WO2020088117A1 - 一种勘探机器人用减震机构 - Google Patents

一种勘探机器人用减震机构 Download PDF

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Publication number
WO2020088117A1
WO2020088117A1 PCT/CN2019/105560 CN2019105560W WO2020088117A1 WO 2020088117 A1 WO2020088117 A1 WO 2020088117A1 CN 2019105560 W CN2019105560 W CN 2019105560W WO 2020088117 A1 WO2020088117 A1 WO 2020088117A1
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Prior art keywords
shock
absorbing
suspension
barrel
bolt hole
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PCT/CN2019/105560
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English (en)
French (fr)
Inventor
陆昕云
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苏州赛亚智能技术有限公司
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Application filed by 苏州赛亚智能技术有限公司 filed Critical 苏州赛亚智能技术有限公司
Priority to JP2020600179U priority Critical patent/JP3234727U/ja
Priority to DE212019000196.3U priority patent/DE212019000196U1/de
Publication of WO2020088117A1 publication Critical patent/WO2020088117A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/06—Endless track vehicles with tracks without ground wheels
    • B62D55/065—Multi-track vehicles, i.e. more than two tracks
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/104—Suspension devices for wheels, rollers, bogies or frames
    • B62D55/112—Suspension devices for wheels, rollers, bogies or frames with fluid springs, e.g. hydraulic pneumatic
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M3/00—Portable or wheeled frames or beds, e.g. for emergency power-supply aggregates, compressor sets

