CN210941232U - Robot with suspension - Google Patents
Robot with suspension Download PDFInfo
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- CN210941232U CN210941232U CN201922073389.3U CN201922073389U CN210941232U CN 210941232 U CN210941232 U CN 210941232U CN 201922073389 U CN201922073389 U CN 201922073389U CN 210941232 U CN210941232 U CN 210941232U
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Abstract
The utility model belongs to the field of robots, and discloses a robot with a suspension, which comprises a frame, a suspension mechanism, a spring and a telescopic mechanism; the suspension mechanism is arranged below the frame; the spring is arranged on one surface of the suspension mechanism facing the frame and is abutted against the frame; the telescopic mechanism is arranged on the frame in a telescopic manner; when the robot walks on a first working condition, the telescopic mechanism extends out and props against the suspension mechanism to limit the suspension mechanism to move upwards; when the robot walks on the second operating mode, the telescopic mechanism retracts and is far away from the suspension mechanism, and the spring can freely stretch and retract, so that the suspension mechanism can move up and down. The utility model discloses a set up telescopic machanism on the robot, can select the spring to play or not functioning according to the in-service use scene of robot, not only make same robot all have better performance on different work condition, utilize the maximize with the robot, improve the uniformity of robot shipment moreover, simplify the management of supply chain.
Description
Technical Field
The utility model belongs to the technical field of the robot, in particular to take robot of suspension.
Background
Robots, also known as AGVs, refer to transportation vehicles equipped with electromagnetic or optical automatic guidance devices, which can travel along a predetermined guidance route, and have safety protection and various transplanting functions, and transportation vehicles without drivers in industrial applications, and rechargeable batteries are used as power sources, and the traveling route and behavior of the transportation vehicles can be controlled by a computer.
The existing robot chassis is generally divided into the following types: 1. the suspension is provided with a spring, and the suspension has the advantages that the adhesive force of the driving wheel to the ground can be increased, the climbing and obstacle crossing performance is good, and the suspension does not slip; the disadvantage is that the tail is severely warped when no load or light load. 2. The suspension is not provided with a spring, and the suspension has the advantages that the problems of head raising and tail warping are not serious; the disadvantage is that the climbing and obstacle crossing performance is general, and the driving slip is slight. 3. The chassis has no suspension, and the chassis has the advantages of no head raising and tail warping problems; the disadvantage is that the climbing and obstacle crossing performance is poor, and the device is basically only suitable for running on flat ground.
At present, when a robot is designed and manufactured, the robot is designed in advance according to a use scene, springs are added or not added, so that the consistency of the delivered robot is poor, the supply chain is not managed well, and a client cannot maximize the application of the field robot.
Disclosure of Invention
The utility model aims at providing a take robot of suspension not only can improve the uniformity that the robot shipment, but also maximize application robot.
The utility model provides a technical scheme as follows:
a robot with a suspension, comprising:
a frame;
a suspension mechanism disposed below the frame;
a spring provided on a surface of the suspension mechanism facing the frame and abutting against the frame;
the telescopic mechanism is arranged on the frame in a telescopic manner;
when the robot walks on a first working condition, the telescopic mechanism extends out and props against the suspension mechanism to limit the suspension mechanism to move upwards;
when the robot walks on the second working condition, the telescopic mechanism retracts and is far away from the suspension mechanism, and the spring can freely stretch and retract, so that the suspension mechanism can move up and down.
In one example, the device further comprises a limiting column;
the limiting column is arranged on the suspension mechanism;
when the robot walks on first operating mode, telescopic machanism stretches out and withstands spacing post.
In one example, the spring is sleeved on the limiting column;
the telescopic mechanism extends into the spring and is abutted to the limiting column.
In one example, the telescopic mechanism comprises an electric push rod, a connecting piece and a telescopic rod;
the electric push rod is fixed on the frame;
the telescopic rod is connected with the electric push rod through the connecting piece and is used for propping against the suspension mechanism.
