CN210850238U

CN210850238U - Linkage and robot

Info

Publication number: CN210850238U
Application number: CN201921949173.2U
Authority: CN
Inventors: 杨熠; 静铁岩; 张俊东; 乔延辉; 田宏哲; 陈一派; 王锡岷; 赵万秋
Original assignee: Beijing Huaneng Xinrui Control Technology Co Ltd; Jiutai Power Plant of Huaneng Jilin Power Generation Co Ltd
Current assignee: Beijing Huaneng Xinrui Control Technology Co Ltd; Jiutai Power Plant of Huaneng Jilin Power Generation Co Ltd
Priority date: 2019-11-12
Filing date: 2019-11-12
Publication date: 2020-06-26
Anticipated expiration: 2029-11-12

Abstract

The utility model provides a linkage and robot belongs to the robotechnology field. The suspension device includes: the articulated mechanism, swing arm and two are followed the driving wheel, the swing arm includes the stage body and sets up first arm board and the second arm board in the relative both sides of stage body, the stage body upper surface is formed with the holding position of caving in, the articulated mechanism is established respectively the cover and is changeed epaxial interior union piece and outer union piece, interior union piece and outer union piece all can revolute the rotation of axes, interior union piece fixed connection is in the holding position of stage body, first arm board and second arm board are respectively deviating from one side surface of interior union piece and are connected from the driving wheel. The robot comprises the suspension device. The utility model discloses can land and hang mechanism small simultaneously at four wheels in the uneven road surface.

Description

Linkage and robot

Technical Field

The utility model relates to a robotechnology field particularly, relates to a linkage and robot.

Background

The suspension mechanism is a general name of all force transmission connecting devices between a robot body and the wheel train, mainly transmits force and moment between the robot body and the wheel train, and buffers impact force transmitted to the robot body by an uneven road surface.

In the inspection robot wheel train, two driving wheels are used for connecting a main power transmission system, and a suspension mechanism is generally arranged on a driven wheel. At present, various driven wheel suspension mechanisms are available, wherein the suspension mechanism is generally of a direct-acting type or a swing arm type, the direct-acting type suspension mechanism is realized by combining a linear bearing and a spring, but the structure volume is larger, and in the design of the existing swing arm type suspension mechanism, the longitudinal size is larger, and the structure volume is also larger.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a linkage and robot can land and hang mechanism small simultaneously at four wheels in the uneven road surface.

The embodiment of the utility model is realized like this:

an aspect of the embodiment of the utility model provides a suspension device, include: the articulated mechanism, swing arm and two are followed the driving wheel, the swing arm includes the stage body and sets up first arm board and the second arm board in the relative both sides of stage body, the stage body upper surface is formed with the holding position of caving in, the articulated mechanism is established respectively the cover and is changeed epaxial interior union piece and outer union piece, interior union piece and outer union piece all can revolute the rotation of axes, interior union piece fixed connection is in the holding position of stage body, first arm board and second arm board are respectively deviating from one side surface of interior union piece and are connected from the driving wheel.

Optionally, the accommodating position is an accommodating groove, the accommodating groove is a through groove extending along a first direction on the upper surface of the table body, and the first direction is perpendicular to a connecting line of the first arm plate and the second arm plate.

Optionally, the table body forms a U-shaped structure, the accommodating position is formed in a hollow position of the U-shaped structure, and the first arm plate and the second arm plate are respectively fixedly connected with two ends of the opening of the U-shaped structure.

Optionally, the hinge mechanism further comprises a stop jackscrew, a radial groove is formed in the side wall of the rotating shaft, a through hole is formed in the inner sleeve piece corresponding to the radial groove, and the stop jackscrew can penetrate through the through hole and extend into the radial groove to axially fix the inner sleeve piece.

Optionally, the hinge mechanism further comprises thrust washers respectively disposed at both ends of the rotation shaft for axially fixing the rotation shaft.

