CN108098733A - A kind of robot balanced structure being hinged - Google Patents
A kind of robot balanced structure being hinged Download PDFInfo
- Publication number
- CN108098733A CN108098733A CN201711310486.9A CN201711310486A CN108098733A CN 108098733 A CN108098733 A CN 108098733A CN 201711310486 A CN201711310486 A CN 201711310486A CN 108098733 A CN108098733 A CN 108098733A
- Authority
- CN
- China
- Prior art keywords
- wheel suspension
- hinged
- rear wheel
- connector
- fixing piece
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
- B25J19/0016—Balancing devices using springs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a kind of robot balanced structures being hinged to include front wheel suspension, rear wheel suspension and connector, the connector includes fixing piece and axis pin, pin hole is equipped in described fixing piece one end, the connector is fixedly connected by the axis pin through the pin hole with the front wheel suspension, the fixing piece other end is fixedly connected with the rear wheel suspension, and the connector is installed on the middle part of the front wheel suspension and the rear wheel suspension.Connector one end is fixed with front wheel suspension by axis pin in the present invention, and the other end is fixed with rear wheel suspension, simple in structure so as to which front wheel suspension is hinged with rear wheel suspension, mitigates the weight of robot itself；Axis pin and fixing piece clearance fit, make robot rear wheel suspension that can be rotated with opposing front wheels suspension, and there are meet the needs of vehicle body rotation while constraint.
Description
Technical field
The present invention relates to robot more particularly to a kind of robot balanced structures being hinged.
Background technology
With the fast development of robot technology, robot applications are more and more, and species is also gradually enriched.Wherein,
Wheeled robot has been successfully applied to substation inspection.Under normal conditions, robot car in by roughness pavement when, it is necessary to
Mitigate because Uneven road is to the load of chassis structure, to mitigate vehicle body energy expenditure, reduce the unnecessary inclination of vehicle body, improve vehicle
The landform adaptability and obstacle climbing ability of body.Therefore need to improve vehicle body stability in robot automobile body design, avoid machine
Holder and laser shock on people is excessively violent, ensures the clear stabilization with navigation of video stabilization of capture.This function coordinates machine
Device people's barrier avoiding function can allow robot to realize that small barrier is steady, hinder the effect kept away greatly.
At present, the method that the balanced structure of wheeled robot uses damping spring more, is required between each tire and chassis
Spring (damping spring) is installed.This method imitates the base apparatus on current automobile.
But there are following defects for existing damping spring design：
Damping spring adds the structure complexity of robot, does not meet the body lightening that robot is pursued, vehicle body
Design the design concept of simplicity.In addition, for crusing robot, the speed of travel is relatively slow, can only play damping bullet
The partial function of spring, business efficiency are poor.
The content of the invention
For overcome the deficiencies in the prior art, it is an object of the invention to provide a kind of robots being hinged to balance knot
Structure mitigates load of the ground injustice to chassis structure, reduces the unnecessary inclination of vehicle body, improves vehicle body stability.
The purpose of the present invention is realized using following technical scheme：
A kind of robot balanced structure being hinged includes front wheel suspension, rear wheel suspension and connector, the connector bag
Fixing piece and axis pin are included, pin hole is equipped in described fixing piece one end, the axis pin passes through the pin hole by the connector and institute
It states front wheel suspension to be fixedly connected, the fixing piece other end is fixedly connected with the rear wheel suspension, and the connector is installed on institute
State the middle part of front wheel suspension and the rear wheel suspension.
Further, the front wheel suspension is hinged with two front-wheels, and the rear wheel suspension is hinged with two trailing wheels, and the front-wheel hangs
Frame is separated with the rear wheel suspension.
Further, the robot balanced structure being hinged further includes buffering casting die, and the buffering casting die includes pressure
Plate and spring, described pressing plate one end are fixedly connected with the rear wheel suspension, and the side of the other end is abutted with the spring, the bullet
The spring other end is abutted with the front wheel suspension.
Further, described pressing plate one end is fixedly connected with the rear wheel suspension screw, and the other end is equipped with groove, before described
Take turns suspension be equipped with blind hole, the groove is opposite with the blind hole, and the spring one end is abutted with the groove slot bottom, the other end and
The blind via bottom abuts.
