CN216467171U

CN216467171U - Wheel suspension damping structure of robot

Info

Publication number: CN216467171U
Application number: CN202123440371.6U
Authority: CN
Inventors: 刘平; 梁东平; 涂静一; 王一科; 贾林
Original assignee: Shenzhen Zhongzhi Yonghao Robot Co ltd
Current assignee: Shenzhen Zhongzhi Yonghao Robot Co ltd
Priority date: 2021-12-28
Filing date: 2021-12-28
Publication date: 2022-05-10
Anticipated expiration: 2031-12-28

Abstract

The utility model discloses a robot wheel hangs shock-absorbing structure, include: the device comprises a fixed frame, a wheel assembly, a rotary swing assembly and an elastic piece, wherein one end of the rotary swing assembly is connected with the fixed frame, and the other ends of the fixed frame and the rotary swing assembly are connected with the elastic piece; the rotary swing assembly is connected with the wheel assembly. Through implementing the utility model discloses the robot wheel hangs shock-absorbing structure can realize the shock attenuation of robot wheel, ensures the even running of robot wheel, and is with low costs, simple structure and reliability height.

Description

Wheel suspension damping structure of robot

Technical Field

The utility model relates to a wheel shock-absorbing structure technical field especially relates to a robot wheel hangs shock-absorbing structure.

Background

At present, along with the development of intelligent industry, the hands are liberated, the production efficiency is improved, the life is more beautiful due to science and technology, more and more intelligent products are served for production life, and the application of the robot is more and more extensive.

Most of wheels of the existing robot comprise two types, one type is a rigid wheel structure, a damping system is not arranged in the moving process, and jolt is obvious in the moving process, so that adverse effects are brought to the moving stability of the robot, for example, poor stability causes unstable movement, large jolt vibration is caused, frequency is increased, so that poor integral rigidity is caused, poor stability is caused, and the failure rate is increased. The other type is a wheel structure with a damping mechanism, but the damping mechanism is usually a cantilever, a spring and a parallelogram damping mechanism, and has the disadvantages of structural design, complex assembly and higher cost.

Therefore, it is necessary to design a new structure, which realizes the damping of the wheels of the robot, ensures the smooth operation of the wheels of the robot, and has low cost, simple structure and high reliability.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is to provide a robot wheel hangs shock-absorbing structure.

In order to solve the technical problem, the purpose of the utility model is realized through following technical scheme: provided is a robot wheel suspension shock-absorbing structure, including: the device comprises a fixed frame, a wheel assembly, a rotary swing assembly and an elastic piece, wherein one end of the rotary swing assembly is connected with the fixed frame, and the other ends of the fixed frame and the rotary swing assembly are connected with the elastic piece; the rotary swing assembly is connected with the wheel assembly.

The further technical scheme is as follows: the rotary swing assembly comprises a hinge and a rotary swing arm, the hinge is connected with one end of the rotary swing arm, the hinge is connected with the fixing frame, and the other end of the rotary swing arm is connected with the elastic piece.

The further technical scheme is as follows: the upper end of the elastic piece is connected with the rotary swing arm, and the lower end of the elastic piece is connected with the fixing frame.

The further technical scheme is as follows: rotatory swing arm includes first diaphragm, riser and second diaphragm, the one end of first diaphragm with hinged joint, the lower extreme of riser with first diaphragm is connected, the upper end of riser with the second diaphragm is connected, the second diaphragm with the upper end of elastic component is connected.

The further technical scheme is as follows: the wheel assembly is connected with the rotary swing arm.

The further technical scheme is as follows: the wheel assembly is connected with the first cross plate.

The further technical scheme is as follows: the wheel assembly is connected with the first transverse plate through a fixing piece.

The further technical scheme is as follows: the elastic piece is a tension spring.

The further technical scheme is as follows: the middle of the fixing frame is provided with a through groove, and the wheel assembly is embedded in the through groove.

Compared with the prior art, the utility model beneficial effect be: the utility model discloses a set up mount, wheel subassembly, rotatory swing subassembly and elastic component, the wheel is when meetting the road surface of jolting, can be rotatory along rotatory swing subassembly, and under the pulling force effect of elastic component, thereby the effect that the upper and lower elasticity that reaches the wheel subassembly floats, thereby it runs steadily to make the wheel subassembly move at the operation in-process with the help of elastic buffer, jolt has been reduced, realize the shock attenuation of robot wheel, ensure the even running of robot wheel, and is with low costs, simple structure and reliability are high.

The invention is further described with reference to the accompanying drawings and specific embodiments.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without any creative effort.

Fig. 1 is a schematic perspective view of a robot wheel suspension damping structure provided in an embodiment of the present invention;

fig. 2 is an explosion structure diagram of a robot wheel suspension damping structure provided by an embodiment of the present invention;

the labels in the figures illustrate:

10. a fixed mount; 20. a wheel assembly; 30. a hinge; 40. a first transverse plate; 41. a vertical plate; 42. a second transverse plate; 50. an elastic member; 60. and a fixing member.

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 some, not all, of the embodiments of the present invention. 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.

It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It should be further understood that the term "and/or" as used in the specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.

Referring to fig. 1, fig. 1 is a schematic perspective view of a robot wheel suspension damping structure according to an embodiment of the present invention. The structure can be applied to wheel damping application scenes such as service, distribution robots and the like, and the condition of unevenness and jolt on the road surface is reduced; high reliability and excellent damping performance.

Referring to fig. 1 and 2, the wheel suspension shock absorbing structure for the robot includes: the wheel assembly comprises a fixed frame 10, a wheel assembly 20, a rotary swing assembly and an elastic piece 50, wherein one end of the rotary swing assembly is connected with the fixed frame 10, and the other ends of the fixed frame 10 and the rotary swing assembly are connected with the elastic piece 50; the rotary oscillating assembly is connected to a wheel assembly 20.

