CN216507785U

CN216507785U - Self-driving wheel mechanism with damping function

Info

Publication number: CN216507785U
Application number: CN202120820107.6U
Authority: CN
Inventors: 周洋洋; 张魏魏
Original assignee: Hefei Hagong Kuxun Intelligent Technology Co ltd
Current assignee: Hefei Hagong Kuxun Intelligent Technology Co ltd
Priority date: 2021-04-19
Filing date: 2021-04-19
Publication date: 2022-05-13
Anticipated expiration: 2031-04-19

Abstract

The utility model discloses a self-driving wheel mechanism with a damping function, and belongs to the technical field of robots. The utility model discloses a self-driving wheel mechanism with a damping function, which comprises a suspension bracket, a damping mechanism, a hub bracket and a self-driving wheel; the suspension bracket is used for realizing the connection between the self-driving wheel mechanism and the bottom plate; the damping mechanism comprises a fixed support and a damping piece, one end of the damping piece is connected with the suspension support through the fixed support, and the other end of the damping piece is installed on the hub support; the self-driven wheel is arranged on the hub bracket; a plurality of damping holes are uniformly distributed on the tire of the self-driven wheel. When the self-driving wheel mechanism is impacted or vibrated, the damping spring is used for limiting the axial movement of the damping shaft so as to achieve the effect of absorbing energy, a plurality of damping holes are uniformly distributed on the tire of the self-driving wheel, the elastic deformation of the damping holes is used for weakening the impact or vibration, and the driving mechanism arranged in the self-driving wheel is protected while the self-driving wheel is shockproof.

Description

Self-driving wheel mechanism with damping function

Technical Field

The utility model relates to the field of robots, in particular to a self-driving wheel mechanism with a damping function.

Background

The robot chassis often adopts the mode of independently hanging, can pass through elastic element self absorption impact force after one side wheel receives impact or vibration, and the impact force can not wave the opposite side wheel, and its nature controlled and stability all will obviously be better than using the robot chassis of non-independent suspension. In the robot adopting independent suspension, when part of robots use the self-driving wheel mechanism, the driving device is arranged in the driving wheel, so that the weight of the driving wheel is increased, and jolt is more easily caused.

Through retrieval, the prior art discloses a flexible steering robot damping chassis (application number: 201910836391.3, application date: 2019, 9, 5 and the like), and the utility model disclosed by the application discloses the flexible steering robot damping chassis, belonging to the technical field of robots. The automatic transmission comprises a driving wheel set, a driven wheel set, a bottom plate, an I-shaped frame, a driven gear, a driving gear set, a top plate and the like. Two sets of driving wheel sets are symmetrically arranged on two sides of the rear portion of the bottom plate, two sets of driven wheel sets are symmetrically arranged on two sides of the top plate and located on two sides of the front portion of the bottom plate, the top plate is connected with the bottom plate through an I-shaped frame, and the driving wheel sets are arranged on the front portion of the bottom plate and matched with driven gears arranged on the driven wheel sets. The driving wheel set at the rear part of the chassis is used as the power of the robot in the moving process of the chassis, so that the robot can move back and forth, and the driven wheel set at the front part of the chassis and the driving wheel set act together to enable the robot to flexibly steer in the moving process; all be equipped with the bumper shock absorber in drive wheelset and driven wheelset department and make the robot have good topography trafficability characteristic.

This application has that the flexibility is strong, the trafficability characteristic is good, easy dismounting, dependable performance etc. advantage, but when the wheel mechanism that drives of robot set up in wheel hub to wheel hub adopts the closed mechanism that does not set up the spoke, and the increase of wheel weight is driven in the certainly, therefore the shock attenuation effect on robot chassis still needs further optimization.

SUMMERY OF THE UTILITY MODEL

1. Technical problem to be solved by the utility model

The utility model aims to solve the problem that when a driving mechanism of a robot is arranged in a driving wheel, the damping effect of a chassis of the robot is not enough to protect the driving mechanism in the prior art, and provides a self-driving wheel mechanism with a damping function.

