CN213035593U

CN213035593U - Robot traveling wheel that antiskid nature is good

Info

Publication number: CN213035593U
Application number: CN202020157163.1U
Authority: CN
Inventors: 郎斌
Original assignee: Shanghai Zhenwei Electric Automation Co ltd
Current assignee: Shanghai Zhenwei Electric Automation Co ltd
Priority date: 2020-02-09
Filing date: 2020-02-09
Publication date: 2021-04-23
Anticipated expiration: 2030-02-09

Abstract

The utility model relates to a robot travelling wheel technical field especially relates to a robot travelling wheel that antiskid nature is good. The to-be-solved technical problem of the utility model is that the buffer capacity is relatively poor when the relatively poor road conditions of present part antiskid advancing wheel on the market march. In order to solve the technical problem, the utility model provides a robot travelling wheel that antiskid nature is good, including the fixed disk, the fixed bearing has been cup jointed to the opening internal fixation that the positive one side of fixed disk set up, and the fixed surface of fixed disk is connected with the main tributary brace, and the fixed surface of fixed disk is connected with the secondary support arm. The utility model discloses in the use, through with the fixed bearing fixed cup joint the axle surface of marcing of robot so that the wheel main part of marcing supports and supplementary marching to the robot, and make anti-skidding child take place to deform and drive the impact that the auxiliary block produced the displacement and will receive when the wheel of marcing contacts with low-lying department and evenly absorb by buffer spring to the impact force that prevents to transmit to the robot makes its emergence damage.

Description

Robot traveling wheel that antiskid nature is good

Technical Field

The utility model relates to a robot travelling wheel technical field specifically is a robot travelling wheel that antiskid nature is good.

Background

The intelligent robot is one of the accessory substance in the many first development of science and technology in-process, and the intelligent robot is through taking different modes of removal because of corresponding different work, wherein partial robot takes the wheel of advancing in order to remove, the wheel of advancing that its was taken has partly comparatively outstanding antiskid nature in order to prevent that the robot from the condition that skids to appear in the in-process of advancing, but this part antiskid wheel of advancing is rotating the in-process and can't cushion the impact force that receives in order to reduce the robot at relatively poor road conditions advancing process because of structural problem own, lead to the life aggravation loss of robot.

SUMMERY OF THE UTILITY MODEL

Technical problem to be solved

The utility model provides a not enough to prior art, the utility model provides a robot wheel of advancing that antiskid nature is good has solved the relatively poor problem of buffer capacity when relatively poor road conditions advance of the partial antiskid wheel of advancing existing on the market.

(II) technical scheme

In order to achieve the above purpose, the utility model discloses a following technical scheme realizes: a robot traveling wheel with good skid resistance comprises a fixed disc, wherein a fixed bearing is fixedly sleeved in a through hole arranged on one side of the front surface of the fixed disc, the surface of the fixed disc is fixedly connected with a main supporting arm, the surface of the fixed disc is fixedly connected with a secondary supporting arm, one side of the main supporting arm, which is opposite to the secondary supporting arm, is fixedly connected with a supporting block, one end of the main supporting arm is hinged with a main auxiliary arm through a main auxiliary shaft, one end of the secondary supporting arm is hinged with a secondary auxiliary arm through a secondary auxiliary shaft, one side of the main auxiliary arm, which is opposite to the secondary auxiliary arm, is fixedly connected with a buffer spring, one end of the main auxiliary arm is hinged with an auxiliary block through a main steering shaft, one end of the secondary auxiliary arm is hinged with one side of the auxiliary block through a secondary steering shaft, one side of the auxiliary block is provided with an auxiliary cavity, and one ends of the main auxiliary arm and the secondary auxiliary, the bottom of the auxiliary block is connected with an anti-skid tire.

Further preferably, the main and auxiliary arms have U-shaped lateral sections, and the main support arm has T-shaped lateral sections.

Preferably, the anti-skid tyre is made of rubber, and the surface of the anti-skid tyre is a straight cross striation tread.

Further preferably, the number of the main supporting arms and the number of the secondary supporting arms are nine, and the nine main supporting arms and the nine secondary supporting arms are arranged on the surface of the fixed disk in an annular array.

Preferably, the front surface of the auxiliary block is arc-shaped, and the front surface of the auxiliary cavity is arc-shaped.

Further preferably, the number of the auxiliary blocks is nine, and the nine auxiliary blocks are arranged on the inner wall of the anti-skid tyre in a circular array.

