CN113942353A - Damping device for downhole robot - Google Patents
Damping device for downhole robot Download PDFInfo
- Publication number
- CN113942353A CN113942353A CN202111078665.0A CN202111078665A CN113942353A CN 113942353 A CN113942353 A CN 113942353A CN 202111078665 A CN202111078665 A CN 202111078665A CN 113942353 A CN113942353 A CN 113942353A
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- sleeve
- vibration
- robot
- vibration damping
- fixed block
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- 238000013016 damping Methods 0.000 title claims abstract description 61
- 230000007246 mechanism Effects 0.000 claims abstract description 69
- 238000000034 method Methods 0.000 claims abstract description 13
- 230000008569 process Effects 0.000 claims abstract description 12
- 230000009467 reduction Effects 0.000 claims abstract description 12
- 230000000149 penetrating effect Effects 0.000 claims description 5
- 238000004891 communication Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
- B60G11/14—Resilient suspensions characterised by arrangement, location or kind of springs having helical, spiral or coil springs only
- B60G11/16—Resilient suspensions characterised by arrangement, location or kind of springs having helical, spiral or coil springs only characterised by means specially adapted for attaching the spring to axle or sprung part of the vehicle
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vibration Prevention Devices (AREA)
Abstract
The invention belongs to the technical field of robots, and particularly relates to a vibration damping device for an underground robot, which comprises: the vibration damping mechanism is connected with wheels of the underground robot; the fixing mechanism is arranged on a chassis of the underground robot, and the vibration reduction mechanism extends into the fixing mechanism; when the wheels of the underground robot vibrate in the moving process, the vibration reduction mechanism extends into the fixing mechanism to reduce vibration, so that the vibration transmitted to the underground robot by the wheels is reduced when the underground robot vibrates, the underground robot is prevented from being damaged by vibration, and the task completion condition of the underground robot is prevented from being influenced by vibration.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a vibration damping device for an underground robot.
Background
When the underground robot works underground, vibration occurs in the movement process due to the problems of the working environment, the safety problem of the underground robot can be influenced by strong vibration, the underground robot can be damaged, the loss is caused, and the task completion condition of the underground robot is influenced.
Therefore, there is a need to design a new damping device for a downhole robot based on the above technical problems.
Disclosure of Invention
The invention aims to provide a vibration damping device for an underground robot.
In order to solve the above technical problems, the present invention provides a vibration damping device for an underground robot, comprising:
the vibration damping mechanism is connected with wheels of the underground robot;
the fixing mechanism is arranged on a chassis of the underground robot, and the vibration reduction mechanism extends into the fixing mechanism;
when the wheels of the underground robot vibrate in the moving process, the vibration reduction mechanism extends into the fixing mechanism to reduce vibration.
Further, the fixing mechanism includes: a fixed block and a sleeve;
the fixed block is arranged on a chassis of the underground robot;
the sleeve is vertically arranged inside the fixed block and extends out of the fixed block;
two strip-shaped holes are radially and symmetrically formed in the outer wall of the sleeve;
the vibration reduction mechanism extends into the sleeve.
Further, the fixing mechanism further includes: a first screw and a first nut;
the first screw rod extends into the fixed block and then is connected with the sleeve;
the first nut is arranged on the first screw rod, and the first nut is arranged on the outer wall of the fixed block;
and rotating the first screw rod, and adjusting the length of the first screw rod penetrating into the fixed block so as to adjust the length of the sleeve extending out of the fixed block.
Further, the fixing mechanism further includes: a second screw and a second nut;
the second screw rods are symmetrically arranged on two sides of the sleeve along the length direction of the sleeve;
the second nuts are arranged on two sides of the connecting piece on the outer wall of the fixed block along the length direction of the sleeve;
the second screw rod penetrates through the second nut and the connecting piece;
and rotating the second screw rod to adjust the length of the second screw rod penetrating through the connecting piece.
Further, the fixing mechanism further includes: the top plates are symmetrically arranged on the outer wall of the sleeve;
the second screw penetrates through the corresponding top plate;
the strip-shaped hole is positioned between the two top plates.
Further, the vibration damping mechanism includes: a fixed rod and a damping spring;
the fixed rod is arranged on a wheel of the underground robot;
the fixing rod extends into the sleeve;
the damping spring is sleeved on the fixing rod, one end of the damping spring is arranged on the top plate, and the other end of the damping spring is arranged at the connecting position of the fixing rod and the wheels of the downhole robot;
when the wheels of the underground robot vibrate in the moving process, the fixing rod extends into the sleeve and compresses the damping spring to reduce vibration.