In one example, a support plate is further included;
the support plate is fixed on the frame, and the spring is arranged below the support plate and is abutted against the support plate;
the supporting plate is provided with a through hole, and the telescopic rod penetrates through the through hole and extends into the spring.
In one example, a guide is further included;
one end of the guide piece extends along the radial direction to form a convex part;
one end of the guide piece, which is far away from the bulge, penetrates through the through hole, and the end of the guide piece, which is provided with the bulge, is positioned outside the through hole;
the telescopic rod penetrates through the guide piece.
In one example, the vehicle further comprises a driving wheel arranged below the frame;
the suspension mechanism comprises a suspension, a speed reducing motor and a rotating shaft;
the speed reducing motor is arranged at one end of the suspension and is connected with the driving wheel;
the rotating shaft is arranged at the other end of the suspension and is rotatably connected with the frame.
In one example, the suspension mechanism further comprises a bearing and a bearing seat;
the bearing seat is arranged on the frame, and the rotating shaft is rotatably arranged on the bearing seat through the bearing.
In one example, at least two universal wheels are further included;
the universal wheels are arranged below the frame, at least one universal wheel is arranged at the front part of the frame, and at least one universal wheel is arranged at the rear part of the frame.
Through the utility model provides a pair of take robot of suspension, the beneficial effect that can bring does: when the robot moves on the flat ground, the telescopic mechanism extends out and props against the suspension mechanism, at the moment, the spring on the suspension mechanism does not work, the suspension mechanism cannot move upwards, and the problems of head raising and tail raising of the robot can be reduced; when the robot climbs and surmounts the obstacle, the telescopic mechanism retracts and loosens the suspension mechanism, at the moment, the spring on the suspension mechanism acts, and the suspension mechanism can move up and down so as to improve the climbing and obstacle surmounting performance of the robot; through set up telescopic machanism on the robot, can select the spring to play or not work according to the in-service use scene of robot, not only make same robot all have better performance on different operating modes, utilize the maximize with the robot, improve the uniformity that the robot shipment moreover, simplify the management of supply chain.
Drawings
The above features, technical features, advantages and implementations of a robot with suspension will be further explained in the following detailed description of preferred embodiments in a clearly understandable manner with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of a robot with a suspension according to the present invention when a spring is activated;
FIG. 2 is an enlarged view at A in FIG. 1;
fig. 3 is a schematic structural diagram of a robot with a suspension according to the present invention when a spring is not in use;
FIG. 4 is an enlarged view at B in FIG. 3;
fig. 5 is a single-side structure diagram of the robot with suspension according to the present invention;
fig. 6 is a single-side explosion diagram of the robot with suspension according to the present invention.
Description of the reference numerals
1. A frame; 2. a suspension mechanism; 21. a suspension; 22. a reduction motor; 23. a rotating shaft; 24. a bearing; 25. a bearing seat; 3. a spring; 4. a telescoping mechanism; 41. an electric push rod; 42. a connecting member; 421. a first screw; 422. a second screw; 423. a ball head screw; 43. a telescopic rod; 5. a drive wheel; 6. a limiting column; 7. a support plate; 71. a through hole; 8. a guide member; 81. a boss portion; 9. a universal wheel.
Detailed Description
In order to more clearly illustrate embodiments of the present invention or technical solutions in the prior art, specific embodiments of the present invention will be described below with reference to the accompanying drawings. It is obvious that the drawings in the following description are only examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be obtained from these drawings without inventive effort.
For the sake of simplicity, only the parts relevant to the present invention are schematically shown in the drawings, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "one" means not only "only one" but also a case of "more than one".
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
In this context, it is to be understood that, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In addition, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not intended to indicate or imply relative importance.
In order to more clearly illustrate embodiments of the present invention or technical solutions in the prior art, specific embodiments of the present invention will be described below with reference to the accompanying drawings. It is obvious that the drawings in the following description are only examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be obtained from these drawings without inventive effort.
