CN109624997B

CN109624997B - Connecting device, robot walking system and robot suspension system

Info

Publication number: CN109624997B
Application number: CN201811426435.7A
Authority: CN
Inventors: 张明广; 杨震威
Original assignee: Shandong Conwell Communication Technology Co Ltd
Current assignee: Conway Communication Technology Co., Ltd
Priority date: 2018-11-27
Filing date: 2018-11-27
Publication date: 2019-12-10
Anticipated expiration: 2038-11-27
Also published as: CN109624997A

Abstract

The utility model provides a connecting device, robot traveling system and robot suspension system, including the jib, the jib is cavity pipe form, jib top coaxial welding has spacing separation blade, spacing separation blade has last ring flange and lower ring flange, it is connected with jib coaxial rotation to go up ring flange and lower ring flange, the jib passes through last ring flange and lower ring flange and installs in the running gear mounting bracket bottom, jib lower part fixedly connected with cross axle connecting piece, cross axle connecting piece bilateral symmetry rigid coupling has two cross axles, deep groove ball bearing has been cup jointed on the cross axle, the cross axle connecting piece is equipped with the connecting seat outward, the connecting seat both ends are connected with deep groove ball bearing through a bearing fixed bolster respectively, the connecting seat is fixed in on the automobile body frame, jib bottom exit linkage has waterproof spool.

Description

Connecting device, robot walking system and robot suspension system

Technical Field

The disclosure relates to a connecting device, a robot walking system and a robot hanging system.

Background

the track robot has been widely used in many fields at present, for example, outdoor or occasions such as tunnel piping lane can realize functions such as patrolling and examining, fire control. The inspection robot with two sets of running mechanisms is used as an example, the two sets of running mechanisms are movably connected with an automobile body to adapt to climbing and turning, so that the running mechanisms are flexibly and reliably connected with the automobile body and have a certain waterproof function, electric wires and signal wires can penetrate through the connecting mechanisms, batteries in the automobile body supply power for motors in the running mechanisms, and various sensors in the running mechanisms can feed back to computers in the automobile body through the signal wires.

Disclosure of Invention

The utility model provides a connecting device, robot running system and robot suspension system to realize the swing joint between robot running gear or the suspension mechanism and the automobile body, and can protect the threading and do not wear and tear, effectively prevent that the rainwater from getting into the automobile body.

In order to achieve the purpose, the technical scheme of the disclosure is as follows:

The utility model provides a connecting device, includes the jib, the jib is cavity pipe form, the coaxial welding in jib top has spacing separation blade, spacing separation blade has last ring flange and lower ring flange, it is connected with the coaxial rotation of jib to go up ring flange and lower ring flange, the jib is installed in running gear mounting bracket bottom through last ring flange and lower ring flange, jib lower part fixedly connected with cross axle connecting piece, cross axle connecting piece bilateral symmetry rigid coupling has two cross axles, deep groove ball bearing has been cup jointed on the cross axle, the cross axle connecting piece is equipped with the connecting seat outward, the connecting seat both ends are connected with deep groove ball bearing through a bearing fixed bolster respectively, the connecting seat is fixed in on the automobile body frame, jib bottom exit linkage has waterproof spool.

furthermore, the limiting blocking piece is circular, and bulges are symmetrically arranged on two sides of the limiting blocking piece.

Furthermore, two stop blocks are symmetrically arranged on the upper plane of the upper flange plate and used for limiting the rotation range of the limiting stop piece, and then the rotation range of the traveling mechanism mounting frame relative to the suspender is limited.

Furthermore, a thrust bearing is arranged between the limiting blocking piece and the upper flange plate.

furthermore, the lower flange plate is rotatably connected with the suspension rod through a bearing.

Furthermore, a tower-shaped waterproof cover is arranged on the hanging rod between the lower flange plate and the cross shaft connecting piece.

Furthermore, the upper flange plate and the lower flange plate clamp the bottom of the traveling mechanism mounting frame from the upper side and the lower side and are fixed on the bottom of the traveling mechanism mounting frame through bolts.

Further, the export of jib bottom is passed through the staple bolt and is connected with waterproof spool, be used for passing electric wire and signal line in jib and the waterproof spool.

A robot walking system adopts the connecting device as an on-orbit running steering connecting device.

a robotic suspension system comprising a linkage as described above.

Compared with the prior art, the beneficial effect of this disclosure is:

This openly can realize the swing joint between robot running gear or hang the mechanism and the automobile body, can pass electric wire and signal line between the two again through this disclosure, the protection threading is not worn and torn, prevents effectively that the rainwater from getting into the automobile body.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.

