CN218285620U - Robot chassis pendulum rod fixed knot constructs - Google Patents

Abstract

The utility model discloses a robot chassis pendulum rod fixed knot constructs, pendulum rod fixed knot constructs includes pendulum rod and base, the pendulum rod passes through the dabber with the base and rotates and be connected, the base includes roof and curb plate, and the bottom fixed mounting of roof has two curb plates, sets up the perforation on the roof, the one end of pendulum rod upwards passes by perforating, the one end of pendulum rod is equipped with the upright board portion that upwards extends, upright board portion upwards wears out by perforating between two curb plates. The utility model discloses a robot chassis pendulum rod fixed knot constructs, its base comprises the roof with fix two curb plates in the roof bottom, and the dabber passes two curb plates and pendulum rod in proper order, and the dabber links firmly through first bolt with the pendulum rod, inlays between dabber and the curb plate and establishes graphite copper sheathing for on the stress point dispersion of pendulum rod and dabber constitution revolute pair arrived the curb plate of base both sides, thereby improve the atress bearing capacity, graphite copper sheathing and dabber rotational friction, lubricity when improving the dabber rotation.

Description

Robot chassis pendulum rod fixed knot constructs

Technical Field

The utility model relates to a chassis suspension specifically is a robot chassis pendulum rod fixed knot constructs.

Background

Currently, for wheeled mobile robots, the following three types of chassis suspension systems are commonly used: (1) The guide column type suspension system is straight up and down, the threshold passing capability is weak in this way, a force in a non-vertical direction is generated when the suspension system meets an obstacle, and the force can generate a certain blocking effect on the straight up and down movement of the suspension system; (2) The towed frame type suspension system rotates around a rotating shaft, the mode is strong in threshold passing capability and simple in structure, but the front and rear threshold passing capabilities are inconsistent, the rotating shaft is in the front, the forward threshold passing capability is strong, and the rotating shaft is in the rear, the backward threshold passing capability is strong; (3) The polygonal suspension system has a relatively complex structure although it has a strong over-threshold capability.

In the prior art, in most chassis swing rod fixing structures, the rotation connecting position between the swing rod and the base is subjected to one-way stress, the bearing performance is poor, the abrasion and the fracture of the connecting part are easily caused after long-term use, and the service life is influenced.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a robot chassis pendulum rod fixed knot constructs to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme:

the utility model provides a robot chassis pendulum rod fixed knot constructs, pendulum rod fixed knot constructs includes pendulum rod and base, the pendulum rod passes through the dabber with the base and rotates and be connected, the base includes roof and curb plate, and the bottom fixed mounting of roof has two curb plates, sets up the perforation on the roof, the one end of pendulum rod is upwards passed by the perforation.

The further improvement is that: one end of the swing rod is provided with a vertical plate portion extending upwards, the vertical plate portion penetrates out from the space between the two side plates through the through hole, and the core shaft penetrates through the two side plates and the swing rod respectively.

The further improvement is that: the top end of the vertical plate part is provided with a hook groove.

The further improvement is that: the swing rod is provided with an unthreaded hole, the mandrel is provided with a threaded hole extending in the radial direction, the unthreaded hole and the threaded hole are distributed coaxially, and the first bolt penetrates through the unthreaded hole and is in threaded connection with the threaded hole of the mandrel.

The further improvement is that: and a graphite copper sleeve is embedded between the mandrel and the side plate.

The further improvement is that: the outside of two curb plates of base is respectively through second bolt fixedly connected with side cap, and two side caps are contradicted respectively in dabber both ends.

The further improvement is that: an opening is formed in the bottom of one end of the swing rod and used for installing a shaft hole of a motor shaft, and a motor shaft pressing plate is fixedly installed at the opening of the shaft hole in the swing rod.

