CN109050163A - A kind of wheel with cushioning effect that robot uses - Google Patents
A kind of wheel with cushioning effect that robot uses Download PDFInfo
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- CN109050163A CN109050163A CN201810994857.8A CN201810994857A CN109050163A CN 109050163 A CN109050163 A CN 109050163A CN 201810994857 A CN201810994857 A CN 201810994857A CN 109050163 A CN109050163 A CN 109050163A
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- China
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- mounting
- arc
- wheel
- mounting shell
- vibration damper
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B33/00—Castors in general; Anti-clogging castors
- B60B33/04—Castors in general; Anti-clogging castors adjustable, e.g. in height; linearly shifting castors
- B60B33/045—Castors in general; Anti-clogging castors adjustable, e.g. in height; linearly shifting castors mounted resiliently, by means of dampers
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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Vibration Prevention Devices (AREA)
Abstract
The invention belongs to wheels of robot technical fields, more particularly to a kind of wheel with cushioning effect that robot uses, it includes drive shaft, wheel mounting shell, drive rod, the first vibration damper plate, the second vibration damper plate, when being designed wheels of robot using the present invention, damping spring is adjusted by road surface before reusing；After the completion of adjusting, control robot output shaft rotation, robot output shaft just will drive drive shaft turns；Drive shaft turns drive mounting shell rotation；Mounting shell rotation drives mounting structure and mounting cylinder rotation；Mounting structure rotation just will drive three the first vibration damper plate band motor car wheel mounting shells by three the second vibration damper plates and three the second vibration damper plate rotations and rotate；The rotation of wheel mounting shell drives the rubber wheel rotation being mounted on its periphery；That is robot ambulation；When again during robot ambulation with bar contact, robot shock-absorbing function is reached by the dual shock absorption of leaf spring and damping spring.
Description
Technical field
The invention belongs to the wheels with cushioning effect that wheels of robot technical field more particularly to a kind of robot use
Son.
Background technique
Robot is more multi-functional in order to realize in the design process at present so that robot it is intrinsic structure it is very complicated；Such as
The damping of robot is added in the control platform of robot by fruit again；The structure of robot will be made to seem more
It is complicated；But if damping is integrated on wheel, on the one hand reduce robot controlling platform structure complexity；It is another
Aspect damping is integrated on wheel can make damping replacement get up it is more convenient.
The present invention design a kind of wheel with cushioning effect that robot uses solve the problems, such as it is as above.
Summary of the invention
To solve drawbacks described above in the prior art, the present invention discloses a kind of wheel with cushioning effect that robot uses
Son, it adopts the following technical solutions to realize.
A kind of wheel with cushioning effect that robot uses, it is characterised in that: it includes drive shaft, wheel installation
Shell, the first vibration damper plate, the second vibration damper plate, adjusts motor, triggering circular cone, arc mounting groove, axis hole, motor installation at drive rod
Hole, mounting shell, leaf spring, fixed ring, mounting cylinder, Telescopic Fixed axis, screwed ring, damping spring, limit plate, is stretched mounting structure
Transmission shaft, threaded disk, guide groove, return spring, arc triggering block, support pin, guide block, fixed link, rectangular mounting groove, arc
Guide groove, fixed plate, it is wherein circumferential on the inner headed face of wheel mounting shell equably to open that there are three arc mounting grooves；Wheel mounting shell
One end is provided with and inside phase through axial bore；The other end of wheel mounting shell is provided with the motor installing hole communicated with inside；Wheel installation
There is rubber wheel on the periphery of shell；One end of drive shaft is mounted on wheel mounting shell by the axis hole on wheel mounting shell；
Drive shaft is mounted on robot bottom plate by support frame, and the output axis connection with robot.
Mounting structure is made of connection plectane and arc link block；Two connection plectanes are uniformly distributed by three circumferential directions
Arc link block connection；It is led there are three circumferentially equably being opened on the side of one of connection plectane in two connection plectanes
Slot；Three guide grooves cooperate with three arc link blocks respectively；One end of mounting cylinder is open end；The other end of mounting cylinder is provided with one
A round hole；Mounting cylinder is mounted on one end of mounting structure, and the periphery nesting of mounting cylinder open end is mounted on mounting structure
It is not provided on the inner headed face of a connection plectane of guide groove in upper two connections plectane；One end of mounting shell is open end；Installation
Shell is mounted on the other end of mounting structure, and the periphery nesting of mounting shell open end is mounted on two connection circles on mounting structure
It is provided in plate on the inner headed face of a connection plectane of guide groove；The not opening one end installation of mounting shell on the driving shaft, and is installed
Shell, mounting structure and mounting cylinder are respectively positioned on the inside of wheel mounting shell；The not opening one end of mounting cylinder is fixedly mounted by fixed ring
On the medial surface of wheel mounting shell.
Motor is adjusted to be mounted on wheel mounting shell by the motor installing hole opened on wheel mounting shell；Flexible transmission shaft
One end be mounted on adjust motor output shaft on；Flexible transmission shaft is located at the inside of fixed ring, and flexible transmission shaft is another
The round hole opened on mounting cylinder is held to be located on the inside of mounting cylinder；There is internal screw thread on the inner headed face of screwed ring；Screwed ring peace
On the side end face that mounting cylinder is provided with round hole；There is external screw thread on the periphery of threaded disk；One end of threaded disk
It is mounted on flexible transmission shaft；The internal screw thread on external screw thread and screwed ring on threaded disk is threadedly engaged；Trigger circular cone
Big end is equipped with Telescopic Fixed axis；Triggering circular cone is fixedly mounted on the other end of threaded disk by Telescopic Fixed axis；Screw thread
Damping spring is installed between disk and the large end face for triggering circular cone；Limit plate is mounted on the small end of triggering circular cone.
