CN207771807U - A kind of robot balanced structure being hinged - Google Patents
A kind of robot balanced structure being hinged Download PDFInfo
- Publication number
- CN207771807U CN207771807U CN201721717674.9U CN201721717674U CN207771807U CN 207771807 U CN207771807 U CN 207771807U CN 201721717674 U CN201721717674 U CN 201721717674U CN 207771807 U CN207771807 U CN 207771807U
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- wheel suspension
- hinged
- rear wheel
- connector
- fixing piece
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Abstract
The utility model discloses a kind of robot balanced structures being hinged, including front wheel suspension, rear wheel suspension and connector, the connector includes fixing piece and axis pin, it is equipped with pin hole in described fixing piece one end, the connector is fixedly connected by the axis pin across the pin hole with the front wheel suspension, the fixing piece other end is fixedly connected with the rear wheel suspension, and the connector is installed on the middle part of the front wheel suspension and the rear wheel suspension.Connector one end is fixed with front wheel suspension by axis pin in the utility model, and the other end is fixed with rear wheel suspension, simple in structure to which front wheel suspension is hinged with rear wheel suspension, mitigates the weight of robot itself；Axis pin and fixing piece clearance fit, make robot rear wheel suspension that can be rotated with opposing front wheels suspension, and there are meet the needs of vehicle body rotation while constraint.
Description
Technical field
The utility model is related to robot more particularly to a kind of robot balanced structures being hinged.
Background technology
With the fast development of robot technology, robot applications are more and more, and type is also gradually enriched.Wherein,
Wheeled robot has been successfully applied to substation inspection.Under normal conditions, it when robot car is in by roughness pavement, needs
Mitigate and the unnecessary inclination of vehicle body is reduced to mitigate vehicle body energy expenditure to the load of chassis structure because of Uneven road, improves vehicle
The landform adaptability and obstacle climbing ability of body.Therefore it needs to improve vehicle body stability in robot automobile body design, avoids machine
Holder and laser shock on people is excessively violent, ensures the stabilization that the video stabilization of capture is clear and navigates.This function coordinates machine
Device people's barrier avoiding function can allow robot to realize that small barrier is steady, hinder the effect kept away greatly.
Currently, the method that the balanced structure of wheeled robot mostly uses damping spring, is required between each tire and chassis
Spring (damping spring) is installed.This method imitates the base apparatus on current automobile.
But existing damping spring design has the following defects：
Damping spring increases the structure complexity of robot, does not meet the body lightening that robot is pursued, vehicle body
Design the design concept of simplicity.In addition, for crusing robot, the speed of travel is relatively slow, can only play damping bullet
The partial function of spring, business efficiency are poor.
Utility model content
For overcome the deficiencies in the prior art, the purpose of this utility model is to provide a kind of robot balances being hinged
Structure mitigates load of the ground injustice to chassis structure, reduces the unnecessary inclination of vehicle body, improves vehicle body stability.
The purpose of this utility model is realized using following technical scheme：
A kind of robot balanced structure being hinged includes front wheel suspension, rear wheel suspension and connector, the connector packet
Fixing piece and axis pin are included, is equipped with pin hole in described fixing piece one end, the axis pin passes through the pin hole by the connector and institute
It states front wheel suspension to be fixedly connected, the fixing piece other end is fixedly connected with the rear wheel suspension, and the connector is installed on institute
State the middle part of front wheel suspension and the rear wheel suspension.
Further, the front wheel suspension and two front-wheels are hinged, and the rear wheel suspension and two trailing wheels are hinged, and the front-wheel is outstanding
Frame is detached with the rear wheel suspension.
Further, the robot balanced structure being hinged further includes buffering casting die, and the buffering casting die includes pressure
Plate and spring, described pressing plate one end are fixedly connected with the rear wheel suspension, and the side of the other end is abutted with the spring, the bullet
The spring other end is abutted with the front wheel suspension.
Further, described pressing plate one end is fixedly connected with the rear wheel suspension screw, and the other end is equipped with groove, before described
Take turns suspension be equipped with blind hole, the groove is opposite with the blind hole, and the spring one end is abutted with the groove slot bottom, the other end and
The blind via bottom abuts.