Compared with the prior art, the beneficial effects of the utility model are that:

the utility model discloses a robot chassis pendulum rod fixed knot constructs, including pendulum rod and base, the base comprises roof and two curb plates of fixing in the roof bottom, the dabber passes two curb plates and pendulum rod in proper order, the dabber links firmly through first bolt with the pendulum rod, inlay between dabber and the curb plate and establish graphite copper sheathing, make the pendulum rod and the dabber stress point dispersion that the spindle constitutes the revolute pair to the curb plate of base both sides on, thereby improve the atress bearing capacity, graphite copper sheathing and dabber running friction, lubricity when improving the dabber rotation, wearability and thermal diffusivity, guarantee that the mounting system smoothly moves, thereby increase of service life.

Drawings

FIG. 1 is a schematic structural diagram of a chassis suspension system of a robot;

FIG. 2 is a schematic view (front) of the assembly of a robot chassis suspension system with a chassis;

FIG. 3 is a schematic view of the robot chassis suspension system assembled with the chassis (back side);

FIG. 4 is a schematic structural view of a fixing structure of the swing link;

FIG. 5 is a sectional view of a fixing structure of the swing link;

FIG. 6 is a side sectional view of the swing link fixing structure;

in the figure: the cross beam 1, the transverse plate 11, the vertical plate 12, the ear plate 13 and the through groove 14; a tension spring 2, an elastic adjusting piece 3, a screw rod 31, a screw cap 32 and a pull ring 33; the swing rod fixing structure 4, a swing rod 41, a shaft hole 41a, a vertical plate 41b, a hook groove 41c, a light hole 41d, a first bolt 41e and a motor pressing plate 41f; a base 42, a top plate 42a, a side plate 42b, a through hole 42c, a side cover 42d, a second bolt 42e, a graphite copper sleeve 42f and a mandrel 43; the wheel hub motor 5, the traveling wheel 6, the chassis 7, the mounting hole 71 and the third bolt 72.

Detailed Description

To explain technical contents, structural features, and objects and effects of the technical solutions in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments.

Referring to fig. 1, in the present embodiment, a robot chassis suspension system is applied to assembly of a traveling wheel 6 of a robot for conveying articles, and includes a beam 1, a swing rod fixing structure 4 and a tension spring 2, where the beam 1 is used as a bearing member, and the swing rod fixing structure 4 and the tension spring 2 are integrated into a whole, so as to implement modular assembly and improve disassembly and assembly efficiency and convenience.

In this embodiment, crossbeam 1 includes diaphragm 11, riser 12 and otic placode 13, diaphragm 11 is horizontal rectangular platelike structure, riser 12 fixed mounting is in one side of diaphragm 11, the two mutually perpendicular, and diaphragm 11's both ends fixed mounting has two otic placodes 13, otic placode 13 is parallel with diaphragm 11, has seted up the through-hole on the otic placode 13, during the installation, aims at the through-hole on the chassis 7 with the through-hole on the otic placode 13 to pass chassis 7 through-hole and otic placode 13 through-hole in proper order through the nut fastening again through third bolt 72, in order to realize crossbeam 1 and chassis 7's fixed. The cross beam 1 is provided with a through groove 14 at one side far away from the vertical plate 12, the through groove 14 is transited from the transverse plate 11 to the ear plate 13, and the through groove 14 is used for enabling the vertical plate part 41b on the swing rod fixing structure 4 to pass through and providing a yielding space for the transverse swing of the vertical plate part 41 b.

Referring to fig. 4-6, the swing link fixing structure 4 includes a swing link 41 and a base 42, the swing link 41 is rotatably connected to the base 42 through a spindle 43, the base 42 is fixedly mounted on the cross beam 1, one end of the swing link 41 passes through the through slot 14 and extends upward, the other end of the swing link 41 substantially extends transversely, the transversely extending end of the swing link 41 is fixedly connected to a motor shaft of the in-wheel motor 5, a body of the in-wheel motor 5 is fixedly mounted in the traveling wheel 6, so that the traveling wheel 6 and the in-wheel motor 5 rotate around the motor shaft to realize traveling of the robot, and the traveling wheel 6, the in-wheel motor 5 and the swing link 41 can integrally rotate around the spindle 43 to realize suspension of the traveling wheel 6. The tension spring 2 is connected between the upward extending end of the swing rod 41 and the vertical plate 12 of the cross beam 1, so that the shock filtering elasticity is provided for the traveling wheel 6.