One end of fixed link is equipped with guide block；Three fixed links pass through respectively on guide block and mounting structure mounted thereto
Three guide grooves opened are fitted on the inside of mounting structure；Three support pins are fixedly mounted in three fixed links；Arc
There is arc guide barrel on the side of shape triggering block；Rectangular mounting groove is provided on the extrados of arc triggering block；Arc triggering block
Both ends are separately installed with a fixed plate；Three arc triggering blocks pass through the arc guide barrel opened thereon and three supporting pins respectively
Nail be fitted in three support pins, and three arc triggering blocks be circumferentially evenly distributed in mounting shell, mounting cylinder and
In the space of mounting structure composition, three arc triggering blocks are successively interspersed on the axial direction of mounting cylinder；Three arcs
The fixed plate that two adjacent arcs go out that triggering block is installed by its both ends in triggering block is equipped with a return spring；Return
The both ends of spring are separately mounted to two fixed plates adjacent in the fixed plate installed in corresponding two arc triggering blocks
On side；Three arc triggering blocks and triggering circular cone cooperation.
One end of three drive rods respectively between three rectangular mounting grooves being opened in three arc triggering blocks by turning
Dynamic secondary mating connection；One end of three the second vibration damper plates passes through two that revolute pair is circumferentially uniformly mounted on mounting structure respectively
Between a connection plectane；Three the second vibration damper plates are connect with three drive rods respectively；One end of three the first vibration damper plates leads to respectively
Revolute pair is crossed to be mounted in the three arc mounting grooves opened on wheel mounting shell；The other end of three the first vibration damper plates leads to respectively
Revolute pair is crossed to connect with the other end of three the second vibration damper plates；Pacify respectively between three the first vibration damper plates and three the second vibration damper plates
Equipped with a leaf spring.
Above-mentioned damping spring passes through being coupled on threaded disk of annular guide block and annular guide channel.
It is above-mentioned in the initial state, limit plate is contacted with the side of the not opening one end of mounting shell.
As the further improvement of this technology, the arc with triggering circular cone cooperation is all had in above three arc triggering block
Shape face.
As the further improvement of this technology, above-mentioned damping spring is compressed spring.
As the further improvement of this technology, above-mentioned return spring is extension spring.
As the further improvement of this technology, the above-mentioned alternative for being three as arc triggering block is four.
One end of drive shaft is mounted on wheel mounting shell by the axis hole on wheel mounting shell in the present invention；Drive shaft is logical
It crosses support frame to be mounted on robot bottom plate, and the output axis connection with robot；The not opening one end of mounting shell is mounted on drive
On moving axis；The not opening one end of mounting cylinder is fixedly mounted on the medial surface of wheel mounting shell by fixed ring；It is logical to adjust motor
The motor installing hole opened on wheel mounting shell is crossed to be mounted on wheel mounting shell；One end of flexible transmission shaft is mounted on adjusting electricity
On the output shaft of machine；Screwed ring is mounted on mounting cylinder and is provided on a side end face of round hole；One end of threaded disk, which is mounted on, stretches
On contracting transmission shaft；The internal screw thread on external screw thread and screwed ring on threaded disk is threadedly engaged；Trigger the big end installation of circular cone
There is Telescopic Fixed axis；Triggering circular cone is fixedly mounted on the other end of threaded disk by Telescopic Fixed axis；Threaded disk and touching
It sends out and damping spring is installed between the large end face of circular cone；Limit plate is mounted on the small end of triggering circular cone；Three fixed links point
Three guide grooves opened on guide block and mounting structure that Tong Guo be not mounted thereto are fitted on the inside of mounting structure；Three
Support pin is fixedly mounted in three fixed links；Three arc triggering blocks pass through the arc guide barrel opened thereon and three respectively
Support pin is fitted in three support pins, and three arc triggering blocks are successively handed on the axial direction of mounting cylinder
Mistake distribution；The fixed plate that two adjacent arcs go out that triggering block is installed by its both ends in three arc triggering blocks is equipped with one
A return spring；Three arc triggering blocks and triggering circular cone cooperation；It is triggered respectively with three arcs one end of three drive rods
It is cooperatively connected between the three rectangular mounting grooves opened on block by revolute pair；One end of three the second vibration damper plates passes through respectively to be turned
Dynamic pair is circumferential to be uniformly mounted between two connection plectanes on mounting structure；Three the second vibration damper plates drive with three respectively
Bar connection；One end of three the first vibration damper plates passes through revolute pair respectively and is mounted on the three arcs installation opened on wheel mounting shell
In slot；The other end of three the first vibration damper plates passes through revolute pair respectively and connect with the other end of three the second vibration damper plates；Three
A leaf spring is separately installed between one vibration damper plate and three the second vibration damper plates；In the initial state, limit plate and mounting shell be not
The side of open at one end contacts.In normal driving process, when the rotation of robot output shaft, robot output shaft just be will drive
Drive shaft turns；Drive shaft turns drive mounting shell rotation；Mounting shell rotation drives mounting structure and mounting cylinder rotation；Installation knot
Structure rotation drives three the second vibration damper plates mounted thereto to rotate around the axis of mounting cylinder；Under the action of three leaf springs,
Three the second vibration damper plate rotations just will drive three the first vibration damper plate rotations；Three the first vibration damper plate rotation band motor car wheel mounting shells
Rotation；The rotation of wheel mounting shell drives the rubber wheel rotation being mounted on its periphery；I.e. robot realizes walking function.