Further, the buffering casting die is symmetrically arranged on the connector both sides.
Further, the spring is die springs.
Further, the connector further includes clamp spring and limiter, and the clamp spring is connected in the fixing piece far from institute
One end of pin hole is stated, the limiter is fixedly connected with the fixing piece, and is symmetrically distributed in the fixing piece both sides.
Further, the fixing piece side is equipped with boss, and card slot is equipped at the rear wheel suspension central axis, described convex
Platform is contained in the card slot.
Further, the fixing piece both sides are equipped with several screw holes, and screw passes through the screw hole by the connector and institute
Rear wheel suspension is stated to be fixedly connected.
Further, the connector, the front wheel suspension and the rear wheel suspension are symmetrical structure.
Compared with prior art, the beneficial effects of the utility model are：Connector one end is solid by axis pin with front wheel suspension
Fixed, the other end is fixed with rear wheel suspension, simple in structure to which front wheel suspension is hinged with rear wheel suspension, mitigates machine
The weight of people itself；Axis pin and fixing piece clearance fit, are made robot rear wheel suspension that can be rotated with opposing front wheels suspension, existed about
Meets the needs of vehicle body rotation while beam.
Description of the drawings
Fig. 1 is a three-dimensional structure diagram of the robot balanced structure that the utility model one is hinged；
Fig. 2 is the enlarged drawing of the robot balanced structure that is hinged at A shown in Fig. 1；
Fig. 3 is a stereogram of connector shown in Fig. 1.
In figure：10, front wheel suspension；11, blind hole；20, rear wheel suspension；21, card slot；30, casting die is buffered；31, spring；32、
Pressing plate；40, connector；42, fixing piece；421, screw hole；422, boss；423, pin hole；43, clamp spring；45, limiter.
Specific implementation mode
In the following, in conjunction with attached drawing and specific implementation mode, the utility model is described further, it should be noted that
Under the premise of not colliding, it can be formed in any combination between various embodiments described below or between each technical characteristic new
Embodiment.
As shown in Figs. 1-3, a kind of robot balanced structure being hinged, including front wheel suspension 10, rear wheel suspension 20, buffering
Casting die 30 and connector 40.
Front wheel suspension 10 is equipped with two blind holes 11 in the middle part of one end far from front-wheel, and two blind holes 11 are about 10 central shaft of front wheel suspension
Line is symmetrical.
Rear wheel suspension 20 is equipped with a card slot 21 along central axis.
It includes spring 31 and pressing plate 32 to buffer casting die 30.Spring 31 is the larger die springs of rigidity, 32 both ends of pressing plate position
In two different planes, worked as a buffer with the cooperation of spring 31.When robot, which encounters, jolts road conditions, robot may be implemented
The flexible variety of vehicle body and automatically reseting for level road.
Connector 40 includes fixing piece 42, clamp spring 43, axis pin (not shown) and limiter 45.42 both sides of fixing piece are symmetrically set
There are screw hole 421,42 side of fixing piece to be equipped with boss 422.Clamp spring 43 is mounted on 42 one end of fixing piece, and 42 other end of fixing piece is equipped with
Pin hole 423.Pin hole 423 is arc-shaped square hole in both ends.There are two limiters 45, is symmetrically distributed in axis pin both sides.
When assembly, front wheel suspension 10 and two front-wheels are pivotally connected, and rear wheel suspension 20 and two trailing wheels are pivotally connected.Front wheel suspension 10 and trailing wheel
Suspension 20 detaches, and hinged by connector 40.Screw passes through the screw hole 421 on fixing piece 42 that peace is fixed in 40 one end of connector
Loaded on rear wheel suspension 20, at 42 other end of fixing piece, axis pin passes through pin hole 423 that fixing piece 42 is made to fix with front wheel suspension 10 to connect
It connects.Boss 422 is connected in the card slot 21 on rear wheel suspension 20.32 one end of pressing plate is fixedly connected with rear wheel suspension 20 by screw,
The other end is equipped with groove.31 one end of spring is contained in blind hole 11, and is abutted with 11 bottom of blind hole, and the other end is contained in groove, with
Bottom portion of groove abuts.