Optionally, the number of the thrust washers is two, the thrust washers are respectively in threaded connection with two ends of the rotating shaft, and the thrust washers are screwed into the outer side of the outer sleeve connecting piece to be attached.

Optionally, the hinge mechanism is further provided with a sliding bearing, an inner ring of the sliding bearing is connected with the rotating shaft, and an outer ring of the sliding bearing is connected with the outer sleeve connecting piece.

Optionally, the driven wheel is a universal wheel.

Optionally, the universal wheels are connected with the first and second arm plates respectively through wheel shafts.

The embodiment of the utility model provides a further aspect provides a robot, include: the robot comprises a plurality of suspension devices and a robot body, wherein one end of a hinge mechanism in each suspension device is connected with the platform body, and the other end of the hinge mechanism in each suspension device is connected with the robot body.

The utility model discloses beneficial effect includes:

the embodiment of the utility model provides a suspension device, through providing a suspension device, the device mainly comprises the hinge mechanism, the swing arm and two driven wheels, the swing arm includes the stage body and sets up first armplate and the second armplate in stage body relative both sides, the stage body is mainly used for with hinge mechanism fixed connection, first armplate and second armplate are connected with two driven wheels respectively, the hinge mechanism can be according to two driven wheel difference in height correspond the degree of inclination of adjusting first armplate and second armplate, make two driven wheels land simultaneously, stage body upper surface is formed with the position of holding of caving in, the purpose of setting up the position of holding of caving in is to make the hinge mechanism set up inside it, so can reduce the size of suspension device direction of height, the hinge mechanism includes cover respectively overlaps interior union piece and the outer union piece on the pivot, interior union piece and outer union piece all can the pivot, the inner sleeve connecting piece is fixedly connected in the accommodating position of the platform body, and the first arm plate and the second arm plate are respectively connected with the driven wheel on the surface of one side departing from the inner sleeve connecting piece, so that the suspension device can adjust four wheels to simultaneously land on an uneven road surface, and the suspension mechanism is small in size.

The embodiment of the utility model provides a pair of robot adopts foretell linkage, can reduce the size of robot direction of height.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic structural diagram of a suspension device according to an embodiment of the present invention;

fig. 2 is one of cross-sectional views of a hinge mechanism provided in an embodiment of the present invention;

fig. 3 is a second cross-sectional view of the hinge mechanism according to the embodiment of the present invention.

Icon: 100-swing arm; 110-a first armplate; 120-stage body; 121-capacity bit; 130-a second armplate; 200-hinge mechanism; 300-driven wheel; 210-an outer jacket connector; 220-inner sleeve joint; 230-a rotating shaft; 231-radial grooves; 232-a sliding bearing; 233-thrust washer; 234-stop jackscrew.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

The terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present invention, it is also to be understood that the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly unless otherwise specifically indicated and limited.

Fig. 1 is a schematic structural diagram of a suspension device provided by the present invention, please refer to fig. 1, an embodiment of the present invention provides a suspension device, including: the swing arm 100 comprises a table body 120, and a first arm plate 110 and a second arm plate 130 which are arranged on two opposite sides of the table body 120, an inward accommodating position 121 is formed on the upper surface of the table body 120, the hinge mechanism 200 comprises an inner sleeve member 220 and an outer sleeve member 210 which are respectively sleeved on a rotating shaft 230, the inner sleeve member 220 and the outer sleeve member 210 can both rotate around the rotating shaft 230, the inner sleeve member 220 is fixedly connected in the accommodating position 121 of the table body 120, and the first arm plate 110 and the second arm plate 130 are respectively connected with the driven wheel 300 on one side surface departing from the inner sleeve member 220.