During assembly, the base 42 is fixed at one end of the cross beam 1, the upward extending end of the swing rod 41 penetrates through the through groove 14 and extends upwards, the traveling wheel 6 and the in-wheel motor 5 are fixed, the motor shaft of the in-wheel motor 5 is fixedly installed at the transverse extending end of the swing rod 41, and two ends of the tension spring 2 are respectively fixed at the vertical plate 12 and the upward extending end of the swing rod 41, so that the cross beam 1, the swing rod fixing structure 4, the traveling wheel 6, the in-wheel motor 5 and the tension spring 2 form an integral suspension system. As shown in fig. 2 and fig. 3, during assembly, the cross beam 1 of the suspension system passes through the mounting hole 71 of the chassis 7 from bottom to top, the lug plates 13 on both sides of the cross beam 1 are overlapped and limited with the bottom of the chassis 7, the through holes on the lug plates 13 are aligned with the through holes on the chassis 7, and then the third bolts 72 sequentially pass through the through holes on the lug plates 13 and the through holes on the chassis 7 and are fastened by nuts, thereby completing the installation of the whole suspension system. Compared with the prior art, the utility model discloses need not to install traditional base 42 and extension spring fixed plate respectively with chassis 7, improve assembly efficiency, make the suspension have more the modularization, integrate, be convenient for load and unload and maintain.

In this embodiment, the tension spring 2 provides the shock-absorbing elastic force and the real-time ground-grasping force for the traveling wheel 6, so that the initial stretching length of the tension spring 2 can be adjusted by setting the elastic adjustability on the vertical plate 12, thereby achieving the shock-absorbing preload range of the tension spring 2. Specifically, elasticity adjusting part 3 includes screw rod 31, nut 32 and pull ring 33, screw rod 31 transversely wears to locate on riser 12, screw rod 31's the inner and pull ring 33 fixed connection, and the both sides that lie in riser 12 on the screw rod 31 are threaded connection nut 32 respectively, extension spring 2 links firmly with pull ring 33. Through two nuts 32 of rotatory position in riser 12 both sides to adjusting screw 31 inner extension length, screw 31 draws and draws extension spring 2, and then make extension spring 2's extension length adjust, when pendulum rod 41 rotates around dabber 43 with advancing wheel 6 jointly, receive extension spring 2's elastic resistance and produce the effect of moving away to avoid possible earthquakes, and the elastic resistance who receives when adjusting advancing wheel 6 around dabber 43 through extension spring 2 extension length's change, and then make advancing wheel 6's soft or hard degree of moving away to avoid possible earthquakes adjust, improve the practicality.

Referring to fig. 4 to 6 again, in this embodiment, specifically, the base 42 includes a top plate 42a and side plates 42b, two side plates 42b are fixedly mounted at the bottom of the top plate 42a, a through hole 42c for the swing rod 41 to pass through is formed in the top plate 42a, and the top plate 42a is fixedly connected to the cross beam 1, so that the base 42 and the cross beam 1 are fixed.

One end of the swing rod 41 is provided with a vertical plate portion 41b extending upwards, the vertical plate portion 41b extends upwards from between the two side plates 42b through a through hole 42c, the core shaft 43 is respectively arranged on the two side plates 42b and the swing rod 41 in a penetrating manner, so that the swing rod 41 is rotatably connected with the base 42, a hook groove 41c is formed in the top end of the vertical plate portion 41b, and one end of the tension spring 2 is hooked in the hook groove 41 c. The core shaft 43 penetrates through the swing rod 41 from the side plate 42b on one side and then penetrates out from the side plate 42b on the other side, so that the swing rod 41 and the base 42 are in quick-release type rotary connection.