Further, the vibration damping mechanism further includes: a bolt;
two bolt holes are radially and symmetrically arranged on the outer wall of the fixed rod, and the bolt holes correspond to the strip-shaped holes;
the bolt is matched with the bolt hole;
the two ends of the bolt are positioned in the strip-shaped holes after the bolt is inserted into the two bolt holes.
Further, the vibration damping mechanism further includes: a limiting plate;
the limiting plate is arranged on the outer wall of the fixing rod;
the second screw penetrates through the limiting plate;
when the wheels vibrate in the moving process of the underground robot, the limiting plate moves downwards along the second screw rod, and the bolt moves downwards in the strip-shaped hole, so that the wheels drive the fixing rod to extend into the sleeve.
The invention has the beneficial effects that the vibration damping mechanism is connected with the wheels of the underground robot; the fixing mechanism is arranged on a chassis of the underground robot, and the vibration reduction mechanism extends into the fixing mechanism; when the wheels of the underground robot vibrate in the moving process, the vibration reduction mechanism extends into the fixing mechanism to reduce vibration, so that the vibration transmitted to the underground robot by the wheels is reduced when the underground robot vibrates, the underground robot is prevented from being damaged by vibration, and the task completion condition of the underground robot is prevented from being influenced by vibration.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic structural view of a vibration damping device for a downhole robot according to the present invention;
FIG. 2 is a partial schematic structural view of a vibration damping device for a downhole robot according to the present invention;
FIG. 3 is a cross-sectional view of portion A-A of FIG. 2 in accordance with the present invention;
fig. 4 is a schematic structural view of a fixing lever according to the present invention.
In the figure:
1, a fixing mechanism, 11, 12, a sleeve, 121, a strip-shaped hole, 13, a first screw, 14, a first nut, 15, a second screw, 16, a connecting piece and 18, wherein the fixing mechanism is arranged on the upper surface of the base plate;
2, a damping mechanism, 21, 211, 22, 23 and 24 are fixed rods, bolt holes, damping springs, bolt holes and limiting plates respectively;
and 3 is a wheel.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 4, the present embodiment provides a vibration damping device for a downhole robot, including: the vibration damping mechanism 2 is arranged and connected with wheels 3 of the downhole robot (the wheels 3 can be tension wheels, towing wheels and the like in a tank crawler belt adopted by the downhole robot); the fixing mechanism 1 is arranged on a chassis of the underground robot, and the vibration damping mechanism 2 extends into the fixing mechanism 1; when the wheels 3 vibrate in the moving process of the underground robot, the vibration reduction mechanism 2 extends into the fixing mechanism 1 to reduce vibration, so that the vibration transmitted to the underground robot by the wheels 3 is reduced when the underground robot vibrates, the underground robot is prevented from being damaged by vibration, and the task completion condition of the underground robot is prevented from being influenced by vibration; for example, when the downhole robot needs to perform a downhole video shooting task, strong vibration can affect the quality of video shooting, and the vibration transmitted to the downhole robot by the wheels 3 can be reduced through the matching of the vibration damping mechanism 2 and the fixing mechanism 1.
In the present embodiment, the fixing mechanism 1 includes: a fixed block 11 and a sleeve 12; the fixed block 11 is arranged on a chassis of the underground robot; the sleeve 12 is vertically arranged inside the fixed block 11 and extends out of the fixed block 11; two strip-shaped holes 121 are radially and symmetrically arranged on the outer wall of the sleeve 12; the damping mechanism 2 extends into the sleeve 12; through the connection of fixed block 11 and downhole robot, when taking place the vibration, rethread damping mechanism 2 reduces the vibration that transmits to downhole robot, reaches the damping effect.
In this embodiment, the fixing mechanism 1 further includes: a first screw 13 and a first nut 14; the first screw 13 extends into the fixed block 11 and then is connected with the sleeve 12; the first nut 14 is arranged on the first screw 13, and the first nut 14 is arranged on the outer wall of the fixed block 11; rotating the first screw 13, and adjusting the length of the first screw 13 penetrating into the fixed block 11 so as to adjust the length of the sleeve 12 extending out of the fixed block 11; the length of the fixed rod 21 in the damping mechanism 2 extending into the sleeve 12 is adjusted by adjusting the distance of the sleeve 12 extending out of the fixed block 11, and the maximum compression degree of the damping spring 22 can be adjusted; when the torque of the damping mechanism 2 decreases with time, the torque is adjusted by adjusting the distance by which the sleeve 12 projects beyond the fixed block 11.