In the present invention during robot ambulation, wheel mounting shell during rotation with bar contact when, obstacle
Object will squeeze wheel mounting shell；Wheel mounting shell will squeeze corresponding first vibration damper plate；First vibration damper plate will squeeze pair
The second vibration damper plate answered；The first vibration damper plate and the second vibration damper plate will compress corresponding leaf spring simultaneously；One is played by leaf spring
Fixed buffer function；When the second vibration damper plate is extruded, the second vibration damper plate will squeeze corresponding drive rod and make drive rod court
The medial movement of mounting structure；Drive rod movement will squeeze corresponding arc triggering block and make arc triggering block towards installation
There is the side of triggering circular cone mobile；The movement of arc triggering block will pull other two arc to touch by corresponding support pin
Hair block is mobile towards the side for being equipped with triggering circular cone；On the one hand three arc triggering blocks are mobile will to stretch three return bullets
Spring；So that three return springs are in tensional state；On the other hand three arc triggering block movements will squeeze triggering circular cone
So that triggering circular cone is mobile towards the side for being equipped with damping spring；Triggering circular cone movement will compression shock absorption spring；It is logical
Damping spring is crossed to play certain buffer function；When robot breaks the barriers, three under the action of three return springs
A arc triggering block is restored on original position；I.e. corresponding drive rod, the first vibration damper plate and the second vibration damper plate are restored to original
On the position come；Triggering circular cone is restored on original position under the action of corresponding damping spring.
Motor work is adjusted by driving in the present invention；Adjusting motor work can be stretched by adjusting the output shaft drive of motor
The rotation of contracting transmission shaft；Flexible rotation axis rotation drives threaded disk rotation；Round hole is provided with since screwed ring is mounted on mounting cylinder
A side end face on；The internal screw thread on external screw thread and screwed ring on threaded disk is threadedly engaged；So threaded disk rotation
It can move simultaneously；Threaded disk movement just will push damping spring and damping spring compressed；So that the bullet of damping spring
Power is reinforced；That is triggering circular cone pushes the resistance of damping spring to become larger；I.e. the damping effect of robot becomes strong；What the present invention designed
The effect of flexible transmission shaft is on the one hand threaded disk can be driven to rotate by flexible transmission shaft；Another aspect threaded disk
It can prevent from adjusting the separated transmission of motor and threaded disk by the transmission shaft that stretches in moving process；Damping in the present invention
Spring passes through being coupled on threaded disk of annular guide block and annular guide channel, and effect is to prevent threaded disk in rotation process
Middle influence damping spring.
There is in three arc triggering blocks the arcwall face with triggering circular cone cooperation in the present invention；Its effect is so that three
Arc triggering block can preferably push triggering circular cone.The present invention devises three arc triggering blocks, and passes through support pin
Connection, effect are the contact surfaces for increasing arc triggering block during the work time with triggering circular cone.Initial shape in the present invention
Under state, limit plate is contacted with the side of the not opening one end of mounting shell；Its effect is to prevent three arc triggering blocks and triggering taper
Block is detached from.
Relative to traditional wheels of robot technology, the wheel structure that the robot that the present invention designs uses is simple, replacement
It is convenient；The damping of robot is installed on wheel；So that the structure can be simplified for robot；And the wheel passes through leaf spring
Reach preferable damping effect with the dual shock absorption of damping spring.
Detailed description of the invention
Fig. 1 is global facility distribution schematic diagram.
Fig. 2 is global facility distribution plane schematic diagram.
Fig. 3 is drive shaft scheme of installation.
Fig. 4 is wheel mounting shell structural schematic diagram.
Fig. 5 is the first vibration damper plate distribution schematic diagram.
Fig. 6 is the first vibration damper plate scheme of installation.
Fig. 7 is triggering circular cone scheme of installation.
Fig. 8 is damping spring scheme of installation.
Fig. 9 is mounting structure scheme of installation.
Figure 10 is mounting shell scheme of installation.
Figure 11 is mounting cylinder structural schematic diagram.
Figure 12 is mounting shell structural schematic diagram.
Figure 13 is mounting structure structural schematic diagram.
Figure 14 is arc triggering block distribution schematic diagram.
Figure 15 is support pin scheme of installation.
Figure 16 is return spring scheme of installation.
Figure 17 is drive rod scheme of installation.
Figure 18 is arc triggering block and triggering circular cone cooperation schematic diagram.
Figure 19 is arc triggering block structural schematic diagram.
Figure label title: 1, drive shaft；2, wheel mounting shell；3, drive rod；4, the first vibration damper plate；5, the second damping
Plate；6, motor is adjusted；7, circular cone is triggered；8, arc mounting groove；9, axis hole；10, motor installing hole；11, mounting structure；12,
Mounting shell；13, leaf spring；14, fixed ring；15, mounting cylinder；16, Telescopic Fixed axis；17, screwed ring；18, damping spring；19, it limits
Position plate；20, stretch transmission shaft；21, threaded disk；22, plectane is connected；23, guide groove；24, arc link block；25, return spring；
26, arc triggering block；27, support pin；28, guide block；29, fixed link；30, rectangular mounting groove；31, arc guide barrel；32, fixed
Plate.