Fig. 1 is a perspective view of an internal structure of a robot walking system according to an embodiment of the present disclosure;

FIG. 2 is an enlarged schematic view of a portion of the travel mechanism of FIG. 1;

FIG. 3 is an enlarged schematic view of a portion of the tower-shaped waterproof jacket structure of FIG. 1;

FIG. 4 is a perspective view of the coupling device and running gear mounting bracket assembly of the present disclosure;

FIG. 5 is a perspective view of the connection device of the present disclosure of FIG. 1;

FIG. 6 is a schematic view of a positive stop and a hanger bar weld;

FIG. 7 is a perspective view of the connecting seat;

FIG. 8 is a perspective view of a cross-axis connector;

FIG. 9 is a schematic view of the connection of the hanger bar to the upper and lower flanges;

FIG. 10 is a perspective view of a connection device of the present disclosure 2;

In the figure: 1, a traveling mechanism; 2 tower-shaped waterproof sheath; 3, mounting a walking mechanism; 4, limiting a baffle plate; 5, waterproof threading pipes; 6, mounting a flange plate; 7, a stop block; 8, a thrust bearing; 9, a lower flange plate; 10 a boom; 11 a connecting frame; 12 a cross-axis connection; 13 deep groove ball bearings; 14 bearings; 15 bearing fixing bracket.

Detailed Description

The present disclosure is further described with reference to the following detailed description of illustrative embodiments and accompanying drawings.

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

In the present disclosure, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only relational terms determined for convenience in describing structural relationships of the parts or elements of the present disclosure, and do not refer to any parts or elements of the present disclosure, and are not to be construed as limiting the present disclosure.

In the present disclosure, terms such as "fixedly connected", "connected", and the like are to be understood in a broad sense, and mean either a fixed connection or an integrally connected or detachable connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present disclosure can be determined on a case-by-case basis by persons skilled in the relevant art or technicians, and are not to be construed as limitations of the present disclosure.

as one or more embodiments, as can be seen from fig. 1 to 3, a track inspection robot generally includes two traveling mechanisms 1, and the traveling mechanisms 1 are connected to a vehicle body by a connecting device of the present disclosure.

As shown in fig. 1 and 3, the exposed part of the connecting device is provided with a tower-shaped waterproof cover 2 for protecting the connecting device, the appearance of the tower-shaped waterproof cover 2 is shown on one running mechanism in fig. 1, the other running mechanism is hidden, and the tower-shaped waterproof cover 2 is a standard component.

as shown in fig. 6, the connecting device includes a hanger rod 10, the hanger rod 10 is in a hollow circular tube shape, a limiting blocking piece 4 is coaxially welded at the top end of the hanger rod 10, the limiting blocking piece 4 is in a circular ring shape, and protrusions are symmetrically arranged on two sides of the limiting blocking piece 4.

As shown in fig. 5, an upper flange 6 and a lower flange 9 are arranged below the limiting blocking piece 4, the upper flange 6 and the lower flange 9 are coaxially and rotatably connected with a suspender 10, and the suspender 10 is installed at the bottom of the traveling mechanism mounting frame 3 through the upper flange 6 and the lower flange 9.

As shown in fig. 6, two stoppers 7 are symmetrically disposed on the upper plane of the upper flange 6, and the stoppers 7 are used to limit the rotation range of the limiting baffle 4, and further limit the rotation range of the running gear mounting bracket 3 relative to the suspension rod 10.

specifically, the stop 7 can limit the rotation range of the limit stop 4 and the suspension rod 10 to be between 0 and 90 degrees.

And a thrust bearing 8 is arranged between the limiting blocking piece 4 and the upper flange plate 6, and when the suspender 10 is stressed, the stressed force is pressed on the upper flange plate 6 through the limiting blocking piece 4 and the thrust bearing 8.

As shown in fig. 4 to 5, the upper flange 6 and the lower flange 9 respectively clamp the bottom of the traveling mechanism mounting frame 3 from the upper side and the lower side, circular holes are uniformly distributed along the circumference on the upper flange 6 and the lower flange 9, and the circular holes are used for penetrating bolts, so that the upper flange 6 and the lower flange 9 are fixed on the bottom of the traveling mechanism mounting frame 3 through the bolts.

as shown in fig. 9, in order to prevent the boom 10 from wobbling, a bearing 14 is provided in the lower flange 9, an inner race of the bearing 14 is fitted over the boom 10, and the lower flange 9 and the boom 10 are rotatably connected by the bearing 14.

as shown in fig. 5, a cross shaft connecting piece 12 is fixedly connected to the lower portion of the suspension rod 10, the cross shaft connecting piece 12 is a shaft sleeve, as shown in fig. 8, two cross shafts are symmetrically welded to both sides of the shaft sleeve 12, in a specific implementation, a hole a 'on the upper side surface of the cross shaft connecting piece 12 corresponds to a screw hole a on the suspension rod 10 in fig. 6, so that the cross shaft connecting piece 12 is sleeved on the suspension rod 10, and a bolt is threaded through the hole a' on the cross shaft connecting piece 12 and screwed on the screw hole a on the suspension rod 10, so that the cross shaft.

