symmetrically disposed on the rotary base.
8. The self-adaptive walking device according to claim 1, wherein the rotating support frame is a frame structure formed by welding square pipes, and a rotating support plate is arranged on the rotating support frame.
9. The adaptive walking device of claim 1, wherein the interior of the support seat is a hollow structure.
10. A leveling robot, characterized in that it comprises the self-adaptive walking device as claimed in any one of claims 1-9, and a grain scraping frame arranged below the telescopic frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921279540.2U CN210456702U (en) | 2019-08-08 | 2019-08-08 | Self-adaptive walking device and leveling robot thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921279540.2U CN210456702U (en) | 2019-08-08 | 2019-08-08 | Self-adaptive walking device and leveling robot thereof |
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| Publication Number | Publication Date |
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| CN210456702U true CN210456702U (en) | 2020-05-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921279540.2U Active CN210456702U (en) | 2019-08-08 | 2019-08-08 | Self-adaptive walking device and leveling robot thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110422653A (en) * | 2019-08-08 | 2019-11-08 | 四川阿泰因机器人智能装备有限公司 | A kind of adaptive running gear and its robot that closes a position |
-
2019
- 2019-08-08 CN CN201921279540.2U patent/CN210456702U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110422653A (en) * | 2019-08-08 | 2019-11-08 | 四川阿泰因机器人智能装备有限公司 | A kind of adaptive running gear and its robot that closes a position |
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