Definitions

  • the utility model belongs to the technical field of robots, and particularly relates to a shock absorption mechanism for exploration robots.
  • “Exploration” refers to the investigation and exploration of geology through various means and methods, to determine the appropriate bearing layer, according to the bearing capacity of the bearing layer of the bearing layer, determine the foundation type, calculate the basic parameters of the investigation and research activities.
  • Is in the mineral census Mineral deposits with industrial significance have been found in order to ascertain the quality and quantity of minerals, as well as the technical conditions for mining and utilization, to provide the mineral reserves and geological data required for the design of mine construction.
  • exploration robots are widely used because of their small size and ability to adapt to the harsh environment during exploration.
  • the common exploration robots in the world are currently due to defects in walking methods and design of shock-absorbing structures. The probability of failure in a severe environment is greatly increased, so it is necessary to design and produce a stable and reliable shock absorber structure.
  • the purpose of the present invention is to provide a shock-absorbing mechanism for exploration robots to solve the problems raised in the background art mentioned above.
  • a shock absorbing mechanism for exploration robots including a structural body, a connecting frame, a shock absorbing barrel, a shock absorbing spring, a head shock absorbing base, a head shock absorbing link, Suspension spring top fixing pin, head suspension rod first bolt hole, triangle rubber track assembly, head suspension rod second bolt hole, top linkage first bolt hole, top linkage second bolt hole And the rear suspension link, the connecting frame and the top link are bolted through the right bolt hole, the right end of the suspension barrel is connected to the left end of the top link by a bolt, and the left side of the suspension barrel is connected to the suspension barrel
  • the first-order base is provided with a first-order suspension barrel and a second-order suspension barrel, the first-order suspension barrel and the first-order suspension barrel are fixed by welding, and the tail suspension link and the first-order suspension barrel base are bolted Connected, a top link is provided above the head suspension link, the head suspension link is connected by bolts through the second
  • the left side of the tail suspension link is provided with a first bolt hole of the tail suspension link, which is connected to the first-order base of the suspension barrel by bolts, and the right side of the tail suspension link is provided with a suspension link
  • the second bolt hole is connected to the connection frame through a bolt.
  • the triangular rubber track assembly is welded and fixed to the head suspension link and the tail suspension link.
  • the left side of the head suspension link is connected to the connecting frame by bolts.
  • the bottom end of the first-order suspension barrel and the top end of the first-order base of the suspension barrel are fixed by welding.
  • the bottom end of the first-order suspension barrel and the top end of the first-order base of the suspension barrel are fixed by welding.
  • the exploration robot uses a double-stage shock absorber barrel, and the front and rear independent shock absorbers make the robot's shock travel longer and the shock absorber effect is better.
  • the triangle crawler is used because the triangle crawler wheel
  • the connecting rod material is mostly made of aluminum alloy and the density of aluminum alloy is low, but the strength is relatively high, which is close to or exceeds high-quality steel , Good plasticity, some aluminum alloys can be heat treated to obtain good mechanical properties, physical properties and corrosion resistance.
  • the exploration robot uses a new type of independent shock absorption to make the robot have good mechanical properties, and excellent shock absorption effect makes the The use of exploration robots under harsh conditions is more stable.
  • Figure 1 is a schematic diagram of the structure of the utility model
  • FIG. 2 is a schematic view of the main structure of the utility model.
  • 1 structure main body 2 suspension barrel, 3 head suspension base, 4 suspension spring, 5 suspension spring top fixing pin, 6 triangle rubber track assembly, 7 first suspension hole of head suspension link , 8 first bolt hole of top connecting rod, 9 second bolt hole of top connecting rod, 10 first bolt hole of rear suspension rod, 11 first-order base of suspension barrel, 12 first-order barrel of suspension barrel, 13 second suspension barrel Step, 14 suspension bolt second bolt hole, 15 head suspension bolt second bolt hole, 16 head suspension bolt second bolt hole, 17 tail suspension lever, 18, top link, 19 connecting bracket.
  • the utility model provides a shock absorbing mechanism for exploration robot as shown in Figure 1-2, which includes a structural body 1, a connecting frame 19, a shock absorbing barrel 2, a shock absorbing spring 4, a head shock absorbing base 3, and a head Suspension link 15, suspension spring top fixing pin 5, head suspension link first bolt hole 7, triangle rubber track assembly 6, head suspension link second bolt hole 16, top link first
  • the bolt hole 8, the second bolt hole 9 of the top connecting rod and the rear suspension rod 17, the connecting frame 19 and the top connecting rod 18 are bolted through the right bolt hole, and the right end of the suspension barrel 2 is bolted to the top
  • the left end of the connecting rod 18 is connected, and the left side of the suspension barrel 2 is connected to the first-order base 11 of the suspension barrel.
  • first-order suspension barrel 12 and a second-order suspension barrel 13 There are a first-order suspension barrel 12 and a second-order suspension barrel 13, a first-order suspension barrel 12 and a suspension barrel 1
  • the step base 11 is fixed by welding, the tail suspension link 17 and the first-stage base 11 of the suspension barrel are connected by bolts, and the head suspension link 15 is provided with a top link 18 above the head suspension
  • the connecting rod 15 is connected to the head suspension base 3 by bolts through the second bolt hole 16 of the head suspension link, and the head suspension base 3 is fixed above by welding Spring with shock absorber 4, the top of the suspension spring 4 with a top plug 5 suspension spring fixing pin.
  • the head suspension link 15 and the head suspension base 3 are connected by bolts, and the head suspension link is made of aluminum alloy, and the aluminum alloy has a low density, but a relatively high strength, close to or exceeding high quality Steel, good plasticity, aluminum alloy can use heat treatment to obtain good mechanical properties, physical properties and corrosion resistance.
  • the triangular rubber track assembly 6 and the head suspension link 15 and the rear suspension link 17 are fixed by welding, and the triangle track is used because the triangle track wheel is to better adapt to various modern vehicles
  • a new type of walking mechanism developed by combining the advantages of tires and crawler walking mechanisms.
  • the head suspension link 15, the tail suspension link 17 and the structural body 1 are all fixed by bolts through the connecting frame 19, and because the front and rear independent suspensions are adopted, the head suspension link 15 It can work independently with the rear suspension rod 17, and can support each other, which greatly increases the reliability in harsh environments.
  • the shock-absorbing barrel 2 and the shock-absorbing barrel first-order base 11 are fixed by welding, and the shock-absorbing barrel 2 is composed of the shock-absorbing barrel first-order 12 and the shock-absorbing barrel second-order 13 because the dual-stage shock-absorbing barrel is used .
  • it is a two-stage suspension barrel when any one of the first-order suspension barrel 12 and the second-order suspension barrel 13 fails during use, The other order can ensure that normal use will not cause no shock.
  • the shock-absorbing mechanism for the exploration robot because of the use of independent shock absorbers and triangular rubber track assemblies, shock-absorbing links and connecting frames, and the use of aluminum alloy materials, the robot has good mechanical properties and excellent shock-absorbing effects This makes the shock-absorbing structure of the exploration robot more stable under harsh conditions and should not be damaged.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Manipulator (AREA)
  • Vibration Dampers (AREA)