The embodiment of the utility model provides a take robot of suspension, as shown in fig. 1 to 4, including frame 1, suspension mechanism 2, spring 3 and telescopic machanism 4. The vehicle frame 1 is a chassis frame of the robot to mount various components on the chassis of the robot.
The suspension mechanism 2 is disposed below the frame 1, and the drive wheel 5 of the robot is connected to the frame 1 via the suspension mechanism 2. Spring 3 sets up in the one side of suspension mechanism 2 orientation frame 1 and with frame 1 butt, and during initial condition, spring 3 is in the precompression state, can improve the adhesive force of drive wheel 5 to ground, and then improves the climbing performance of hindering more of robot.
The telescopic mechanism 4 is arranged on the frame 1 in a telescopic way; when the robot walks on a first working condition, the telescopic mechanism 4 extends out and props against the suspension mechanism 2 to limit the suspension mechanism 2 to move upwards; when the robot walks on the second operating mode, telescopic machanism 4 withdraws and keeps away from suspension mechanism 2, and spring 3 can freely stretch out and draw back, makes suspension mechanism 2 can reciprocate.
The first working condition is a road condition such as a flat ground, as shown in fig. 3 and 4, when the robot travels on the flat ground, the telescopic mechanism 4 extends out and abuts against the suspension mechanism 2, the suspension mechanism 2 is firmly abutted by the telescopic mechanism 4 and cannot move upwards, the spring 3 on the suspension mechanism 2 cannot be compressed and extended freely, the spring 3 does not work at the moment, and the robot cannot have serious head raising and tail tilting problems when braking.
The second operating mode is road conditions such as climbing, obstacle crossing, step crossing, downhill path, the condition that the driving wheel 5 can appear reciprocating on the second operating mode, need suspension mechanism 2 to reciprocate this moment, therefore, as shown in fig. 1 and 2, telescopic machanism 4 retracts and keeps away from suspension mechanism 2, relieves the hard jack-up to suspension mechanism 2, and spring 3 can freely stretch out and draw back, and suspension mechanism 2 can reciprocate to improve the climbing and obstacle crossing performance of robot.
When the robot moves on the flat ground, the telescopic mechanism 4 extends out and props against the suspension mechanism 2, at the moment, the spring 3 on the suspension mechanism 2 does not work, the suspension mechanism 2 cannot move upwards, and the problems of head raising and tail warping of the robot can be reduced; when the robot climbs and surmounts the obstacle, the telescopic mechanism 4 retracts and loosens the suspension mechanism 2, at the moment, the spring 3 on the suspension mechanism 2 acts, and the suspension mechanism 2 can move up and down, so that the climbing and obstacle surmounting performance of the robot is improved; through set up telescopic machanism 4 on the robot, can select spring 3 to play or not work according to the in-service use scene of robot, not only make same robot all have better performance on different operating modes, utilize the maximize with the robot, improve the uniformity of robot shipment moreover, simplify the management of supply chain.
In one example, as shown in fig. 6, a spacing post 6 is further included; the limiting column 6 is arranged on the suspension mechanism 2; when the robot walks on the first operating mode, telescopic machanism 4 stretches out and withstands spacing post 6. A limit column 6 is arranged on the suspension mechanism 2, and the extension stroke of the telescopic mechanism 4 can be shortened when the telescopic mechanism 4 extends out and props against the limit column 6.
Preferably, as shown in fig. 5, the spring 3 is sleeved on the limit post 6; the telescopic mechanism 4 extends into the spring 3 and is abutted against the limiting column 6. The spring 3 is sleeved on the limiting column 6, and when the spring 3 is freely compressed and extended, the limiting column 6 can play a limiting and guiding role on the spring 3, so that the spring 3 deforms along the central shaft direction of the limiting column 6.
In one example, as shown in fig. 5, the telescopic mechanism 4 includes an electric push rod 41, a connecting member 42, and a telescopic rod 43; the electric push rod 41 is fixed on the frame 1; the telescopic rod 43 is connected with the electric push rod 41 through a connecting piece 42, and the telescopic rod 43 is used for propping against the suspension mechanism 2.