Specific embodiment
As shown in Figure 1, 2, 3, it includes drive shaft 1, wheel mounting shell 2, drive rod 3, the first vibration damper plate 4, the second damping
Plate 5, adjust motor 6, triggering circular cone 7, arc mounting groove 8, axis hole 9, motor installing hole 10, mounting structure 11, mounting shell 12,
Leaf spring 13, fixed ring 14, mounting cylinder 15, Telescopic Fixed axis 16, screwed ring 17, damping spring 18, limit plate 19, flexible transmission shaft
20, threaded disk 21, guide groove 23, return spring 25, arc triggering block 26, support pin 27, guide block 28, fixed link 29, rectangular
Mounting groove 30, arc guide barrel 31, fixed plate 32, wherein as shown in figure 4, circumferential on the inner headed face of wheel mounting shell 2 equably open
There are three arc mounting grooves 8；One end of wheel mounting shell 2 is provided with and inside phase through axial bore 9；The other end of wheel mounting shell 2 is opened
There is the motor installing hole 10 communicated with inside；There is rubber wheel on the periphery of wheel mounting shell 2；As shown in figure 3, drive shaft 1
One end be mounted on wheel mounting shell 2 by the axis hole 9 on wheel mounting shell 2；Drive shaft 1 is mounted on machine by support frame
On people's bottom plate, and the output axis connection with robot.
As shown in figure 13, mounting structure 11 is made of connection plectane 22 and arc link block 24；Two connection plectanes 22
It is connected by the equally distributed arc link block 24 of three circumferential directions；The side of one of connection plectane 22 in two connection plectanes 22
Guide groove 23 there are three circumferentially equably being opened on face；Three guide grooves 23 cooperate with three arc link blocks 24 respectively；As shown in figure 11,
One end of mounting cylinder 15 is open end；The other end of mounting cylinder 15 is provided with a round hole；As shown in Figure 10, mounting cylinder 15 is installed
Periphery nesting in one end of mounting structure 11, and 15 open end of mounting cylinder is mounted on two connection plectanes on mounting structure 11
It is not provided in 22 on the inner headed face of a connection plectane 22 of guide groove 23；As shown in figure 12, one end of mounting shell 12 is open end；
As shown in figure 9, mounting shell 12 is mounted on the other end of mounting structure 11, and the periphery nesting of 12 open end of mounting shell is mounted on
It is provided on the inner headed face of a connection plectane 22 of guide groove 23 in two connection plectanes 22 on mounting structure 11；As shown in figure 3, peace
The not opening one end of dress shell 12 is mounted in drive shaft 1, and mounting shell 12, mounting structure 11 and mounting cylinder 15 are respectively positioned on wheel peace
Fill 2 inside of shell；The not opening one end of mounting cylinder 15 is fixedly mounted on the medial surface of wheel mounting shell 2 by fixed ring 14.
Wheel installation is mounted on by the motor installing hole 10 opened on wheel mounting shell 2 as shown in figure 3, adjusting motor 6
On shell 2；As shown in fig. 7, one end of flexible transmission shaft 20 is mounted on the output shaft for adjusting motor 6；Flexible transmission shaft 20 is located at
The inside of fixed ring 14, and the other end of flexible transmission shaft 20 passes through the round hole opened on mounting cylinder 15 and is located in mounting cylinder 15
Side；As shown in figure 8, having internal screw thread on the inner headed face of screwed ring 17；Screwed ring 17 is mounted on mounting cylinder 15 and is provided with round hole
On one side end face；There is external screw thread on the periphery of threaded disk 21；One end of threaded disk 21 is mounted on flexible transmission shaft 20
On；External screw thread on threaded disk 21 is threadedly engaged with the internal screw thread in screwed ring 17；The big end of triggering circular cone 7, which is equipped with, stretches
Contracting fixing axle 16；Triggering circular cone 7 is fixedly mounted on the other end of threaded disk 21 by Telescopic Fixed axis 16；Threaded disk 21
Damping spring 18 is installed between the large end face of triggering circular cone 7；Limit plate 19 is mounted on the small end of triggering circular cone 7.
As shown in figure 15, one end of fixed link 29 is equipped with guide block 28；Three fixed links 29 are respectively by mounted thereto
Guide block 28 and mounting structure 11 on three guide grooves 23 being opened be fitted to the inside of mounting structure 11；Three support pins
27 are fixedly mounted in three fixed links 29；As shown in figure 19, there is arc guide barrel 31 on the side of arc triggering block 26；Arc
Rectangular mounting groove 30 is provided on the extrados of triggering block 26；The both ends of arc triggering block 26 are separately installed with a fixed plate 32；
As shown in figure 14, three arc triggering blocks 26 pass through the cooperation of the arc guide barrel 31 opened thereon and three support pins 27 respectively
Be mounted in three support pins 27, as shown in figure 16, and three arc triggering blocks 26 it is circumferential be evenly distributed in mounting shell 12,
In the space that mounting cylinder 15 and mounting structure 11 form, as shown in figure 17, axial direction of three arc triggering blocks 26 in mounting cylinder 15
It is successively interspersed on direction；As shown in figure 18, two arcs adjacent in three arc triggering blocks 26 go out triggering block and pass through it
The fixed plate 32 that both ends are installed is equipped with a return spring 25；The both ends of return spring 25 are separately mounted to corresponding two
In the fixed plate 32 installed in arc triggering block 26 on the side of two adjacent fixed plates 32；Three arc triggering blocks 26 with
Circular cone 7 is triggered to cooperate.