When the wheel assembly 20 meets a bumpy road, for example, when the wheel assembly 20 passes through a ridge or a ditch, the wheel assembly 20 rotates along with the rotary swing assembly, and elastic floating up and down is realized under the action of the tensile force of the elastic piece 50, so that the machine can be stably operated through elastic buffering in the operation process, and bumping is reduced; the whole structure is simple, the reliability is strong, and the cost is low.

In an embodiment, referring to fig. 1 and 2, the swing assembly includes a hinge 30 and a swing arm, the hinge 30 is connected to one end of the swing arm, the hinge 30 is connected to the fixing frame 10, and the other end of the swing arm is connected to an elastic member 50.

The cylindrical axis of the hinge 30 is the swing rotation center of the wheel assembly 20, the wheel assembly 20 drives the rotary swing assembly to rotate along the hinge 30, and under the action of the pulling force of the elastic part 50, the stability of the wheel assembly 20 is ensured, so that the wheel assembly 20 can run stably, and the jolt is reduced.

In an embodiment, referring to fig. 1 and 2, the upper end of the elastic element 50 is connected to the rotating swing arm, and the lower end of the elastic element 50 is connected to the fixing frame 10.

In an embodiment, referring to fig. 2, the swing arm includes a first horizontal plate 40, a vertical plate 41 and a second horizontal plate 42, one end of the first horizontal plate 40 is connected to the hinge 30, a lower end of the vertical plate 41 is connected to the first horizontal plate 40, an upper end of the vertical plate 41 is connected to the second horizontal plate 42, and the second horizontal plate 42 is connected to an upper end of the elastic member 50.

The distance between the second cross plate 42 and the fixing frame 10 can be used for installing the elastic member 50.

In one embodiment, referring to fig. 1, the wheel assembly 20 is connected to the rotary swing arm.

Wheel assembly 20 is fixed on rotatory swing arm, and rethread rotatory swing arm is connected with hinge 30, and under elastic component 50's elasticity effect, the operation in-process is uneven as the road surface, and wheel assembly 20 is more steady around the flexible swing of hinge 30 rotation center in the operation process, has reduced and has jolted to easily respond to various complicated road surfaces leisurely, simple structure, it is with low costs.

In one embodiment, referring to fig. 1, the wheel assembly 20 is connected to the first cross plate 40.

In one embodiment, referring to fig. 1, the wheel assembly 20 is connected to the first cross plate 40 through the fixing member 60.

Of course, the wheel assembly 20 can also be directly fixedly connected to the first cross plate 40 by welding, which can be selected according to practical situations.

In the present embodiment, specifically, the transverse axle of the wheel assembly 20 is connected to the middle of the first transverse plate 40 by the fastener 60.

In one embodiment, the elastic member 50 is a tension spring.

In one embodiment, referring to fig. 2, a through slot is formed in the middle of the fixing frame 10, and the wheel assembly 20 is embedded in the through slot.

In one embodiment, the through slot extends inwardly away from a side wall of the hinge 30 to form a web, and the lower end of the elastic member 50 is connected to the web.

The wheel suspension damping structure of the robot has the advantages of few parts, simple processing, low cost and corresponding energy consumption which is greatly reduced.

Foretell a robot wheel hangs shock-absorbing structure, through setting up mount 10, wheel subassembly 20, rotatory swing subassembly and elastic component 50, the wheel is when meetting the road surface of jolting, can be rotatory along rotatory swing subassembly, and under elastic component 50's pulling force effect, thereby reach the effect that wheel subassembly 20's upper and lower elasticity floats, thereby make wheel subassembly 20 in the operation process with the help of elastic buffer even running, jolt has been reduced, realize the shock attenuation of robot wheel, ensure the even running of robot wheel, low cost, simple structure and reliability are high.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope of the present invention, and these modifications or replacements should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A robot wheel suspension shock-absorbing structure, comprising: the device comprises a fixed frame, a wheel assembly, a rotary swing assembly and an elastic piece, wherein one end of the rotary swing assembly is connected with the fixed frame, and the other ends of the fixed frame and the rotary swing assembly are connected with the elastic piece; the rotary swing assembly is connected with the wheel assembly.

2. The robot wheel suspension shock absorption structure according to claim 1, wherein the rotation swing assembly comprises a hinge and a rotation swing arm, the hinge is connected with one end of the rotation swing arm, the hinge is connected with the fixed frame, and the other end of the rotation swing arm is connected with the elastic member.

3. The robot wheel suspension shock-absorbing structure of claim 2, wherein the upper end of the elastic member is connected to the swing arm, and the lower end of the elastic member is connected to the fixing frame.

4. The robot wheel suspension shock-absorbing structure of claim 3, wherein the rotating swing arm comprises a first transverse plate, a vertical plate and a second transverse plate, one end of the first transverse plate is connected with the hinge, the lower end of the vertical plate is connected with the first transverse plate, the upper end of the vertical plate is connected with the second transverse plate, and the second transverse plate is connected with the upper end of the elastic member.

5. A robotic wheel suspension shock absorbing structure as claimed in claim 4, wherein said wheel assembly is connected to said rotary swing arm.

6. A robotic wheel suspension shock absorbing structure as claimed in claim 5, wherein the wheel assembly is connected to the first cross plate.

7. The robotic wheel suspension shock absorbing structure of claim 6, wherein said wheel assembly is connected to said first cross plate by a fastener.

8. The robot wheel suspension shock absorbing structure of claim 1, wherein the elastic member is a tension spring.

9. The robot wheel suspension shock absorption structure according to claim 1, wherein a through groove is formed in the middle of the fixing frame, and the wheel assembly is embedded in the through groove.