2. Technical scheme

In order to achieve the purpose, the technical scheme provided by the utility model is as follows:

a self-driven wheel mechanism with a damping function comprises a suspension bracket, a damping mechanism, a wheel hub bracket and a self-driven wheel;

the suspension bracket is used for realizing the connection between the self-driving wheel mechanism and the bottom plate;

the damping mechanism comprises a fixed support and a damping piece, one end of the damping piece is connected with the suspension support through the fixed support, and the other end of the damping piece is installed on the hub support; the damping piece comprises a damping shaft, a damping bearing and a damping spring, the damping spring is sleeved on the damping shaft, the upper end of the damping spring is matched with the fixed support, and the lower end of the damping spring is matched with the hub support; the damping bearing is installed on the suspension bracket through the fixed bracket, one end of the damping shaft is connected with the damping bearing, and the other end of the damping shaft is connected with the hub bracket;

the self-driven wheel is arranged on the hub bracket;

a plurality of shock absorption holes are uniformly distributed on the tire of the self-driven wheel.

Further, the damping mechanism at least comprises two damping pieces.

Furthermore, the suspension bracket comprises a fixed part and a suspension part, the fixed part is fixedly connected with the bottom plate, and the suspension part is positioned on the inner side of the self-driven wheel and is used for connecting the fixed bracket; the shock-absorbing part connected to the fixed support is positioned on the inner side of the self-driving wheel.

Furthermore, the upper end of the damping spring is matched with the fixed support through the first spring sleeve and/or the first limiting hole, and the lower end of the damping spring is matched with the hub support through the second spring sleeve and/or the second limiting hole.

Furthermore, a first spring sleeve is arranged at the lower end of the fixed support and used for limiting the upper end of the damping spring; and a second limiting hole is formed in the hub bracket and used for limiting the lower end of the damping spring.

Furthermore, one end of the damping shaft penetrating through the damping bearing is provided with a limiting cap.

Further, the wheel hub support includes first connecting portion and second connecting portion, first connecting portion are used for installing the self-driven wheel, second connecting portion are used for installing the damping axle lower extreme.

Further, the shock absorption holes in the tire are formed by a first shock absorption hole and a second shock absorption hole, and the distance between the hole center of the first shock absorption hole and the center of the tire is larger than the distance between the hole center of the second shock absorption hole and the center of the tire.

Further, the first damping holes and the second damping holes are distributed in a staggered mode.

Further, first shock attenuation hole is rectangular shape hole, second shock attenuation hole is the circular port.

3. Advantageous effects

Compared with the prior art, the technical scheme provided by the utility model has the following beneficial effects:

the utility model relates to a self-driving wheel mechanism with a shock absorption function, which comprises a suspension bracket, a shock absorption mechanism, a wheel hub bracket and a self-driving wheel, wherein the shock absorption mechanism comprises a fixed bracket and a shock absorption piece, the shock absorption piece comprises a shock absorption shaft, a shock absorption bearing and a shock absorption spring, the shock absorption spring is sleeved on the shock absorption shaft, the upper end of the shock absorption spring is matched with the fixed bracket, the lower end of the shock absorption spring is matched with the wheel hub bracket, when the self-driving wheel mechanism is impacted or vibrated, the shock absorption shaft moves in the shock absorption bearing, and the shock absorption spring can limit the axial movement of the shock absorption shaft so as to achieve the effect of absorbing energy.

Drawings

FIG. 1 is a schematic structural diagram of a self-driving wheel mechanism;

FIG. 2 is a schematic view of the mounting of the suspension bracket to the base plate;

FIG. 3 is a schematic view of a shock absorbing mechanism mounting structure;

FIG. 4 is a schematic view of a shock absorbing mechanism;

FIG. 5 is a schematic view of a hub bracket construction;

fig. 6 is a schematic view of a self-driving wheel structure.

Detailed Description

For a further understanding of the utility model, reference should be made to the following detailed description taken in conjunction with the accompanying drawings and examples.

The structure, proportion, size and the like shown in the drawings are only used for matching with the content disclosed in the specification, so that the person skilled in the art can understand and read the description, and the description is not used for limiting the limit condition of the implementation of the utility model, so the method has no technical essence, and any structural modification, proportion relation change or size adjustment still falls within the scope of the technical content disclosed by the utility model without affecting the effect and the achievable purpose of the utility model. In addition, the terms "upper", "lower", "left", "right" and "middle" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the relative positions may be changed or adjusted without substantial technical changes.