It should be noted that, first, the accommodating position 121 may have various forms, for example, a recess with an upward opening is provided on the table body 120 for accommodating the hinge mechanism 200, or a through slot is provided on the table body 120, as long as the connecting surface between the table body 120 and the hinge mechanism 200 is lower than the first arm plate 110 and the second arm plate 130. The inner sleeve piece 220 and the outer sleeve piece 210 are respectively sleeved on the rotating shaft 230, wherein the outer sleeve piece 210 is U-shaped, two sleeve holes are formed in the position, close to the U-shaped opening, of the outer sleeve piece 210 and used for sleeving the rotating shaft 230, the side face of the inner sleeve piece 220 is T-shaped, the T-shaped bottom of the inner sleeve piece 220 is provided with a sleeve hole used for sleeving the rotating shaft 230, the T-shaped bottom of the inner sleeve piece 220 extends into the U-shaped inner portion of the outer sleeve piece 210, and the central axes of the sleeve holes in the inner sleeve piece 220 and the sleeve holes in the outer sleeve piece 210 are basically on the same straight line.

Second, the table body 120 is fixedly connected to the first arm plate 110 and the second arm plate 130, for example, the table body 120, the first arm plate 110 and the second arm plate 130 are integrally formed, or the first arm plate 110 and the second arm plate 130 are welded to the table body 120, for example, as long as the first arm plate 110 and the second arm plate 130 do not rotate relative to the table body 120.

Thirdly, the swing arm 100 is fixedly connected with the first arm plate 110 and the second arm plate 130 by the platform body 120, one side of the swing arm 100 with the accommodating position 121 is used for connecting the inner connecting piece 220 in the hinge mechanism 200, one side of the swing arm 100 opposite to the accommodating position 121 is respectively connected with the driven wheel 300 oppositely, the hinge mechanism 200 is provided with the inner connecting piece 220 and the outer connecting piece 210 which rotate relative to the rotating shaft 230, because the inner connecting piece 220 is fixedly connected in the accommodating position 121 on the platform body 120, the outer connecting piece 210 rotates relative to the rotating shaft 230 to realize the swing adjustment of the swing arm 100, when the swing arm is on uneven road surfaces, the height difference of the two driven wheels 300 exists, the swing arm 100 is adjusted to incline along the length direction through the rotation of the outer connecting piece 210 relative to the rotating shaft 230, and therefore.

The embodiment of the utility model provides a suspension device, through providing a suspension device, the device mainly comprises hinge mechanism 200, swing arm 100 and two follow driving wheels 300, swing arm 100 includes stage body 120 and sets up first armboard 110 and second armboard 130 in stage body 120 relative both sides, stage body 120 mainly is used for fixedly connected with hinge mechanism 200, first armboard 110 and second armboard 130 are connected with two follow driving wheels 300 respectively, hinge mechanism 200 can be according to two from the height difference of driving wheels 300 corresponding regulation first armboard 110 and the degree of inclination of second armboard 130, make two follow driving wheels 300 land simultaneously, stage body 120 upper surface forms the holding position 121 that caves in, the purpose of setting holding position 121 makes hinge mechanism 200 set up in it, so can reduce the size of suspension device direction of height, hinge mechanism 200 includes that the cover is established at pivot 230 respectively inside connector 220 and outer connector 210, the inner sleeve piece 220 and the outer sleeve piece 210 can both rotate around the rotating shaft 230, the inner sleeve piece 220 is fixedly connected in the accommodating position 121 of the platform body 120, and the first arm plate 110 and the second arm plate 130 are respectively connected with the driven wheel 300 on the side surface departing from the inner sleeve piece 220, so that the suspension device can adjust four wheels to simultaneously land on an uneven road surface, and the height of the suspension mechanism in the vertical direction is shortened, namely the volume of the suspension device is reduced.

In this embodiment, the accommodating portion 121 is an accommodating groove, the accommodating groove is a through groove extending along a first direction on the upper surface of the stage body 120, and the first direction is perpendicular to a connection line between the first arm plate 110 and the second arm plate 130.