As shown in fig. 5 and 10, the transverse shaft is sleeved with a deep groove ball bearing 13, the connecting seat 11 is arranged outside the transverse shaft connecting piece 12, and two ends of the connecting seat 11 are respectively fixedly connected with the outer ring of the deep groove ball bearing 13 through a bearing fixing bracket 15, so that the connecting seat 11 can be rotatably connected relative to the transverse shaft connecting piece 12 on the suspension rod 10.

As shown in fig. 7, the connecting seat 11 is a special-shaped bearing seat, and round holes are formed in two sides of the connecting seat 11, so that the connecting seat 11 can be fixed on the vehicle body frame by bolts.

as shown in fig. 4-5, the outlet at the bottom of the hanger rod 10 is connected with a waterproof threading pipe 5 by a hoop, and the waterproof threading pipe 5 is a widely used finished product, and a telescopic plastic pipe is arranged in the middle of the waterproof threading pipe.

In the present disclosure, the traveling mechanism mounting frame 3 is fixedly connected to the upper and lower flanges, the suspension rod 10 is rotatably connected to the upper and lower flanges, and the rotation axis is in the direction of gravity. The connecting base 11 is rotatably connected with the suspension rod 10, the rotating shaft is in the horizontal direction, and the connecting base 11 is fixedly connected with the vehicle body frame. The traveling mechanism and the vehicle body are connected, and the electric wire and the signal wire between the traveling mechanism 1 and the vehicle body penetrate through the suspender 10, so that the threading is protected, and the rainwater can be prevented from entering the vehicle body.

as one or more embodiments, the connection device of the present disclosure may also be applied in a hanging system of a robot.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Although the present disclosure has been described with reference to specific embodiments, it should be understood that the scope of the present disclosure is not limited thereto, and those skilled in the art will appreciate that various modifications and changes can be made without departing from the spirit and scope of the present disclosure.

Claims

1. A connection device, characterized by: the lifting rod is in a hollow round tube shape, a limiting blocking piece is coaxially welded at the top end of the lifting rod, an upper flange and a lower flange are arranged below the limiting blocking piece, the upper flange and the lower flange are coaxially and rotatably connected with the lifting rod, the lifting rod is installed at the bottom of a walking mechanism installation frame through the upper flange and the lower flange, the lower part of the lifting rod is fixedly connected with a cross shaft connecting piece, two cross shafts are symmetrically and fixedly connected to two sides of the cross shaft connecting piece, a deep groove ball bearing is sleeved on the cross shaft, a connecting seat is arranged outside the cross shaft connecting piece, two ends of the connecting seat are respectively connected with the deep groove ball bearing through a bearing fixing support, the connecting seat is fixed on a vehicle body frame, and an outlet;

Two stop blocks are symmetrically arranged on the upper plane of the upper flange plate, and are used for limiting the rotating range of the limiting stop piece so as to limit the rotating range of the traveling mechanism mounting frame relative to the hanger rod;

A thrust bearing is arranged between the limiting baffle and the upper flange;

The lower flange plate is rotatably connected with the hanging rod through a bearing;

And a tower-shaped waterproof cover is arranged on the suspender between the lower flange and the cross shaft connecting piece.

2. The connecting device according to claim 1, wherein the limiting blocking piece is circular, and protrusions are symmetrically arranged on two sides of the limiting blocking piece.

3. The coupling device as claimed in claim 1, wherein the upper flange and the lower flange clamp the bottom of the running gear mounting bracket from upper and lower sides and are fixed to the bottom of the running gear mounting bracket by bolts.

4. the connecting device as claimed in claim 1, wherein the outlet at the bottom of the suspension rod is connected with the waterproof conduit by a hoop, and the suspension rod and the waterproof conduit are internally provided with wires and signal wires.

5. A robot walking system, characterized in that the coupling device according to any of claims 1-4 is used as an on-track running steering coupling device.

6. A robotic suspension system comprising a linkage according to any of claims 1 to 4.