As shown in figure 17, one end of three drive rods 3 respectively with three rectangular peaces being opened in three arc triggering blocks 26
It is cooperatively connected between tankage 30 by revolute pair；As shown in Fig. 2, one end of three the second vibration damper plates 5 passes through revolute pair week respectively
To between two connection plectanes 22 being uniformly mounted on mounting structure 11；As shown in fig. 6, three the second vibration damper plate 5 difference
It is connect with three drive rods 3；One end of three the first vibration damper plates 4, which passes through revolute pair respectively and is mounted on wheel mounting shell 2, is opened
Three arc mounting grooves 8 in；The other end of three the first vibration damper plates 4 passes through revolute pair and three the second vibration damper plates 5 respectively
Other end connection；As shown in figure 5, being separately installed with a leaf spring between three the first vibration damper plates 4 and three the second vibration damper plates 5
13。
Above-mentioned damping spring 18 passes through being coupled on threaded disk 21 of annular guide block 28 and annular guide channel 23.
It is above-mentioned in the initial state, limit plate 19 is contacted with the side of the not opening one end of mounting shell 12.
The arcwall face cooperated with triggering circular cone 7 is all had in above three arc triggering block 26.
Above-mentioned damping spring 18 is compressed spring.
Above-mentioned return spring 25 is extension spring.
The above-mentioned alternative for being three as arc triggering block 26 is four.
In summary:
The wheel structure that the robot that the present invention designs uses is simple, and replacement is convenient；The damping of robot is installed
Onto wheel；So that the structure can be simplified for robot；And the wheel is reached by the dual shock absorption of leaf spring 13 and damping spring 18
To preferable damping effect.
One end of drive shaft 1 is mounted on wheel mounting shell 2 by the axis hole 9 on wheel mounting shell 2 in the present invention；Driving
Axis 1 is mounted on robot bottom plate by support frame, and the output axis connection with robot；The not opening one end peace of mounting shell 12
In drive shaft 1；The not opening one end of mounting cylinder 15 is fixedly mounted on the medial surface of wheel mounting shell 2 by fixed ring 14
On；Motor 6 is adjusted to be mounted on wheel mounting shell 2 by the motor installing hole 10 opened on wheel mounting shell 2；Flexible transmission shaft
20 one end is mounted on the output shaft for adjusting motor 6；Screwed ring 17 is mounted on the side end face that mounting cylinder 15 is provided with round hole
On；One end of threaded disk 21 is mounted on flexible transmission shaft 20；External screw thread on threaded disk 21 with it is interior in screwed ring 17
Screw thread cooperation；The big end of triggering circular cone 7 is equipped with Telescopic Fixed axis 16；It triggers circular cone 7 and passes through Telescopic Fixed axis 16
It is fixedly mounted on the other end of threaded disk 21；Damping bullet is installed between threaded disk 21 and the large end face for triggering circular cone 7
Spring 18；Limit plate 19 is mounted on the small end of triggering circular cone 7；Three fixed links 29 respectively by guide block 28 mounted thereto with
Three guide grooves 23 opened on mounting structure 11 are fitted to 11 inside of mounting structure；Three support pins 27 are fixedly mounted
In three fixed links 29；Three arc triggering blocks 26 pass through the arc guide barrel 31 opened thereon and three support pins 27 respectively
Be fitted in three support pins 27, and three arc triggering blocks 26 are successively interlocked on the axial direction of mounting cylinder 15
Distribution；Two adjacent arcs go out triggering block and are equipped with by the fixed plate 32 that its both ends is installed in three arc triggering blocks 26
One return spring 25；Three arc triggering blocks 26 and triggering circular cone 7 cooperate；One end of three drive rods 3 respectively with three
It is cooperatively connected between the rectangular mounting groove 30 of three opened in arc triggering block 26 by revolute pair；Three the second vibration damper plates 5
One end passes through respectively between two connection plectanes 22 that revolute pair is circumferentially uniformly mounted on mounting structure 11；Three second subtract
Shake plate 5 is connect with three drive rods 3 respectively；One end of three the first vibration damper plates 4 passes through revolute pair respectively and is mounted on wheel installation
In the three arc mounting grooves 8 opened on shell 2；The other end of three the first vibration damper plates 4 passes through revolute pair and three second respectively
The other end of vibration damper plate 5 connects；A leaf spring 13 is separately installed between three the first vibration damper plates 4 and three the second vibration damper plates 5；
In the initial state, limit plate 19 is contacted with the side of the not opening one end of mounting shell 12.In normal driving process, work as robot
When output shaft rotates, robot output shaft just will drive the rotation of drive shaft 1；The rotation of drive shaft 1 drives mounting shell 12 to rotate；Installation
The rotation of shell 12 drives mounting structure 11 and mounting cylinder 15 to rotate；The rotation of mounting structure 11 drives mounted thereto three second to subtract
The axis for shaking plate 5 around mounting cylinder 15 rotates；Under the action of three leaf spring 13, three the second vibration damper plate 5 rotations just be will drive
Three the first vibration damper plate 4 rotations；Three the first vibration damper plate 4 rotation band motor car wheel mounting shells 2 rotate；Wheel mounting shell 2 rotates band
The dynamic rubber wheel rotation being mounted on its periphery；I.e. robot realizes walking function.