Example 1

Generally, a driving mechanism of the robot can be arranged in a wheel hub and directly connected with a rotating shaft of a driving wheel to drive the wheel hub to rotate; or the driving wheel can be arranged outside the hub and connected with the rotating shaft of the driving wheel through a transmission mechanism so as to drive the hub to rotate. Partial power can be lost due to the use of the transmission mechanism, and the peripheral driving mechanism and the added transmission mechanism can occupy the space at the bottom of the robot; in addition, the additional transmission mechanism also increases the overall weight of the robot, thereby being unfavorable for the arrangement of all parts in the chassis of the robot. Due to the high degree of integration of the mechanisms mounted on the robot chassis, particularly large drive mechanisms occupying space require a more rational arrangement of mounting positions. Therefore, the embodiment provides the self-driving wheel mechanism with the damping function applied to the robot. When adopting the self-driving wheel mechanism, be provided with actuating mechanism in not only the wheel hub to in the needs of installation actuating mechanism, the wheel hub adopts the closed structure who does not set up the spoke, therefore the weight of self-driving wheel mechanism is great relatively, and weight concentrates on in the self-driving wheel, and the self-driving wheel is changeed and is influenced by inertia and suffer stronger jolting when jolting.

In addition, most of the driving mechanisms arranged in the self-driving wheels are motors directly connected with the rotating shafts of the self-driving wheels, and the forces generated by bumping are directly transmitted to the motors by the rotating shafts of the self-driving wheels when the bumping is relatively strong, so that the motors are easily damaged. Therefore, the chassis of the robot needs to be damped to realize stable walking of the robot, and the self-driving wheel needs to be protected by a better damping means to be internally provided with a driving mechanism.

As shown in fig. 1 and 2, the self-propelled wheel mechanism with a shock-absorbing function of the present embodiment includes a suspension bracket 200, a shock-absorbing mechanism 300, a hub bracket 400, and a self-propelled wheel 500. The suspension bracket 200 is used for connecting the self-driving wheel mechanism with the bottom plate 100, and a mounting groove can be arranged at the top end of the suspension bracket 200, and a screw hole is arranged at the bottom of the mounting groove, so that the suspension bracket 200 is connected with the bottom plate 100 through a bolt. The bottom plate 100 is a mounting plate of the robot chassis, and the bottom plate 100 may be provided with a connecting hole to complete a fixed connection with the top end of the hanging bracket 200. The damper mechanism 300 includes a fixing bracket 320 and a damper 310, one end of the damper 310 is connected to the suspension bracket 200 through the fixing bracket 320, the other end of the damper 310 is mounted to a hub bracket 400, and an automotive wheel 500 is mounted to the hub bracket 400.

In order to protect the driving mechanism in the self-driving wheel 500, in this embodiment, besides the shock absorbing mechanism 300, a plurality of shock absorbing holes are uniformly distributed on the tire 510 of the self-driving wheel 500, and the number of shock absorbing holes may be several, and the shock absorbing holes are uniformly distributed on the tire 510 and are symmetrical along the center of the self-driving wheel 500. Since the tire 510 is affected by the bumps caused by the terrain, and the tire 510 has good elasticity, the damping effect can be realized through the deformation of the damping holes, so that the driving mechanism in the self-driving wheel 500 can be protected immediately.

When the wheel 500 bumps due to the influence of the terrain, the generated vertical displacement is damped by the tire 510 of the wheel 500 through the damping hole, transmitted to the hub bracket 400, transmitted to the damping mechanism 300 through the hub bracket 400, buffered by the damping mechanism 300, and transmitted to the suspension bracket 200, thereby finally affecting the chassis of the robot.

The shock absorbing member 310 includes a shock absorbing shaft 311, a shock absorbing bearing 312 and a shock absorbing spring 313, the shock absorbing bearing 312 is mounted on the suspension bracket 200 through a fixing bracket 320, the fixing bracket 320 in this embodiment is provided with a mounting hole, the shock absorbing bearing is fixedly connected with the fixing bracket 320 through the mounting hole, a plurality of mounting holes may be provided on the fixing bracket 320 for mounting a plurality of shock absorbing bearings 312 on the fixing bracket 320, and one shock absorbing shaft 311 may be mounted on each shock absorbing bearing 312. The damper bearing 312 of the present embodiment is a linear bearing for achieving linear displacement of the damper shaft 311 in the axial direction. One end of the shock absorbing shaft 311 is connected to the shock absorbing bearing 312, and the other end is connected to the hub bracket 400, so that the shock absorbing shaft 311 linearly displaces in the shock absorbing bearing 312 when bumping.