Abstract

一种勘探机器人用减震机构，包括结构主体（1）、连接架（19）、避震桶（2）、避震弹簧（4）、头部避震底座（3）、头部避震连杆（15）、避震弹簧顶部固定销（5）、头部避震连杆第一螺栓孔（7）、三角橡胶履带总成（6）、头部避震连杆第二螺栓孔（16）、顶部连杆第一螺栓孔（8）、顶部连杆第二螺栓孔（9）和尾部避震连杆（17），所述连接架（19）和顶部连杆（18）通过右侧螺栓孔用螺栓连接，所述避震桶（2）右端通过螺栓与顶部连杆（18）左端连接。该勘探机器人用减震机构，采用了独立避震和三角履带（6），以及避震连杆（15）和连接架（19）使用铝合金材料，使得该机器人有着良好的机械性能和出色的避震效果，在恶劣条件下的使用更为稳定，并不易损坏。

Description

一种勘探机器人用减震机构 技术领域
本实用新型属于机器人技术领域，具体涉及一种勘探机器人用减震机构。
背景技术
勘探"即是通过各种手段、方法对地质进行勘查，探测，确定合适的持力层，根据持力层的地基承载力，确定基础类型，计算基础参数的调查研究活动。是在对矿产普查中发现有工业意义的矿床，为查明矿产的质和量，以及开采利用的技术条件，提供矿山建设设计所需要的矿产储量和地质资料，对一定地区内的岩石、地层、构造、矿产、水文、地貌等地质情况进行调查研究工作，而勘探机器人由于体积小巧并能适应勘探时恶劣的环境被广泛使用，但是目前世面上常见的勘探机器人因为行走方式和避震结构设计存在缺陷导致勘探机器人在恶劣环境时出现故障的几率大大增加，因此因此设计和生产一种稳定可靠的避震结构是十分必要的。
实用新型内容
本实用新型的目的在于提供一种勘探机器人用减震机构，以解决上述背景技术中提出的问题。
为实现上述目的，本实用新型提供如下技术方案：一种勘探机器人用减震机构，包括结构主体、连接架、避震桶、避震弹簧、头部避震底座、头部避震连杆、避震弹簧顶部固定销、头部避震连杆第一螺 栓孔、三角橡胶履带总成、头部避震连杆第二螺栓孔、顶部连杆第一螺栓孔、顶部连杆第二螺栓孔和尾部避震连杆，所述连接架和顶部连杆通过右侧螺栓孔用螺栓连接，所述避震桶右端通过螺栓与顶部连杆左端连接，所述避震桶左侧连接避震桶一阶底座处设有避震桶一阶和避震桶二阶，避震桶一阶和避震桶一阶底座通过焊接固定，所述尾部避震连杆和避震桶一阶底座通过螺栓连接，所述头部避震连杆上方设有顶部连杆，所述头部避震连杆通过头部避震连杆第二螺栓孔和头部避震底座由螺栓连接，所述头部避震底座上方通过焊接固定安装有避震弹簧，所述避震弹簧顶部插接有避震弹簧顶部固定销。
优选的，所述尾部避震连杆左侧开设有尾部避震连杆第一螺栓孔，通过螺栓与避震桶一阶底座连接，所述尾部避震连杆右侧开设有避震连杆第二螺栓孔，通过螺栓与连接架连接。
优选的，所述三角橡胶履带总成与头部避震连杆及尾部避震连杆焊接固定。
优选的，所述头部避震连杆左侧通过螺栓和连接架连接。
优选的，所述避震桶的避震桶一阶底端与避震桶一阶底座的顶端通过焊接固定。
优选的，所述避震桶一阶底端与避震桶一阶底座顶端通过焊接固定。
本实用新型的技术效果和优点：该勘探机器人由于使用了双阶避震桶，并且为前后独立避震使得机器人避震行程更长避震效果更好，而采用了三角履带是因为三角履带轮是为了更好的适应近代各种车 辆对高通过性与高机动性等苛刻性能的要求，而连杆材料多为使用铝合金材料而铝合金密度低，但强度比较高，接近或超过优质钢，塑性好，一些铝合金可以采用热处理获得良好的机械性能、物理性能和抗腐蚀性能，该勘探机器人由于采用了新型独立避震使得该机器人有着良好的机械性能，和出色的避震效果使得该勘探机器人在恶劣条件下的使用更为稳定。
附图说明
图1为本实用新型的结构示意图；
图2为本实用新型的结构主体示意图。