In this embodiment, the swing rod 41 is provided with a unthreaded hole 41d, the core shaft 43 is provided with a threaded hole extending in the radial direction, the unthreaded hole 41d and the threaded hole are distributed coaxially, and the first bolt 41e penetrates through the unthreaded hole 41d and is in threaded connection with the threaded hole of the core shaft 43, so that the core shaft 43 and the swing rod 41 are fixedly connected. The swing rod 41 and the mandrel 43 rotate synchronously, a graphite copper sleeve 42f is installed between the mandrel 43 and the side plates 42b, the lubricity and the wear resistance of the mandrel 43 during rotation are improved through the arrangement of the graphite copper sleeve 42f, and meanwhile, the rotation stress points of a rotating pair formed by the mandrel 43 and the swing rod 41 are dispersed on the side plates 42b on the two sides of the base 42, so that the stress bearing performance is improved.

In this embodiment, the outer sides of the two side plates 42b of the base 42 are respectively fixedly connected with side covers 42d through second bolts 42e, and the two side covers 42d are abutted against two ends of the core shaft 43 for limitation, so that the core shaft 43 is prevented from moving, the swing rod 41 is ensured at the middle position of the base 42, and the rotation stability of the swing rod 41 is improved.

In this embodiment, an axle hole 41a with an opening at the bottom is formed in one end of the swing rod 41, a motor shaft of the in-wheel motor 5 is arranged in the axle hole 41a in a penetrating manner, a motor shaft pressing plate 41f is fixedly mounted at an opening of the axle hole 41a on the swing rod 41, and the motor shaft pressing plate 41f presses and fixes the motor shaft of the in-wheel motor 5, so that the motor shaft is fixedly connected with the swing rod 41. Fix the opening part in shaft hole 41a through motor shaft clamp plate 41f to make things convenient for compressing tightly of motor shaft fixed, improve the equipment convenience of motor shaft.

The utility model discloses a theory of operation:

the base 42 on the swing rod fixing structure 4 is fixedly connected with the cross beam 1, the swing rod 41 is rotatably connected with the base 42 through a core shaft 43, a vertical plate part 41b on the swing rod 41 penetrates upwards through a through hole 42c at the top of the base 42 and a through groove 14 on the cross beam 1, a screw rod 31 penetrates through a vertical plate 12 on the other side of the cross beam 1, screw caps 32 are connected with screw threads on two sides of the vertical plate 12 on the screw rod 31, one end of a tension spring 2 is fixedly connected with a pull ring 33 at the inner end of the screw rod 31, the other end of the tension spring is hooked in a hook groove 41c of the vertical plate part 41b, and then the tension spring 2, the base 42, the swing rod 41 and other parts form a modularized suspension system through the arrangement of the cross beam 1, during assembly, a motor shaft of a hub motor 5 fixed on the traveling wheel 6 penetrates through a shaft hole 41a, the motor shaft pressing plate 41f is used for pressing and fixing the motor shaft pressing plate, the cross beam 1 of the suspension system penetrates through the mounting hole 71 of the chassis 7 from the bottom upwards, the lug plates 13 on two sides of the cross beam 1 are fixedly connected with the chassis 7 through the third bolts 72, the overall assembly of the suspension system is further completed, during disassembly, only the third bolts 72 on the lug plates 13 need to be screwed out, the cross beam 1 is separated from the chassis 7, the overall disassembly of the suspension system can be completed, the inconvenience in assembly and disassembly caused by the fact that different parts are fixed with the chassis 7 respectively is avoided, the modularization and integration of the suspension system are improved, the number of holes punched on the chassis 7 is reduced, and the overall structural strength and consistency of the chassis 7 are guaranteed.