In this embodiment, the fixing mechanism 1 further includes: a second screw 15 and a second nut 16; the second screws 15 are symmetrically arranged on two sides of the sleeve 12 along the length direction of the sleeve 12; the second nuts 16 are arranged on two sides of the connecting piece 17 on the outer wall of the fixed block 11 along the length direction of the sleeve 12; the second screw 15 is arranged through a second nut 16 and a connecting piece 17; rotating the second screw rod 15 to adjust the length of the second screw rod 15 passing through the connecting piece 17; the head of the second screw 15 is far away from the connecting piece 17, the second screw 15 is fixed with the connecting piece 17 through the second nut 16, the second nut 16 is not rotated when the second screw 15 is rotated, the length of the second screw 15 which penetrates out of the connecting piece 17 can be increased or decreased at the moment, the distance of the limiting plate 24 which can move is further adjusted, and the head of the second screw 15 can limit the limiting plate 24 to move out of the second screw 15 from the head of the second screw 15.
In this embodiment, the fixing mechanism 1 further includes: a top plate 18 symmetrically disposed on the outer wall of the sleeve 12; the second screw 15 passes through the corresponding top plate 18; the strip-shaped hole 121 is positioned between the two top plates 18; the hole between the two top plates 18 can facilitate the bolt 23 to penetrate through the bolt hole 211 and the corresponding strip-shaped hole 121, and facilitate the plugging and unplugging of the bolt 23.
In the present embodiment, the vibration damping mechanism 2 includes: a fixing lever 21 and a damper spring 22; the fixing rod 21 is arranged on the wheels 3 of the underground robot; the fixing rod 21 extends into the sleeve 12; the damping spring 22 is sleeved on the fixing rod 21, one end of the damping spring 22 is arranged on the top plate 18, and the other end of the damping spring 22 is arranged at the connection position of the fixing rod 21 and the wheels 3 of the downhole robot; when the wheels 3 vibrate during the movement of the downhole robot, the fixing rod 21 extends into the sleeve 12 and compresses the damping spring 22 to reduce the vibration; the wheels 3 can move downwards when vibrating, the fixing rods 21 are driven to extend into the sleeves 12, the damping springs 22 are compressed at the moment, vibration transmitted to the underground robot is reduced, and a damping effect is achieved.
In the present embodiment, the vibration damping mechanism 2 further includes: a plug 23; two pin holes 211 are radially and symmetrically arranged on the outer wall of the fixed rod 21, and the pin holes 211 correspond to the strip-shaped holes 121; the plug 23 is matched with the plug hole 211; the two ends of the bolt 23 are positioned in the strip-shaped holes 121 after being inserted into the two bolt holes 211; the bolt 23 is simultaneously inserted into the bar-shaped hole 121 and the corresponding bolt hole 211, so that the sleeve 12 and the fixing rod 21 are prevented from rotating when the wheel 3 vibrates.
In the present embodiment, the vibration damping mechanism 2 further includes: a retainer plate 24; the limiting plate 24 is arranged on the outer wall of the fixing rod 21; the second screw 15 penetrates through the limiting plate 24; when the wheel 3 vibrates in the motion process of the downhole robot, the limiting plate 24 moves downwards along the second screw rod 15, and the bolt 23 moves downwards in the strip-shaped hole 121, so that the wheel 3 drives the fixing rod 21 to extend into the sleeve 12; the limiting plate 24 can limit the direction of the fixing rod 21 extending into the sleeve 12, and prevent the fixing rod 21 from shifting when extending into the sleeve 12.
In summary, the vibration damping mechanism 2 is arranged, and the vibration damping mechanism 2 is connected with the wheels 3 of the underground robot; the fixing mechanism 1 is arranged on a chassis of the underground robot, and the vibration damping mechanism 2 extends into the fixing mechanism 1; when the wheels 3 of the underground robot vibrate in the moving process, the vibration reduction mechanism 2 extends into the fixing mechanism 1 to reduce vibration, so that the vibration transmitted to the underground robot by the wheels 3 is reduced when the underground robot vibrates, the underground robot is prevented from being damaged by vibration, and the task completion condition of the underground robot is prevented from being influenced by vibration.