In the present invention during robot ambulation, wheel mounting shell 2 during rotation with bar contact when, obstacle
Object will squeeze wheel mounting shell 2；Wheel mounting shell 2 will squeeze corresponding first vibration damper plate 4；First vibration damper plate 4 will squeeze
Press corresponding second vibration damper plate 5；The first vibration damper plate 4 and the second vibration damper plate 5 will compress corresponding leaf spring 13 simultaneously；Pass through leaf spring
13 play certain buffer function；When the second vibration damper plate 5 is extruded, the second vibration damper plate 5 will squeeze corresponding drive rod 3
So that medial movement of the drive rod 3 towards mounting structure 11；3 movement of drive rod will squeeze corresponding arc triggering block 26 and make
Arc triggering block 26 is mobile towards the side for being equipped with triggering circular cone 7；26 movement of arc triggering block will pass through corresponding branch
Support pin 27 pulls other two arc triggering block 26 mobile towards the side for being equipped with triggering circular cone 7；Three arc triggerings
On the one hand block 26 is mobile will to stretch three return springs 25；So that three return springs 25 are in tensional state；On the other hand
Three 26 movements of arc triggering block will squeeze triggering circular cone 7 and to trigger circular cone 7 towards being equipped with damping spring 18
Side is mobile；Triggering 7 movement of circular cone will compression shock absorption spring 18；Certain buffering is played by damping spring 18 to make
With；When robot breaks the barriers, three arc triggering blocks 26 are restored to original under the action of three return spring 25
On position；I.e. corresponding drive rod 3, the first vibration damper plate 4 and the second vibration damper plate 5 are restored on original position；Trigger circular cone 7
It is restored on original position under the action of corresponding damping spring 18.
Motor 6 is adjusted by driving in the present invention to work；Adjusting the work of motor 6 can be by the output shaft band of adjusting motor 6
Dynamic flexible transmission shaft 20 rotates；Flexible rotation axis rotation drives threaded disk 21 to rotate；Since screwed ring 17 is mounted on mounting cylinder
15 are provided on a side end face of round hole；External screw thread on threaded disk 21 is threadedly engaged with the internal screw thread in screwed ring 17；Institute
Can be moved while the rotation of threaded disk 21；The mobile damping spring 18 that just will push of threaded disk 21 presses damping spring 18
Contracting；So that the elastic force of damping spring 18 is reinforced；That is triggering circular cone 7 pushes the resistance of damping spring 18 to become larger；That is machine
The damping effect of people becomes strong；The effect for the flexible transmission shaft 20 that the present invention designs is, on the one hand can be with by flexible transmission shaft 20
Threaded disk 21 is driven to rotate；Another aspect threaded disk 21 can prevent from adjusting in moving process by flexible transmission shaft 20
The separated transmission of motor 6 and threaded disk 21；Damping spring 18 passes through annular guide block 28 and annular guide channel 23 in the present invention
It is coupled on threaded disk 21, effect is to prevent threaded disk 21 from influencing damping spring 18 during rotation.
There is in three arc triggering blocks 26 arcwall face cooperated with triggering circular cone 7 in the present invention；Its act on be so that
Three arc triggering blocks 26 can preferably push triggering circular cone 7.The present invention devises three arc triggering blocks 26, and passes through
Support pin 27 connects, and effect is the contact surface for increasing arc triggering block 26 during the work time with triggering circular cone 7.This
In invention under original state, limit plate 19 is contacted with the side of the not opening one end of mounting shell 12；Its effect is to prevent three arcs
Triggering block 26 and triggering circular cone 7 are detached from.
Specific embodiment: it when being designed wheels of robot using the present invention, is adjusted before reusing by road surface
Damping spring 18；It controls to adjust motor 6 to work, flexible pass can be driven by adjusting the output shaft of motor 6 by adjusting the work of motor 6
Moving axis 20 rotates；Flexible rotation axis rotation drives threaded disk 21 to rotate；Circle is provided with since screwed ring 17 is mounted on mounting cylinder 15
On one side end face in shape hole；External screw thread on threaded disk 21 is threadedly engaged with the internal screw thread in screwed ring 17；So threaded circular
Disk 21 can move while rotation；The mobile damping spring 18 that just will push of threaded disk 21 compresses damping spring 18；In turn
Reinforce to adjust the elastic force of damping spring 18；After the completion of adjusting, control robot output shaft rotation, robot output shaft will
Drive shaft 1 is driven to rotate；The rotation of drive shaft 1 drives mounting shell 12 to rotate；The rotation of mounting shell 12 drives mounting structure 11 and installation
Cylinder 15 rotates；The rotation of mounting structure 11 drives three the second vibration damper plates 5 mounted thereto to rotate around the axis of mounting cylinder 15；
Under the action of three leaf spring 13, three the second vibration damper plate 5 rotations just will drive three the first vibration damper plate 4 rotations；Three first
The rotation band motor car wheel mounting shell 2 of vibration damper plate 4 rotates；The rotation of wheel mounting shell 2 drives the rubber rotation being mounted on its periphery
It is dynamic；That is robot ambulation；During robot ambulation, wheel mounting shell 2 during rotation with bar contact when, obstacle
Object will squeeze wheel mounting shell 2；Wheel mounting shell 2 will squeeze corresponding first vibration damper plate 4；First vibration damper plate 4 will squeeze
Press corresponding second vibration damper plate 5；The first vibration damper plate 4 and the second vibration damper plate 5 will compress corresponding leaf spring 13 simultaneously；Pass through leaf spring
13 play certain buffer function；When the second vibration damper plate 5 is extruded, the second vibration damper plate 5 will squeeze corresponding drive rod 3
So that medial movement of the drive rod 3 towards mounting structure 11；3 movement of drive rod will squeeze corresponding arc triggering block 26 and make
Arc triggering block 26 is mobile towards the side for being equipped with triggering circular cone 7；26 movement of arc triggering block will pass through corresponding branch
Support pin 27 pulls other two arc triggering block 26 mobile towards the side for being equipped with triggering circular cone 7；Three arc triggerings
On the one hand block 26 is mobile will to stretch three return springs 25；So that three return springs 25 are in tensional state；On the other hand
Three 26 movements of arc triggering block will squeeze triggering circular cone 7 and to trigger circular cone 7 towards being equipped with damping spring 18
Side is mobile；Triggering 7 movement of circular cone will compression shock absorption spring 18；Certain buffering is played by damping spring 18 to make
With；Robot shock-absorbing function is reached by the dual shock absorption of leaf spring 13 and damping spring 18.