Further, the buffering casting die is symmetrically arranged on the connector both sides.
Further, the spring is die springs.
Further, the connector further includes clamp spring and limiter, and the clamp spring is connected in the fixing piece away from institute
One end of pin hole is stated, the limiter is fixedly connected with the fixing piece, and is symmetrically distributed in the fixing piece both sides.
Further, the fixing piece one side is equipped with boss, and card slot is equipped at the rear wheel suspension central axis, described convex
Platform is contained in the card slot.
Further, the fixing piece both sides are equipped with several screw holes, and screw passes through the screw hole by the connector and institute
Rear wheel suspension is stated to be fixedly connected.
Further, the connector, the front wheel suspension and the rear wheel suspension are symmetrical structure.
Compared with prior art, the beneficial effects of the present invention are：Connector one end is fixed with front wheel suspension by axis pin, separately
One end is fixed with rear wheel suspension, simple in structure so as to which front wheel suspension is hinged with rear wheel suspension, mitigates robot itself
Weight；Axis pin and fixing piece clearance fit, make robot rear wheel suspension that can be rotated with opposing front wheels suspension, there are the same of constraint
When meet vehicle body rotation the needs of.
Description of the drawings
Fig. 1 is a three-dimensional structure diagram of the robot balanced structure that the present invention one is hinged；
Fig. 2 is enlarged drawing of the robot balanced structure being hinged shown in Fig. 1 at A；
Fig. 3 is a stereogram of connector shown in Fig. 1.
In figure：10th, front wheel suspension；11st, blind hole；20th, rear wheel suspension；21st, card slot；30th, casting die is buffered；31st, spring；32、
Pressing plate；40th, connector；42nd, fixing piece；421st, screw hole；422nd, boss；423rd, pin hole；43rd, clamp spring；45th, limiter.
Specific embodiment
In the following, with reference to attached drawing and specific embodiment, the present invention is described further, it is necessary to which explanation is, not
Under the premise of conflicting, new implementation can be formed between various embodiments described below or between each technical characteristic in any combination
Example.
As shown in Figs. 1-3, a kind of robot balanced structure being hinged, including front wheel suspension 10, rear wheel suspension 20, buffering
Casting die 30 and connector 40.
Front wheel suspension 10 is equipped with two blind holes 11 in the middle part of one end away from front-wheel, and two blind holes 11 are on 10 central shaft of front wheel suspension
Line is symmetrical.
Rear wheel suspension 20 is equipped with a card slot 21 along central axis.
Buffering casting die 30 includes spring 31 and pressing plate 32.Spring 31 is the larger die springs of rigidity, 32 both ends of pressing plate position
In two different planes, match somebody with somebody with spring 31 and close cushioning effect.When robot, which is run into, jolts road conditions, robot can be realized
The flexible variety of vehicle body and automatically reseting for level road.
Connector 40 includes fixing piece 42, clamp spring 43, axis pin (not shown) and limiter 45.42 both sides of fixing piece are symmetrically set
There is screw hole 421,42 one side of fixing piece is equipped with boss 422.Clamp spring 43 is mounted on 42 one end of fixing piece, and 42 other end of fixing piece is equipped with
Pin hole 423.Pin hole 423 is arc-shaped square hole in both ends.There are two limiters 45, is symmetrically distributed in axis pin both sides.
During assembling, the pivot joint of 10 and two front-wheel of front wheel suspension, the pivot joint of 20 and two trailing wheel of rear wheel suspension.Front wheel suspension 10 and trailing wheel
Suspension 20 separates, and it is hinged to pass through connector 40.Screw, which fixes 40 one end of connector through the screw hole 421 on fixing piece 42, pacifies
Loaded on rear wheel suspension 20, at 42 other end of fixing piece, axis pin makes fixing piece 42 fix with front wheel suspension 10 to connect through pin hole 423
It connects.Boss 422 is connected in the card slot 21 on rear wheel suspension 20.32 one end of pressing plate is fixedly connected with rear wheel suspension 20 by screw,
The other end is equipped with groove.31 one end of spring is contained in blind hole 11, and is abutted with 11 bottom of blind hole, and the other end is contained in groove, with
Bottom portion of groove abuts.