The components selected for use in the present application (components not illustrated for specific structures) are all common standard components or components known to those skilled in the art, and the structure and principle thereof can be known to those skilled in the art through technical manuals or through routine experimentation. Moreover, the software programs referred to in the present application are all prior art, and the present application does not relate to any improvement of the software programs.
In the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (8)
1. A vibration damping device for a downhole robot, comprising:
the vibration damping mechanism is connected with wheels of the underground robot;
the fixing mechanism is arranged on a chassis of the underground robot, and the vibration reduction mechanism extends into the fixing mechanism;
when the wheels of the underground robot vibrate in the moving process, the vibration reduction mechanism extends into the fixing mechanism to reduce vibration.
2. The vibration damping device for a downhole robot according to claim 1,
the fixing mechanism includes: a fixed block and a sleeve;
the fixed block is arranged on a chassis of the underground robot;
the sleeve is vertically arranged inside the fixed block and extends out of the fixed block;
two strip-shaped holes are radially and symmetrically formed in the outer wall of the sleeve;
the vibration reduction mechanism extends into the sleeve.
3. The vibration damping device for a downhole robot according to claim 2,
the fixing mechanism further includes: a first screw and a first nut;
the first screw rod extends into the fixed block and then is connected with the sleeve;
the first nut is arranged on the first screw rod, and the first nut is arranged on the outer wall of the fixed block;
and rotating the first screw rod, and adjusting the length of the first screw rod penetrating into the fixed block so as to adjust the length of the sleeve extending out of the fixed block.
4. The vibration damping device for a downhole robot according to claim 3,
the fixing mechanism further includes: a second screw and a second nut;
the second screw rods are symmetrically arranged on two sides of the sleeve along the length direction of the sleeve;
the second nuts are arranged on two sides of the connecting piece on the outer wall of the fixed block along the length direction of the sleeve;
the second screw rod penetrates through the second nut and the connecting piece;
and rotating the second screw rod to adjust the length of the second screw rod penetrating through the connecting piece.
5. The vibration damping device for a downhole robot according to claim 4,
the fixing mechanism further includes: the top plates are symmetrically arranged on the outer wall of the sleeve;
the second screw penetrates through the corresponding top plate;
the strip-shaped hole is positioned between the two top plates.
6. The vibration damping device for a downhole robot according to claim 5,
the vibration damping mechanism includes: a fixed rod and a damping spring;
the fixed rod is arranged on a wheel of the underground robot;
the fixing rod extends into the sleeve;
the damping spring is sleeved on the fixing rod, one end of the damping spring is arranged on the top plate, and the other end of the damping spring is arranged at the connecting position of the fixing rod and the wheels of the downhole robot;
when the wheels of the underground robot vibrate in the moving process, the fixing rod extends into the sleeve and compresses the damping spring to reduce vibration.
7. The vibration damping device for a downhole robot according to claim 6,
the vibration damping mechanism further includes: a bolt;
two bolt holes are radially and symmetrically arranged on the outer wall of the fixed rod, and the bolt holes correspond to the strip-shaped holes;
the bolt is matched with the bolt hole;
the two ends of the bolt are positioned in the strip-shaped holes after the bolt is inserted into the two bolt holes.
8. The vibration damping device for a downhole robot according to claim 7,
the vibration damping mechanism further includes: a limiting plate;
the limiting plate is arranged on the outer wall of the fixing rod;
the second screw penetrates through the limiting plate;
when the wheels vibrate in the moving process of the underground robot, the limiting plate moves downwards along the second screw rod, and the bolt moves downwards in the strip-shaped hole, so that the wheels drive the fixing rod to extend into the sleeve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111078665.0A CN113942353B (en) | 2021-09-15 | 2021-09-15 | Vibration damper for underground robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111078665.0A CN113942353B (en) | 2021-09-15 | 2021-09-15 | Vibration damper for underground robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113942353A true CN113942353A (en) | 2022-01-18 |
| CN113942353B CN113942353B (en) | 2023-10-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111078665.0A Active CN113942353B (en) | 2021-09-15 | 2021-09-15 | Vibration damper for underground robot |
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| CN (1) | CN113942353B (en) |
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| Publication number | Publication date |
|---|---|
| CN113942353B (en) | 2023-10-24 |
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