(III) advantageous effects

The utility model provides a robot travelling wheel that antiskid nature is good possesses following beneficial effect:

(1) the fixed bearing is fixedly sleeved on the surface of a travelling shaft of the robot so that the travelling wheel main body supports the robot and assists to travel, the travelling wheel is sunken in the moving process due to the fact that the projection is met with to adapt to the projection on the ground to prevent the robot from influencing the balance of the robot due to the fact that the height of two ends is different, and the anti-skid tire is deformed and drives the auxiliary block to generate displacement to uniformly absorb the impact to be received by the buffer spring when the travelling wheel is in contact with the projection on the ground so as to prevent the impact force transmitted to the robot main body from being greatly transmitted to the robot main body to cause the aggravate loss of the service life of the robot.

(2) The anti-skid tyre is made of rubber materials, so that the anti-skid tyre has enough supporting capacity and enough buffering capacity, and the surface of the anti-skid tyre is a straight-strip cross striation tread, so that the friction force between the anti-skid tyre and the ground is improved, and the anti-skid tyre is prevented from skidding in the contact process with the ground.

Drawings

Fig. 1 is a front view of the structure of the present invention;

FIG. 2 is an enlarged view of the structure A of FIG. 1 according to the present invention;

FIG. 3 is a side view of the structure of the present invention;

fig. 4 is a side view of the main and auxiliary arm structure of the present invention;

fig. 5 is a front side view of the auxiliary block structure of the present invention.

In the figure: the anti-skid device comprises a fixed disc 1, a fixed bearing 2, a main supporting arm 3, a secondary supporting arm 4, a supporting block 5, a main auxiliary shaft 6, an auxiliary shaft 7, an auxiliary shaft 8, an auxiliary shaft 9, a buffer spring 10, a main steering shaft 11, an auxiliary block 12, an auxiliary steering shaft 13, an auxiliary cavity 14 and an anti-skid tyre 15.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-5, the present invention provides a technical solution: a robot traveling wheel with good skid resistance comprises a fixed disc 1, a fixed bearing 2 is fixedly sleeved in a through hole arranged on one side of the front surface of the fixed disc 1, a main supporting arm 3 is fixedly connected to the surface of the fixed disc 1, a secondary supporting arm 4 is fixedly connected to the surface of the fixed disc 1, one side of the main supporting arm 3 opposite to the secondary supporting arm 4 is fixedly connected through a supporting block 5, one end of the main supporting arm 3 is hinged with a main auxiliary arm 7 through a main auxiliary shaft 6, the section of the side surface of the main auxiliary arm 7 is U-shaped, the section of the side surface of the main supporting arm 3 is T-shaped, the main supporting arm 3 provides a movable range for the main auxiliary arm 7, the movable range of the main auxiliary arm 7 is limited to prevent the main auxiliary arm 7 from shifting in the process, and one end of the secondary supporting arm 4 is hinged with a secondary auxiliary arm 9 through a secondary auxiliary shaft 8, the opposite sides of the main auxiliary arm 7 and the secondary auxiliary arm 9 are fixedly connected through a buffer spring 10, one end of the main auxiliary arm 7 is hinged with an auxiliary block 12 through a main steering shaft 11, the front section of the auxiliary block 12 is arc-shaped, and the front section of an auxiliary cavity 14 is arc-shaped, so that the auxiliary block 12 can adapt to the shape of the inner wall of the antiskid tyre 15, and simultaneously, the auxiliary block 12 can ensure that the force applied to the antiskid tyre 15 can be uniformly distributed and transmitted by the whole surface in the deformation process of the antiskid tyre 15, the service life of the auxiliary block 12 is prolonged, one end of the secondary auxiliary arm 9 is hinged with one side of the auxiliary block 12 through a secondary steering shaft 13, the auxiliary cavity 14 is arranged on one side of the auxiliary block 12, one end of the main auxiliary arm 7 and one end of the secondary auxiliary arm 9 are movably sleeved in the auxiliary cavity 14, the bottom of the auxiliary block 12 is connected with the antiskid tyre 15, the antiskid tyre 15 is made of rubber, the surface of the antiskid tire 15 is a straight-strip cross striation tread, so that the antiskid tire 15 has enough supporting capacity and enough buffering capacity, the surface of the antiskid tire 15 is a straight-strip cross striation tread, the friction force between the antiskid tire 15 and the ground is improved, the antiskid tire 15 is prevented from slipping in the process of contacting with the ground, the number of the auxiliary blocks 12 is nine, the nine auxiliary blocks 12 are arranged on the inner wall of the antiskid tire 15 in an annular array mode, the pressure borne by the antiskid tire 15 in the moving process of the travelling wheel can be continuously and uniformly divided into nine parts, and the nine parts of pressure are uniformly distributed by the nine auxiliary blocks 12 so as to prolong the service life of each auxiliary block 12.