The robot body (not shown in the figure) is assembled on the chassis 7, and under the action of the load, downward pressure is applied to the chassis 7 and the cross beam 1, so that the cross beam 1 and the base 42 rotate downwards around the spindle 43 by a certain angle, at the moment, the tension spring 2 is in a certain stretching state, and the extension length of the inner end (namely, the end close to the tension spring 2) of the screw rod 31 can be adjusted through the rotation adjustment of the two screw caps 32, so that the initial stretching length of the tension spring 2 is adjusted, the anti-seismic resistance of the tension spring 2 and the ground gripping force applied to the traveling wheel 6 are changed, and the adjustment convenience is improved.

The swing rod fixing structure 4 is provided with a swing rod 41 and a base 42, the base 42 is composed of a top plate 42a and two side plates 42b fixed at the bottom of the top plate 42a, a mandrel 43 sequentially penetrates through the two side plates 42b and the swing rod 41, the mandrel 43 is fixedly connected with the swing rod 41 through a first bolt 41e, and a graphite copper sleeve 42f is embedded between the mandrel 43 and the side plates 42b, so that stress points of a rotating pair formed by the swing rod 41 and the mandrel 43 are dispersed on the side plates 42b on two sides of the base 42, and therefore stress bearing performance is improved, rotational friction between the graphite copper sleeve 42f and the mandrel 43 is improved, lubricity, wear resistance and heat dissipation performance when the mandrel 43 rotates are improved, and smooth operation of a suspension system is guaranteed.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "include", "including" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or terminal device including a series of elements includes not only those elements but also other elements not explicitly listed or inherent to such process, method, article, or terminal device. Without further limitation, an element defined by the phrases "comprising 8230; \8230;" or "comprising 8230; \8230;" does not exclude additional elements from existing in a process, method, article, or terminal device that comprises the element. Further, herein, "greater than," "less than," "more than," and the like are understood to exclude the present numbers; the terms "above", "below", "within" and the like are to be understood as including the number.

Although the embodiments have been described, once the basic inventive concept is obtained, other changes and modifications can be made to the embodiments by those skilled in the art, so that the above description is only an embodiment of the present invention, and not intended to limit the scope of the invention, and all changes of the equivalent structure or equivalent flow path using the contents of the specification and the drawings or directly or indirectly using other related technical fields are also included in the scope of the present invention.

Claims (7)

1. The utility model provides a robot chassis pendulum rod fixed knot constructs which characterized in that: the swing rod fixing structure comprises a swing rod and a base, the swing rod is rotatably connected with the base through a mandrel, the base comprises a top plate and side plates, the bottom of the top plate is fixedly provided with the two side plates, the top plate is provided with a through hole, and one end of the swing rod penetrates upwards through the through hole.

2. The robot chassis pendulum rod fixed knot of claim 1 constructs, characterized in that: one end of the swing rod is provided with a vertical plate part which extends upwards, the vertical plate part penetrates out upwards from the space between the two side plates through the through holes, and the core shaft penetrates through the two side plates and the swing rod respectively.

3. The robot chassis pendulum rod fixed knot of claim 2 constructs, characterized in that: the top end of the vertical plate part is provided with a hook groove.

4. The robot chassis pendulum rod fixed knot of claim 1 constructs, characterized in that: the swing rod is provided with an unthreaded hole, the mandrel is provided with a threaded hole extending in the radial direction, the unthreaded hole and the threaded hole are distributed coaxially, and the first bolt penetrates through the unthreaded hole and is in threaded connection with the threaded hole of the mandrel.

5. The robot chassis pendulum rod fixed knot of claim 1 constructs, characterized in that: and a graphite copper sleeve is embedded between the mandrel and the side plate.

6. The robot chassis pendulum rod fixed knot of claim 1 constructs, characterized in that: the outside of two curb plates of base is respectively through second bolt fixedly connected with side cap, and two side caps are contradicted respectively in dabber both ends.

7. The robot chassis pendulum rod fixed knot of claim 1 constructs, characterized in that: an opening is formed in the bottom of one end of the swing rod and used for installing a shaft hole of a motor shaft, and a motor shaft pressing plate is fixedly installed at the opening of the shaft hole in the swing rod.

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