The push rod of the electric push rod 41 can extend and contract along the height direction of the vehicle frame 1. Connecting piece 42 plays the effect of connecting telescopic link 43 and electric putter 41, as shown in fig. 6, connecting piece 42 includes first screw 421, second screw 422 and ball screw 423, be equipped with the internal thread on the push rod, the one end of first screw 421 is equipped with the external screw thread, the other end of first screw 421 is equipped with the internal thread, first screw 421 is equipped with the one end and the push rod threaded connection of external screw thread, first screw 421 is equipped with the one end threaded connection of internal screw thread one end and second screw 422, the other end of second screw 422 is connected with ball of ball screw 423, the other end and telescopic link 43 threaded connection of ball screw 423.
When the suspension mechanism 2 is provided with the limiting column 6, the telescopic rod 43 extends out to be abutted against the limiting column 6; when the suspension mechanism 2 is not provided with the limiting column 6, the telescopic rod 43 extends out to be directly abutted against the suspension mechanism 2. When the spring 3 is sleeved on the limiting column 6, the telescopic rod 43 is telescopically arranged in the spring 3, namely, the telescopic rod 43 extends into the spring 3 and can telescopically move in the spring 3, so that the abutting precision of the telescopic rod 43 and the limiting column 6 is improved.
Preferably, as shown in fig. 5, a support plate 7 is further included; the support plate 7 is fixed on the frame 1, and the spring 3 is arranged below the support plate 7 and is abutted against the support plate 7; the supporting plate 7 is provided with a through hole 71, and the telescopic rod 43 passes through the through hole 71 and extends into the spring 3. The support plate 7 is abutted against the spring 3 to compress the spring 3, a through hole 71 is provided in the support plate 7 at a position corresponding to the spring 3, and the expansion link 43 passes through the through hole 71 and extends into the spring 3 to expand and contract in the spring 3 to abut against the suspension mechanism 2 or release the suspension mechanism 2.
Preferably, as shown in fig. 5 and 6, a guide 8 is further included; a boss 81 is extended from one end of the guide 8 in the radial direction; one end of the guide 8, which is far away from the convex part 81, penetrates through the through hole 71, and one end of the guide 8, which is provided with the convex part 81, is positioned outside the through hole 71; the telescopic rod 43 passes through the guide 8. The telescopic link 43 stretches out and draws back in the guide 8, and the guide 8 can play the guide effect to telescopic link 43, prevents that the condition of skew from appearing when telescopic link 43 is flexible.
In one example, as shown in fig. 5, the suspension mechanism 2 includes a suspension 21, a reduction motor 22, and a rotating shaft 23; the speed reducing motor 22 is arranged at one end of the suspension 21 and is connected with the driving wheel 5 arranged below the frame 1; the turning shaft 23 is provided at the other end of the suspension 21 and is rotatably connected to the frame 1.
The reduction motor 22 includes a drive motor and a speed reducer, the drive motor is connected with the speed reducer, and the speed reducer is connected with the drive wheel 5 to provide a drive force for the drive wheel 5. The suspension 21 is rotatably arranged on the vehicle frame 1 through a rotating shaft 23, and when the robot climbs and gets over obstacles, the suspension mechanism 2 can move up and down, so that the climbing and obstacle-crossing performance of the robot is improved.
Preferably, as shown in fig. 6, the suspension mechanism 2 further includes a bearing 24 and a bearing housing 25; a bearing housing 25 is provided on the frame 1, and the rotating shaft 23 is rotatably provided on the bearing housing 25 through a bearing 24. The two bearing seats 25 and the two bearings 24 are arranged, the two ends of the rotating shaft 23 are respectively provided with the bearing 24, the two bearings 24 are respectively fixed on the bearing seats 25, and the bearings 24 are arranged, so that the abrasion of the rotating shaft 23 can be reduced, and the service life of the rotating shaft 23 is prolonged.