In the present invention, 40 one end of connector is fixed with front wheel suspension 10 by axis pin, and the other end passes through with rear wheel suspension 20
Screw is fixed, so as to which front wheel suspension 10 and rear wheel suspension 20 is hinged.Axis pin is matched somebody with somebody with 42 gap of fixing piece in the present invention
It closes, under clamp spring 43, axis pin, 422 collective effect of boss, effectively rear wheel suspension 20 is prevented to slide back and forth.Since connector 40 is pacified
Centre position loaded on front wheel suspension 10, rear wheel suspension 20 so that rear wheel suspension 20 can freely turn in the range of certain angle
It is dynamic.Limiter 45 is symmetrically distributed in 42 both sides of fixing piece, to limit the slewing area of rear wheel suspension 20.In 40 both sides of connector
Also installation one buffers casting die 30 respectively, and the flexible variety of vehicle body is realized by the cooperation for buffering spring 31 and pressing plate 32 in casting die 30
With automatically reset.
The balanced structure is simple in structure, can be used for the chassis structure of the robots such as wheeled robot, crusing robot, energy
Effectively mitigate the weight of robot itself.It can turn using between the front wheel suspension 10 of balanced structure connection, rear wheel suspension 20
It is dynamic, there are certain degree of freedom, and with auto-reset function, effectively improve the ability of robot itself leaping over obstacles and fit
Answer the ability of complicated landform.
The above embodiment is only the preferred embodiment of the present invention, it is impossible to the scope of protection of the invention is limited with this,
The variation and replacement for any unsubstantiality that those skilled in the art is done on the basis of the present invention belong to institute of the present invention
Claimed scope.
Claims (10)
1. a kind of robot balanced structure being hinged, it is characterised in that：Before the robot balanced structure being hinged includes
Suspension, rear wheel suspension and connector are taken turns, the connector includes fixing piece and axis pin, and pin hole is equipped in described fixing piece one end,
The connector is fixedly connected by the axis pin through the pin hole with the front wheel suspension, the fixing piece other end with it is described
Rear wheel suspension is fixedly connected, and the connector is installed on the middle part of the front wheel suspension and the rear wheel suspension.
2. the robot balanced structure being hinged as described in claim 1, it is characterised in that：The front wheel suspension and two front-wheels are cut with scissors
It connects, the rear wheel suspension is hinged with two trailing wheels, and the front wheel suspension is separated with the rear wheel suspension.
3. the robot balanced structure being hinged as described in claim 1, it is characterised in that：The robot balance being hinged
Structure further includes buffering casting die, and the buffering casting die includes pressing plate and spring, and described pressing plate one end is fixed with the rear wheel suspension
Connection, the side of the other end are abutted with the spring, and the spring other end is abutted with the front wheel suspension.
4. the robot balanced structure being hinged as claimed in claim 3, it is characterised in that：Described pressing plate one end and the trailing wheel
Suspension screw is fixedly connected, and the other end is equipped with groove, and the front wheel suspension is equipped with blind hole, and the groove is opposite with the blind hole,
The spring one end is abutted with the groove slot bottom, and the other end is abutted with the blind via bottom.
5. the robot balanced structure being hinged as described in claim 3 or 4, it is characterised in that：The buffering casting die is symmetrically pacified
Loaded on the connector both sides.
6. the robot balanced structure being hinged as claimed in claim 3, it is characterised in that：The spring is die springs.
7. the robot balanced structure being hinged as described in claim 1, it is characterised in that：The connector further include clamp spring with
Limiter, the clamp spring are connected in the one end of the fixing piece away from the pin hole, and the limiter is fixed with the fixing piece
Connection, and it is symmetrically distributed in the fixing piece both sides.
8. the robot balanced structure being hinged as described in claim 1, it is characterised in that：The fixing piece one side is equipped with convex
Platform, card slot is equipped at the rear wheel suspension central axis, and the boss is contained in the card slot.
9. the robot balanced structure being hinged as described in claim 1, it is characterised in that：The fixing piece both sides are equipped with several
The connector is fixedly connected by screw hole, screw through the screw hole with the rear wheel suspension.