Damping spring 313 overlaps and is established on damping axle 311, damping spring 313 upper end cooperatees with fixed bolster 320, damping spring 313 lower extreme cooperatees with wheel hub support 400, damping spring 313 has restricted the range that damping axle 311 can take place linear displacement, when damping axle 311 takes place the displacement downwards, damping spring 313 can open and produce pulling force thereby restriction damping axle 311 and continue to move, when damping axle 311 takes place the displacement upwards, damping spring 313 can produce thereby restriction damping axle 311 and continue to move because of the extrusion, and then restricted the up-and-down motion range of robot chassis, produce absorbing effect.

Example 2

As shown in fig. 3 and 4, the number of the shock absorbing members 310 in the shock absorbing mechanism 300 affects the shock absorbing effect of the shock absorbing mechanism 300 on the self-driving wheel mechanism, and the shock absorbing mechanism 300 in this embodiment includes at least two shock absorbing members 310, and the shock absorbing members 310 are fixed on the same fixed bracket 320. Preferably, the damping mechanism 300 in this embodiment includes three damping members 310, the connection positions of the three damping members 310 on the fixing bracket 320 are distributed in a triangle, and compared with the damping members 310 arranged in parallel, the three damping members 310 distributed in a triangle can bear larger lateral force, protect the damping members 310, and make the installation of the damping members 310 more compact.

The suspension bracket 200 of this embodiment includes a fixing portion and a suspension portion, the fixing portion is located above the self-driven wheel 500, and is fixedly connected with the bottom plate 100, and the fixing portion top can be provided with a mounting groove and a mounting hole, so as to realize the bolt connection with the bottom plate 100. The suspension portion is connected perpendicular to the fixing portion and located inside the self-driving wheel 500, and the inside is a side of the self-driving wheel 500 near the middle of the bottom plate 100. The hanging portion is used for connecting the fixing bracket 320, and a bolt connection manner may be used. Four self-driving wheel mechanisms are arranged on the bottom plate 100 of the robot, specifically, two self-driving wheel mechanisms are respectively arranged on two sides of the lower plate surface of the bottom plate 100, so the self-driving wheel mechanisms with the damping function are arranged on the bottom plate 100 in a square mode, the damping can be uniformly realized on the chassis, and the damping can be independently carried out without mutual influence, therefore, the damping pieces 310 connected to the fixed support 320 in the embodiment are all located on the inner sides of the self-driving wheels 500, the damping pieces 310 do not need to be arranged on two sides of the self-driving wheels 500, so that a good damping effect can be obtained, the damping pieces 310 arranged on the inner sides of the self-driving wheels 500 can reduce the installation space of the chassis of the robot, and the self-driving wheel mechanisms can be installed on the bottom plate 100 more compactly.

The present embodiment optimizes the mounting of the damper spring 313. The damping spring 313 is sleeved on the damping shaft 311, the upper end of the damping spring 313 is matched with the fixed support, and the lower end of the damping spring 313 is matched with the hub support 400. In the embodiment, the upper end and the lower end of the damping spring 313 are matched with other parts by using the limiting hole 410 or the spring sleeve 314, and the limiting hole 410 can be replaced by a limiting groove, so that the end part of the damping spring 313 can be matched. Specifically, only the position limiting hole 410 or only the spring housing 313 may be used, or both the position limiting hole 410 and the spring housing 313 may be used.

Specifically, the upper end of the damping spring is matched with the fixed support through the first spring sleeve and/or the first limiting hole, and the lower end of the damping spring is matched with the hub support through the second spring sleeve and/or the second limiting hole. For example, as an embodiment, the lower end of the fixing bracket 320 may be provided with a first spring housing for restraining the upper end of the damping spring 313; the hub bracket 400 may have a second limiting hole for limiting the lower end of the damping spring 313.

In order to increase the limiting effect on the shock absorbing shaft 311, in the embodiment, a limiting cap 315 is disposed at one end of the shock absorbing shaft 311 penetrating through the shock absorbing bearing 312, and is used for limiting the downward displacement of the shock absorbing shaft 311 relative to the shock absorbing bearing 312, and simultaneously limiting the maximum stretching length of the shock absorbing spring 313, so as to protect the shock absorbing spring 313.