The accommodating groove refers to a surface of the same side of the stage body 120, the first arm plate 110 and the second arm plate 130, a surface of the stage body 120 is lower than surfaces of the first arm plate 110 and the second arm plate 130, and opposite surfaces of the other side of the stage body 120 and the second arm plate 130 are flush, so that the accommodating groove 121 is called as an accommodating groove. The first direction is perpendicular to the length direction of the swing arm 100. For example, the accommodating groove along the first direction may be a through groove, or may be a through groove with only one side open, that is, a half-through groove, or both sides of the accommodating groove along the first direction are not open, and it is sufficient that the head portion of the T-shaped side surface of the inner sleeve 220 in the hinge mechanism 200, which is provided with the through groove, the half-through groove, or the through groove, can be placed in the accommodating groove.

In this embodiment, the platform 120 forms a U-shaped structure, the accommodating portion 121 is formed at a hollow position of the U-shaped structure, and the first arm plate 110 and the second arm plate 130 are respectively fixedly connected to two open ends of the U-shaped structure.

It should be noted that, in the second embodiment of the accommodating position 121, the U-shaped structure of the table body 120 is lower than the surfaces of the first arm plate 110 and the second arm plate 130 close to the driven wheel 300, for example, the first arm plate 110 and the second arm plate 130 are fixedly connected to the two ends of the opening of the U-shaped structure, and there are various forms of fixed connection, such as welding or bolt fixing, as long as the first arm plate 110 and the second arm plate 130 can be fixed to the table body 120 without any rotation.

Fig. 3 is a second cross-sectional view of the hinge mechanism 200, please refer to fig. 3, in this embodiment, the hinge mechanism 200 further includes a locking screw 234, the side wall of the rotation shaft 230 is provided with a radial groove 231, the inner sleeve 220 is provided with a through hole corresponding to the radial groove 231, and the locking screw 234 can pass through the through hole and extend into the radial groove 231 for axially fixing the inner sleeve 220.

It should be noted that the diameter of the head of the locking jackscrew 234 is greater than the diameter of the rod, the rod is provided with an external thread, the radial groove 231 is a recess of the rotating body provided radially by the rotating shaft 230, the through hole is provided at the lower part of the T-shape of the inner sleeve-connection member 220, the through hole leads to the sleeve-connection hole of the inner sleeve-connection member 220, and the diameter of the through hole is greater than the diameter of the head of the locking jackscrew 234, so that the locking jackscrew 234 can conveniently extend into the through hole and can extend into the radial groove 231, and the axial limit of the inner sleeve.

Fig. 2 is a cross-sectional view of the hinge mechanism 200, please refer to fig. 2, in this embodiment, the hinge mechanism 200 further includes thrust washers 233 respectively disposed at two ends of the rotating shaft 230 for axially fixing the rotating shaft 230.

It should be noted that the thrust washer 233 is internally provided with an internal thread, and the thrust washers 233 are respectively arranged to cooperate with the ends of the rotating shaft 230, so as to limit the axial movement of the rotating shaft 230.

In this embodiment, two thrust washers 233 are provided, the thrust washers 233 are respectively in threaded connection with two ends of the rotating shaft 230, and the thrust washers 233 are screwed to be attached to the outer side of the outer sleeve member 210.

It should be noted that, external threads are arranged at two ends of the rotating shaft 230, the external threads of the external threads are matched with the internal threads of the thrust washer 233, so that the two threads can be connected, the thrust washers 233 respectively pass through the ends of the rotating shaft 230 in a threaded manner, and the thrust washers 233 are screwed to the lateral side of the outer side of the fitting outer sleeve member 210.

In this embodiment, the hinge mechanism 200 is further provided with a sliding bearing 232, an inner ring of the sliding bearing 232 is connected with the rotating shaft 230, and an outer ring of the sliding bearing 232 is connected with the outer sleeve member 210.

It should be noted that the sliding bearing 232 is provided to reduce friction between the outer sleeve 210 and the rotating shaft 230, thereby improving the accuracy of the hinge mechanism 200 in adjusting the driven wheel 300.

In this embodiment, the driven wheel 300 is a universal wheel.