The working principle is as follows: when the robot traveling wheel with good skid resistance is used, the fixed bearing 2 is fixedly sleeved on the surface of the traveling shaft of the robot so that the traveling wheel main body can support and assist the robot to travel, if the antiskid tire 15 encounters a raised part of the ground when moving on the ground with poor road conditions, the antiskid tire 15 is stressed and deforms, at the moment, the position of the auxiliary block 12 is changed along with the deformation of the antiskid tire 15, one end of the main auxiliary arm 7 and one end of the secondary auxiliary arm 9 rotate and change the positions through the main steering shaft 11 and the secondary steering shaft 13 respectively, while the positions of the main auxiliary arm 7 and the secondary auxiliary arm 9 are changed, the other ends of the main auxiliary arm 7 and the secondary auxiliary arm 9 rotate and change the positions through the main auxiliary shaft 6 and the secondary auxiliary shaft 8 respectively and apply pressure to the buffer spring 10 to make the other ends in a compressed state, at this time, the main body of the traveling wheel can adapt to the inward recess of the convex part of the ground due to the change of the positions of the main auxiliary arm 7 and the secondary auxiliary arm 9, so that the pressure applied to the main body of the traveling wheel is absorbed by the buffer spring 10, thereby preventing the service life of the robot from being seriously consumed due to the larger impact generated when the traveling wheel travels from the convex part to the flat part, the inward recess of the traveling wheel can prevent the robot from influencing the balance of the robot due to the difference of the heights of two ends, and the traveling wheel rebounds due to the reduction of the pressure applied to the buffer spring 10 when leaving the convex part of the ground and drives the main auxiliary arm 7, the secondary auxiliary arm 9, the auxiliary block 12 and the anti-skid tire 15 to reset so as not to influence the normal use of the traveling wheel, and the anti-skid tire 15 contacts with the bottom of the concave part and deforms when encountering the concave part of the ground during the movement of the traveling wheel, so as to uniformly distribute the applied impact force to the auxiliary block, at this time, the auxiliary moving block 12 makes the primary auxiliary arm 7 and the secondary auxiliary arm 9 have the same reaction when encountering the convex part along with the deformation of the anti-skid tyre 15, so that the received impact is uniformly absorbed by the buffer spring 10, and the problem that the service life of the robot is greatly lost due to large impact force transmitted to the robot main body is prevented.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention.

Claims

1. The utility model provides a robot travelling wheel that antiskid nature is good, includes fixed disk (1), its characterized in that: the fixing plate is characterized in that a fixing bearing (2) is fixedly sleeved in a through hole formed in the front side of the fixing plate (1), a main supporting arm (3) is fixedly connected to the surface of the fixing plate (1), a secondary supporting arm (4) is fixedly connected to the surface of the fixing plate (1), one side, opposite to the secondary supporting arm (4), of the main supporting arm (3) is fixedly connected with a supporting block (5), one end of the main supporting arm (3) is hinged to a main auxiliary arm (7) through a main auxiliary shaft (6), one end of the secondary supporting arm (4) is hinged to a secondary auxiliary arm (9) through a secondary auxiliary shaft (8), one side, opposite to the secondary auxiliary arm (9), of the main auxiliary arm (7) is fixedly connected with one side of the auxiliary block (12) through a buffer spring (10), one end of the main auxiliary arm (7) is hinged to a movable block (12) through a main auxiliary steering shaft (11), and one end of the secondary auxiliary arm (9) is hinged to one side of the auxiliary, one side of the auxiliary block (12) is provided with an auxiliary cavity (14), one ends of the main auxiliary arm (7) and the secondary auxiliary arm (9) are movably sleeved in the auxiliary cavity (14), and the bottom of the auxiliary block (12) is connected with an anti-skid tire (15).

2. The robot traveling wheel with good skid resistance according to claim 1, characterized in that: the section of the side surface of the main auxiliary arm (7) is U-shaped, and the section of the side surface of the main supporting arm (3) is T-shaped.

3. The robot traveling wheel with good skid resistance according to claim 1, characterized in that: the antiskid tyre (15) is made of rubber, and the surface of the antiskid tyre (15) is a straight strip cross striation tread.

4. The robot traveling wheel with good skid resistance according to claim 1, characterized in that: the number of the main supporting arms (3) and the number of the secondary supporting arms (4) are nine, and the nine main supporting arms (3) and the nine secondary supporting arms (4) are arranged on the surface of the fixed disc (1) in an annular array mode.

5. The robot traveling wheel with good skid resistance according to claim 1, characterized in that: the front section of the auxiliary block (12) is arc-shaped, and the front section of the auxiliary cavity (14) is arc-shaped.

6. The robot traveling wheel with good skid resistance according to claim 1, characterized in that: the number of the auxiliary blocks (12) is nine, and the nine auxiliary blocks (12) are arranged on the inner wall of the anti-skid tyre (15) in an annular array mode.