Claims (5)
1. the wheel with cushioning effect that a kind of robot uses, it is characterised in that: it include drive shaft, wheel mounting shell,
Drive rod, the first vibration damper plate, the second vibration damper plate, adjust motor, triggering circular cone, arc mounting groove, axis hole, motor installing hole,
Mounting structure, mounting shell, leaf spring, fixed ring, mounting cylinder, Telescopic Fixed axis, screwed ring, damping spring, limit plate, flexible transmission
Axis, threaded disk, guide groove, return spring, arc triggering block, support pin, guide block, fixed link, rectangular mounting groove, arc are led
Slot, fixed plate, it is wherein circumferential on the inner headed face of wheel mounting shell equably to open that there are three arc mounting grooves；The one of wheel mounting shell
End is provided with and inside phase through axial bore；The other end of wheel mounting shell is provided with the motor installing hole communicated with inside；Wheel mounting shell
Periphery on have rubber wheel；One end of drive shaft is mounted on wheel mounting shell by the axis hole on wheel mounting shell；It drives
Moving axis is mounted on robot bottom plate by support frame, and the output axis connection with robot；
Mounting structure is made of connection plectane and arc link block；Two connection plectanes pass through three equally distributed arcs of circumferential direction
The connection of shape link block；Guide groove there are three circumferentially equably being opened on the side of one of connection plectane in two connection plectanes；Three
A guide groove cooperates with three arc link blocks respectively；One end of mounting cylinder is open end；The other end of mounting cylinder is provided with a circle
Shape hole；Mounting cylinder is mounted on one end of mounting structure, and the periphery nesting of mounting cylinder open end is mounted on two on mounting structure
It is not provided in a connection plectane on the inner headed face of a connection plectane of guide groove；One end of mounting shell is open end；Mounting shell peace
It is mounted on mounting structure in two connection plectanes mounted in the periphery nesting of the other end of mounting structure, and mounting shell open end
It is provided on the inner headed face of a connection plectane of guide groove；The not opening one end of mounting shell is installed on the driving shaft, and mounting shell, peace
Assembling structure and mounting cylinder are respectively positioned on the inside of wheel mounting shell；The not opening one end of mounting cylinder is fixedly mounted on wheel by fixed ring
On the medial surface of mounting shell；
Motor is adjusted to be mounted on wheel mounting shell by the motor installing hole opened on wheel mounting shell；The one of flexible transmission shaft
End is mounted on the output shaft for adjusting motor；Flexible transmission shaft is located at the inside of fixed ring, and the other end of flexible transmission shaft is worn
The round hole opened on mounting cylinder is crossed to be located on the inside of mounting cylinder；There is internal screw thread on the inner headed face of screwed ring；Screwed ring is mounted on
Mounting cylinder is provided on a side end face of round hole；There is external screw thread on the periphery of threaded disk；It installs one end of threaded disk
On flexible transmission shaft；The internal screw thread on external screw thread and screwed ring on threaded disk is threadedly engaged；Trigger the big end of circular cone
Telescopic Fixed axis is installed；Triggering circular cone is fixedly mounted on the other end of threaded disk by Telescopic Fixed axis；Threaded disk
Damping spring is installed between the large end face of triggering circular cone；Limit plate is mounted on the small end of triggering circular cone；
One end of fixed link is equipped with guide block；Three fixed links pass through respectively to be opened on guide block and mounting structure mounted thereto
Three guide grooves be fitted on the inside of mounting structure；Three support pins are fixedly mounted in three fixed links；Arc touching
Sending out has arc guide barrel on the side of block；Rectangular mounting groove is provided on the extrados of arc triggering block；The both ends of arc triggering block
It is separately installed with a fixed plate；Three arc triggering blocks pass through the arc guide barrel opened thereon and three support pins respectively
It is fitted in three support pins, and three arc triggering blocks are circumferentially evenly distributed in mounting shell, mounting cylinder and installation
In the space of structure composition, three arc triggering blocks are successively interspersed on the axial direction of mounting cylinder；Three arc triggerings
The fixed plate that two adjacent arcs go out that triggering block is installed by its both ends in block is equipped with a return spring；Return spring
Both ends be separately mounted to the sides of two fixed plates adjacent in the fixed plate installed in corresponding two arc triggering blocks
On；Three arc triggering blocks and triggering circular cone cooperation；
One end of three drive rods respectively with pass through revolute pair between three rectangular mounting grooves being opened in three arc triggering blocks
It is cooperatively connected；One end of three the second vibration damper plates passes through two companies that revolute pair is circumferentially uniformly mounted on mounting structure respectively
It connects between plectane；Three the second vibration damper plates are connect with three drive rods respectively；One end of three the first vibration damper plates passes through respectively to be turned
Dynamic pair is mounted in the three arc mounting grooves opened on wheel mounting shell；The other end of three the first vibration damper plates passes through respectively to be turned
Dynamic pair is connect with the other end of three the second vibration damper plates；It is separately installed between three the first vibration damper plates and three the second vibration damper plates
One leaf spring；
Above-mentioned damping spring passes through being coupled on threaded disk of annular guide block and annular guide channel；
It is above-mentioned in the initial state, limit plate is contacted with the side of the not opening one end of mounting shell.