图中：1结构主体、2避震桶、3头部避震底座、4避震弹簧、5避震弹簧顶部固定销、6三角橡胶履带总成、7头部避震连杆第一螺栓孔、8顶部连杆第一螺栓孔、9顶部连杆第二螺栓孔、10尾部避震连杆第一螺栓孔、11避震桶一阶底座、12避震桶一阶、13避震桶二阶、14避震连杆第二螺栓孔、15头部避震连杆、16头部避震连杆第二螺栓孔、17尾部避震连杆、18、顶部连杆、19连接架。
具体实施方式
下面将结合本实用新型实施例中的附图，对本实用新型实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本实用新型一部分实施例，而不是全部的实施例。基于本实用新型中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本实用新型保护的范围。
本实用新型提供了如图1-2所示的一种勘探机器人用减震机构， 包括结构主体1、连接架19、避震桶2、避震弹簧4、头部避震底座3、头部避震连杆15、避震弹簧顶部固定销5、头部避震连杆第一螺栓孔7、三角橡胶履带总成6、头部避震连杆第二螺栓孔16、顶部连杆第一螺栓孔8、顶部连杆第二螺栓孔9和尾部避震连杆17，所述连接架19和顶部连杆18通过右侧螺栓孔用螺栓连接，所述避震桶2右端通过螺栓与顶部连杆18左端连接，所述避震桶2左侧连接避震桶一阶底座11处设有避震桶一阶12和避震桶二阶13，避震桶一阶12和避震桶一阶底座11通过焊接固定，所述尾部避震连杆17和避震桶一阶底座11通过螺栓连接，所述头部避震连杆15上方设有顶部连杆18，所述头部避震连杆15通过头部避震连杆第二螺栓孔16和头部避震底座3由螺栓连接，所述头部避震底座3上方通过焊接固定安装有避震弹簧4，所述避震弹簧4顶部插接有避震弹簧顶部固定销5。
具体的，所述头部避震连杆15和头部避震底座3通过螺栓连接，而头部避震连杆为铝合金材料，而铝合金密度低，但强度比较高，接近或超过优质钢，塑性好，铝合金可以采用热处理获得良好的机械性能、物理性能和抗腐蚀性能。
具体的，所述三角橡胶履带总成6与头部避震连杆15、尾部避震连杆17通过焊接固定，而采用了三角履带是因为三角履带轮是为了更好的适应近代各种车辆对高通过性与高机动性等苛刻性能的要求，融合了轮胎与履带行走机构的优点而研发的新型行走机构。
具体的，所述头部避震连杆15、尾部避震连杆17和结构主体1均通过连接架19使用螺栓固定，并由于采用了前后独立避震，所述 头部避震连杆15和尾部避震连杆17，均可以独立工作，并能相互支撑，大大的增加了在恶劣环境下的可靠性。
具体的，所述避震桶2与避震桶一阶底座11通过焊接固定，而避震桶2由避震桶一阶12和避震桶二阶13组成，由于使用了双阶避震桶，使得机器人尾部避震行程更长避震效果更好，同时由于是双阶避震桶，所以在避震桶一阶12和避震桶二阶13中任意一阶在使用中出现故障时，另一阶均能保证正常使用不至于出现无避震的情况。
具体的，该勘探机器人用减震机构，由于采用了独立避震和三角橡胶履带总成及避震连杆和连接架使用铝合金材料使得该机器人有着良好的机械性能，和出色的避震效果，使得该勘探机器人的减震结构在恶劣条件下的使用更稳定，不宜损坏。
最后应说明的是：以上所述仅为本实用新型的优选实施例而已，并不用于限制本实用新型，尽管参照前述实施例对本实用新型进行了详细的说明，对于本领域的技术人员来说，其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换,凡在本实用新型的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本实用新型的保护范围之内。