As shown in fig. 1 and 3, two driving wheels 5 are provided, the two driving wheels 5 are symmetrically arranged on the left and right sides of the frame 1, each driving wheel 5 is connected with a suspension mechanism 2, and each suspension mechanism 2 is provided with a spring 3 and a telescopic mechanism 4.
At least two universal wheels 9 are further arranged below the frame 1, at least one universal wheel 9 is arranged at the front part of the frame 1, and at least one universal wheel 9 is arranged at the rear part of the frame 1. Preferably, the front part of the frame 1 is provided with two universal wheels 9 and the rear part of the frame 1 is provided with two universal wheels 9. The stability of the robot can be improved by arranging the universal wheels 9.
It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (9)
1. A robot with a suspension, comprising:
a frame;
a suspension mechanism disposed below the frame;
a spring provided on a surface of the suspension mechanism facing the frame and abutting against the frame;
the telescopic mechanism is arranged on the frame in a telescopic manner;
when the robot walks on a first working condition, the telescopic mechanism extends out and props against the suspension mechanism to limit the suspension mechanism to move upwards;
when the robot walks on the second working condition, the telescopic mechanism retracts and is far away from the suspension mechanism, and the spring can freely stretch and retract, so that the suspension mechanism can move up and down.
2. A robot with a suspension according to claim 1,
the device also comprises a limiting column;
the limiting column is arranged on the suspension mechanism;
when the robot walks on first operating mode, telescopic machanism stretches out and withstands spacing post.
3. A robot with a suspension according to claim 2,
the spring is sleeved on the limiting column;
the telescopic mechanism extends into the spring and is abutted to the limiting column.
4. A robot with a suspension according to claim 1,
the telescopic mechanism comprises an electric push rod, a connecting piece and a telescopic rod;
the electric push rod is fixed on the frame;
the telescopic rod is connected with the electric push rod through the connecting piece and is used for propping against the suspension mechanism.
5. A robot with a suspension according to claim 4,
the device also comprises a supporting plate;
the support plate is fixed on the frame, and the spring is arranged below the support plate and is abutted against the support plate;
the supporting plate is provided with a through hole, and the telescopic rod penetrates through the through hole and extends into the spring.
6. A robot with a suspension according to claim 5,
the device also comprises a guide piece;
one end of the guide piece extends along the radial direction to form a convex part;
one end of the guide piece, which is far away from the bulge, penetrates through the through hole, and the end of the guide piece, which is provided with the bulge, is positioned outside the through hole;
the telescopic rod penetrates through the guide piece.
7. A robot with a suspension according to claim 1,
the driving wheel is arranged below the frame;
the suspension mechanism comprises a suspension, a speed reducing motor and a rotating shaft;
the speed reducing motor is arranged at one end of the suspension and is connected with the driving wheel;
the rotating shaft is arranged at the other end of the suspension and is rotatably connected with the frame.
8. A robot with a suspension according to claim 7,
the suspension mechanism further comprises a bearing and a bearing seat;
the bearing seat is arranged on the frame, and the rotating shaft is rotatably arranged on the bearing seat through the bearing.
9. A robot with a suspension according to claim 1,
the device also comprises at least two universal wheels;
the universal wheels are arranged below the frame, at least one universal wheel is arranged at the front part of the frame, and at least one universal wheel is arranged at the rear part of the frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922073389.3U CN210941232U (en) | 2019-11-27 | 2019-11-27 | Robot with suspension |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922073389.3U CN210941232U (en) | 2019-11-27 | 2019-11-27 | Robot with suspension |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210941232U true CN210941232U (en) | 2020-07-07 |
Family
ID=71395483
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922073389.3U Active CN210941232U (en) | 2019-11-27 | 2019-11-27 | Robot with suspension |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210941232U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112506231A (en) * | 2020-11-27 | 2021-03-16 | 安徽信息工程学院 | Automatic following baby carriage and control method thereof |
-
2019
- 2019-11-27 CN CN201922073389.3U patent/CN210941232U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112506231A (en) * | 2020-11-27 | 2021-03-16 | 安徽信息工程学院 | Automatic following baby carriage and control method thereof |
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