The hub bracket 400 of the present embodiment is adapted to be mounted to the damper shaft 311 as well as to the self-driving wheel 500. Specifically, as shown in fig. 5, the hub bracket 400 includes a first connecting portion 420 and a second connecting portion 430, and the first connecting portion 420 is provided with a mounting hole for mounting a connecting shaft extending outward from the center of the self-driving wheel 500, so as to achieve the fixed mounting of the self-driving wheel 500. The second connecting portion 430 is provided with a limiting hole 410 which is matched with the damping spring 313 for installation, and a connecting hole is formed in the limiting hole 410 and used for installing the lower end of the damping shaft 311.

Example 3

As shown in fig. 6, the present embodiment further optimizes the shock absorbing holes on the tire 510. In the present embodiment, different types of shock absorbing holes are disposed at different positions of the tire 510, and the shock absorbing holes are through holes from one side of the tire 510 to the other side. Specifically, the shock absorbing holes of the tire 510 are composed of a first shock absorbing hole 511 and a second shock absorbing hole 512, and the distance between the center of the first shock absorbing hole 511 and the center of the tire 510 is greater than the distance between the center of the second shock absorbing hole 512 and the center of the tire. First shock attenuation hole 511 first realizes the shock-absorbing function of tire, consequently can use the shock attenuation hole of platykurtic, and second shock attenuation hole 512 is nearer from the tire center, consequently should not set up too big trompil, and the first shock attenuation hole 511 of this embodiment is rectangular shape hole, and second shock attenuation 512 hole is the circular port. The first shock absorption holes 511 and the second shock absorption holes 512 are distributed in a staggered manner, so that the uniform arrangement of the shock absorption holes on the tire 510 is realized, and the shock absorption effect is improved.

The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art receives the teaching, without departing from the spirit of the utility model, the person skilled in the art shall not inventively design the similar structural modes and embodiments to the technical solution, but shall fall within the scope of the utility model.

Claims

1. The utility model provides a self-driving wheel mechanism with shock-absorbing function which characterized in that: the self-propelled wheel comprises a suspension bracket, a damping mechanism, a hub bracket and a self-propelled wheel;

the self-driven wheel is arranged on the hub bracket;

2. The self-driven wheel mechanism with a shock absorbing function as claimed in claim 1, wherein: the damping mechanism at least comprises two damping pieces.

3. The self-driven wheel mechanism with a shock absorbing function according to claim 2, wherein: the suspension bracket comprises a fixed part and a suspension part, the fixed part is fixedly connected with the bottom plate, and the suspension part is positioned on the inner side of the self-driven wheel and is used for connecting the fixed bracket; the shock-absorbing part connected to the fixed support is positioned on the inner side of the self-driving wheel.

4. The self-driven wheel mechanism with a shock absorbing function as claimed in claim 3, wherein: the upper end of the damping spring is matched with the fixed support through the first spring sleeve and/or the first limiting hole, and the lower end of the damping spring is matched with the hub support through the second spring sleeve and/or the second limiting hole.

5. The self-driven wheel mechanism with a shock absorbing function as claimed in claim 4, wherein: the lower end of the fixed support is provided with a first spring sleeve for limiting the upper end of the damping spring; and a second limiting hole is formed in the hub bracket and used for limiting the lower end of the damping spring.

6. The self-driven wheel mechanism with a shock absorbing function as claimed in claim 5, wherein: and a limiting cap is arranged at one end of the damping shaft penetrating through the damping bearing.

7. The self-driven wheel mechanism with a shock absorbing function as claimed in claim 6, wherein: the wheel hub support comprises a first connecting portion and a second connecting portion, the first connecting portion is used for installing a self-driven wheel, and the second connecting portion is used for installing the lower end of the damping shaft.

8. The self-driven wheel mechanism with a shock absorbing function as claimed in claim 7, wherein: the shock absorption holes in the tire are formed by a first shock absorption hole and a second shock absorption hole, and the distance between the hole center of the first shock absorption hole and the center of the tire is larger than the distance between the hole center of the second shock absorption hole and the center of the tire.

9. The self-driven wheel mechanism with a shock absorbing function as claimed in claim 8, wherein: the first damping holes and the second damping holes are distributed in a staggered mode.

10. The self-driven wheel mechanism with a shock absorbing function as claimed in claim 9, wherein: the first damping holes are elongated holes, and the second damping holes are circular holes.