Claims (5)

  1. 一种勘探机器人用减震机构，包括结构主体(1)、连接架(19)、避震桶(2)、避震弹簧(4)、头部避震底座(3)、头部避震连杆(15)、避震弹簧顶部固定销(5)、头部避震连杆第一螺栓孔(7)、三角橡胶履带总成(6)、头部避震连杆第二螺栓孔(16)、顶部连杆第一螺栓孔(8)、顶部连杆第二螺栓孔(9)和尾部避震连杆(17)，其特征在于：所述连接架(19)和顶部连杆(18)通过右侧螺栓孔用螺栓连接，所述避震桶(2)右端通过螺栓与顶部连杆(18)左端连接，所述避震桶(2)左侧连接避震桶一阶底座(11)处设有避震桶一阶(12)和避震桶二阶(13)，避震桶一阶(12)和避震桶一阶底座(11)通过焊接固定，所述尾部避震连杆(17)和避震桶一阶底座(11)通过螺栓连接，所述头部避震连杆(15)上方设有顶部连杆(18)，所述头部避震连杆(15)通过头部避震连杆第二螺栓孔(16)和头部避震底座(3)由螺栓连接，所述头部避震底座(3)上方通过焊接固定安装有避震弹簧(4)，所述避震弹簧(4)顶部插接有避震弹簧顶部固定销(5)。
  2. 根据权利要求1所述的一种勘探机器人用减震机构，其特征在于：所述尾部避震连杆(17)左侧开设有尾部避震连杆第一螺栓孔(10)，通过螺栓与避震桶一阶底座(11)连接，所述尾部避震连杆(17)右侧开设有避震连杆第二螺栓孔(14)，通过螺栓与连接架(19)连接。
  3. 根据权利要求1所述的一种勘探机器人用减震机构，其特征 在于：所述三角橡胶履带总成(6)与头部避震连杆(15)及尾部避震连杆(17)焊接固定。
  4. 根据权利要求1所述的一种勘探机器人用减震机构，其特征在于：所述头部避震连杆(15)左侧通过螺栓和连接架(19)连接。
  5. 根据权利要求1所述的一种勘探机器人用减震机构，其特征在于：所述避震桶(2)的避震桶一阶(12)底端与避震桶一阶底座(11)的顶端通过焊接固定。
PCT/CN2019/105560 2018-11-01 2019-09-12 一种勘探机器人用减震机构 WO2020088117A1 (zh)

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