It should be noted that the universal wheel can rotate 360 degrees and has a degree of freedom of horizontal rotation, and the driven wheel 300 adopts the universal wheel, so that a multi-degree-of-freedom structure in a three-dimensional space can be realized, and the driven wheel 300 can adapt to various grounds such as uneven ground, hollow inclined ground and the like.

In this embodiment, the universal wheels are connected to the first arm plate 110 and the second arm plate 130 through wheel shafts, respectively.

It should be noted that the driven wheels 300 are respectively disposed on two sides of the swing arm 100, i.e., the driven wheels 300 are respectively disposed on the same side of the first arm plate 110 and the second arm plate 130.

The embodiment of the utility model provides an in the first aspect, give two kinds of schemes to holding position 121, two kinds of schemes are the U-shaped structure of storage tank and stage body 120 respectively, realize that hinge mechanism 200 can place in holding position 121 to realize reducing the height of the vertical direction of suspension mechanism, realize reducing linkage's volume, through the rational design to hinge mechanism 200, include: the stop jackscrew 234, the thrust washer 233, the sliding bearing 232 and the two ends of the rotating shaft 230 are provided with external threads and the like, so that the driven wheel 300 can be precisely adjusted by the suspension device through the hinge mechanism 200 and can be grounded.

The embodiment of the utility model provides a further aspect provides a robot, include: the suspension device comprises a plurality of suspension devices and a robot body, wherein one end of a hinge mechanism 200 in each suspension device is connected with the table body 120, and the other end of the hinge mechanism is connected with the robot body, so that the suspension mechanism can adjust four wheels of the robot, and the four wheels can simultaneously land.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A suspension arrangement, comprising: the swing arm comprises a table body, a first arm plate and a second arm plate, wherein the first arm plate and the second arm plate are arranged on two opposite sides of the table body, an inwards-recessed containing position is formed on the upper surface of the table body, an inner sleeve piece and an outer sleeve piece are respectively sleeved on a rotating shaft in a sleeved mode, the inner sleeve piece and the outer sleeve piece can rotate around the rotating shaft, the inner sleeve piece is fixedly connected in the containing position of the table body, and the first arm plate and the second arm plate are respectively deviated from one side surface of the inner sleeve piece and are connected with a driven wheel.

2. The suspension device according to claim 1, wherein the receiving location is a receiving slot, and the receiving slot is a through slot extending in a first direction on the upper surface of the table body, and the first direction is perpendicular to a line connecting the first arm plate and the second arm plate.

3. The suspension device as claimed in claim 1, wherein the table body forms a U-shaped structure, the receiving position is formed at a hollow position of the U-shaped structure, and the first arm plate and the second arm plate are fixedly connected to both ends of the opening of the U-shaped structure, respectively.

4. The suspension device according to claim 1, wherein the hinge mechanism further comprises a retaining screw, the side wall of the rotating shaft is provided with a radial groove, the inner sleeve is provided with a through hole corresponding to the radial groove, and the retaining screw can penetrate through the through hole and extend into the radial groove for axially fixing the inner sleeve.

5. The suspension of claim 1 wherein the hinge mechanism further comprises thrust washers disposed at each end of the shaft for axially securing the shaft.

6. A suspension arrangement according to claim 5, wherein there are two thrust washers, the thrust washers being threaded respectively on either end of the shaft, the thrust washers being screwed into engagement with the outer sides of the outer spigot.

7. A suspension arrangement according to claim 1, wherein the hinge mechanism is further provided with a slide bearing, the inner race of which is connected to the shaft and the outer race of which is connected to the outer joint member.

8. A suspension arrangement according to claim 1, wherein the driven wheel is a universal wheel.

9. The suspension of claim 8 wherein the universal wheel is coupled to the first and second armplates by an axle.

10. A robot, characterized by comprising a robot body and a suspension device according to any one of claims 1 to 9, wherein one end of the hinge mechanism in the suspension device is connected with the table body, and the other end of the hinge mechanism in the suspension device is connected with the robot body.