2. the wheel with cushioning effect that a kind of robot according to claim 1 uses, it is characterised in that: above-mentioned three
The arcwall face with triggering circular cone cooperation is all had in a arc triggering block.
3. the wheel with cushioning effect that a kind of robot according to claim 1 uses, it is characterised in that: above-mentioned to subtract
Shake spring is compressed spring.
4. the wheel with cushioning effect that a kind of robot according to claim 1 uses, it is characterised in that: above-mentioned time
Position spring is extension spring.
5. the wheel with cushioning effect that a kind of robot according to claim 1 uses, it is characterised in that: above-mentioned work
The alternative for being three for arc triggering block is four.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2018104464338 | 2018-05-11 | ||
| CN201810446433 | 2018-05-11 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109050163A true CN109050163A (en) | 2018-12-21 |
| CN109050163B CN109050163B (en) | 2020-02-04 |
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ID=64757561
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810994857.8A Active CN109050163B (en) | 2018-05-11 | 2018-08-29 | Wheel that has cushioning effect that robot used |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109050163B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113460183A (en) * | 2021-07-05 | 2021-10-01 | 哈尔滨学院 | Robot chassis capable of crossing obstacles in large range |
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|---|---|---|---|---|
| US6164736A (en) * | 1999-08-16 | 2000-12-26 | The United States Of America As Represented By The Secretary Of The Army | Tracked wheel assembly |
| CN101016021A (en) * | 2007-02-12 | 2007-08-15 | 蔡洪涛 | Automobile elastic tyre |
| CN103619619A (en) * | 2011-05-04 | 2014-03-05 | 塞缪尔·丹茨 | Steerable wheel assembly for a vehicle, and vehicle including such an assembly |
| CN203637442U (en) * | 2013-11-07 | 2014-06-11 | 中国矿业大学 | Backward slip-preventing damping wheel for mine laneway |
| CN106364581A (en) * | 2016-08-30 | 2017-02-01 | 山东交通学院 | Domestic escape device |
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2018
- 2018-08-29 CN CN201810994857.8A patent/CN109050163B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6164736A (en) * | 1999-08-16 | 2000-12-26 | The United States Of America As Represented By The Secretary Of The Army | Tracked wheel assembly |
| CN101016021A (en) * | 2007-02-12 | 2007-08-15 | 蔡洪涛 | Automobile elastic tyre |
| CN103619619A (en) * | 2011-05-04 | 2014-03-05 | 塞缪尔·丹茨 | Steerable wheel assembly for a vehicle, and vehicle including such an assembly |
| CN203637442U (en) * | 2013-11-07 | 2014-06-11 | 中国矿业大学 | Backward slip-preventing damping wheel for mine laneway |
| CN106364581A (en) * | 2016-08-30 | 2017-02-01 | 山东交通学院 | Domestic escape device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113460183A (en) * | 2021-07-05 | 2021-10-01 | 哈尔滨学院 | Robot chassis capable of crossing obstacles in large range |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109050163B (en) | 2020-02-04 |
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Effective date of registration: 20200106 Address after: 276800 No. 99, Yuquan 2nd Road, antonwei street, Lanshan District, Rizhao City, Shandong Province Applicant after: Shandong Liju special equipment Co.,Ltd. Address before: 518000 Royal Garden, Four Seasons, Luotang Street, Luohu District, Shenzhen City, Guangdong Province Applicant before: SHENZHEN NANSHUO MINGTAI TECHNOLOGY Co.,Ltd. |
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Address after: 276808 No. 99, Yuquan 2nd Road, antonwei street, Lanshan District, Rizhao City, Shandong Province Patentee after: Shandong Liju Robot Technology Co.,Ltd. Address before: 276800 No. 99, Yuquan 2nd Road, antonwei street, Lanshan District, Rizhao City, Shandong Province Patentee before: Shandong Liju special equipment Co.,Ltd. |
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Address after: Room 1409, Floor 14, Building 1, High tech Zone Entrepreneurship Center, No. 177, Gaoxin 6th Road, Rizhao, Shandong 276801 Patentee after: Shandong Liju Robot Technology Co.,Ltd. Address before: 276808 No.99, Yuquan 2nd Road, antonwei street, Lanshan District, Rizhao City, Shandong Province Patentee before: Shandong Liju Robot Technology Co.,Ltd. |