10. the robot balanced structure being hinged as described in claim 1, it is characterised in that：The connector, the front-wheel hang
Frame and the rear wheel suspension are symmetrical structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711310486.9A CN108098733A (en) | 2017-12-11 | 2017-12-11 | A kind of robot balanced structure being hinged |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711310486.9A CN108098733A (en) | 2017-12-11 | 2017-12-11 | A kind of robot balanced structure being hinged |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108098733A true CN108098733A (en) | 2018-06-01 |
Family
ID=62209348
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711310486.9A Pending CN108098733A (en) | 2017-12-11 | 2017-12-11 | A kind of robot balanced structure being hinged |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108098733A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114227711A (en) * | 2021-12-24 | 2022-03-25 | 杭州申昊科技股份有限公司 | Underground power grid inspection robot |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201105615Y (en) * | 2007-12-04 | 2008-08-27 | 中国石油集团东方地球物理勘探有限责任公司 | Light carrying chassis hinge joint |
| CN201446983U (en) * | 2009-05-20 | 2010-05-05 | 朱红蔚 | Hinging type field operation vehicle chassis |
| CN203051590U (en) * | 2013-01-21 | 2013-07-10 | 中国重汽集团济南动力有限公司 | Shock-absorbing support assembly |
| CN103241303A (en) * | 2013-05-13 | 2013-08-14 | 东南大学 | Wheel leg type mobile robot with flexible trunk |
| CN103786537A (en) * | 2012-12-17 | 2014-05-14 | 青岛鲁达工程机械制造有限公司 | Novel front and rear frame hinged structure for loaders |
| CN104563189A (en) * | 2015-01-07 | 2015-04-29 | 王金科 | Novel front-rear-rack hinge-connecting device for loading machine |
| CN205365742U (en) * | 2016-01-28 | 2016-07-06 | 东风汽车股份有限公司 | Light front suspension front support |
| CN106427454A (en) * | 2016-11-07 | 2017-02-22 | 中国农业大学 | Self-adaptive leveling chassis |
| CN207771807U (en) * | 2017-12-11 | 2018-08-28 | 浙江捷尚人工智能研究发展有限公司 | A kind of robot balanced structure being hinged |
| CN112549877A (en) * | 2020-12-04 | 2021-03-26 | 中车南京浦镇车辆有限公司 | Trailer traction device, trailer bogie and rubber wheel train |
-
2017
- 2017-12-11 CN CN201711310486.9A patent/CN108098733A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201105615Y (en) * | 2007-12-04 | 2008-08-27 | 中国石油集团东方地球物理勘探有限责任公司 | Light carrying chassis hinge joint |
| CN201446983U (en) * | 2009-05-20 | 2010-05-05 | 朱红蔚 | Hinging type field operation vehicle chassis |
| CN103786537A (en) * | 2012-12-17 | 2014-05-14 | 青岛鲁达工程机械制造有限公司 | Novel front and rear frame hinged structure for loaders |
| CN203051590U (en) * | 2013-01-21 | 2013-07-10 | 中国重汽集团济南动力有限公司 | Shock-absorbing support assembly |
| CN103241303A (en) * | 2013-05-13 | 2013-08-14 | 东南大学 | Wheel leg type mobile robot with flexible trunk |
| CN104563189A (en) * | 2015-01-07 | 2015-04-29 | 王金科 | Novel front-rear-rack hinge-connecting device for loading machine |
| CN205365742U (en) * | 2016-01-28 | 2016-07-06 | 东风汽车股份有限公司 | Light front suspension front support |
| CN106427454A (en) * | 2016-11-07 | 2017-02-22 | 中国农业大学 | Self-adaptive leveling chassis |
| CN207771807U (en) * | 2017-12-11 | 2018-08-28 | 浙江捷尚人工智能研究发展有限公司 | A kind of robot balanced structure being hinged |
| CN112549877A (en) * | 2020-12-04 | 2021-03-26 | 中车南京浦镇车辆有限公司 | Trailer traction device, trailer bogie and rubber wheel train |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114227711A (en) * | 2021-12-24 | 2022-03-25 | 杭州申昊科技股份有限公司 | Underground power grid inspection robot |
| CN114227711B (en) * | 2021-12-24 | 2024-06-07 | 杭州申昊科技股份有限公司 | Underground power grid inspection robot |
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