In the utility model, 40 one end of connector is fixed with front wheel suspension 10 by axis pin, the other end and rear wheel suspension 20
It is fixed by screw, to which front wheel suspension 10 and rear wheel suspension 20 is hinged.Axis pin and fixing piece in the utility model
42 clearance fits effectively prevent rear wheel suspension 20 from sliding back and forth under clamp spring 43, axis pin, 422 collective effect of boss.Due to even
Fitting 40 is installed on the centre position of front wheel suspension 10, rear wheel suspension 20 so that rear wheel suspension 20 can within the scope of certain angle
To be freely rotated.Limiter 45 is symmetrically distributed in 42 both sides of fixing piece, to limit the slewing area of rear wheel suspension 20.It is connecting
Also vehicle body is realized in one buffering casting die 30 of installation, the cooperation by buffering spring 31 and pressing plate 32 in casting die 30 to 40 both sides of part respectively
It flexible variety and automatically resets.
The balanced structure is simple in structure, can be used for the chassis structure of the robots such as wheeled robot, crusing robot, energy
Effectively mitigate the weight of robot itself.It can turn using between the front wheel suspension 10 of balanced structure connection, rear wheel suspension 20
Dynamic, there are certain degree of freedom, and have auto-reset function, effectively improve the ability of robot itself leaping over obstacles and fit
Answer the ability of complicated landform.
The above embodiment is only preferred embodiments of the present invention, cannot be protected with this to limit the utility model
Range, the variation of any unsubstantiality that those skilled in the art is done on the basis of the utility model and replacing belongs to
In the utility model range claimed.
Claims (10)
1. a kind of robot balanced structure being hinged, it is characterised in that：Before the robot balanced structure being hinged includes
Suspension, rear wheel suspension and connector are taken turns, the connector includes fixing piece and axis pin, and pin hole is equipped in described fixing piece one end,
The connector is fixedly connected by the axis pin across the pin hole with the front wheel suspension, the fixing piece other end with it is described
Rear wheel suspension is fixedly connected, and the connector is installed on the middle part of the front wheel suspension and the rear wheel suspension.
2. the robot balanced structure being hinged as described in claim 1, it is characterised in that：The front wheel suspension and two front-wheels are cut with scissors
It connects, the rear wheel suspension and two trailing wheels are hinged, and the front wheel suspension is detached with the rear wheel suspension.
3. the robot balanced structure being hinged as described in claim 1, it is characterised in that：The robot balance being hinged
Structure further includes buffering casting die, and the buffering casting die includes pressing plate and spring, and described pressing plate one end is fixed with the rear wheel suspension
Connection, the side of the other end are abutted with the spring, and the spring other end is abutted with the front wheel suspension.
4. the robot balanced structure being hinged as claimed in claim 3, it is characterised in that：Described pressing plate one end and the trailing wheel
Suspension screw is fixedly connected, and the other end is equipped with groove, and the front wheel suspension is equipped with blind hole, and the groove is opposite with the blind hole,
The spring one end is abutted with the groove slot bottom, and the other end is abutted with the blind via bottom.
5. the robot balanced structure being hinged as described in claim 3 or 4, it is characterised in that：The buffering casting die is symmetrically pacified
Loaded on the connector both sides.
6. the robot balanced structure being hinged as claimed in claim 3, it is characterised in that：The spring is die springs.
7. the robot balanced structure being hinged as described in claim 1, it is characterised in that：The connector further include clamp spring with
Limiter, the clamp spring are connected in the one end of the fixing piece far from the pin hole, and the limiter is fixed with the fixing piece
Connection, and it is symmetrically distributed in the fixing piece both sides.
8. the robot balanced structure being hinged as described in claim 1, it is characterised in that：The fixing piece side is equipped with convex
Platform, card slot is equipped at the rear wheel suspension central axis, and the boss is contained in the card slot.
9. the robot balanced structure being hinged as described in claim 1, it is characterised in that：The fixing piece both sides are equipped with several
The connector is fixedly connected by screw hole, screw across the screw hole with the rear wheel suspension.
10. the robot balanced structure being hinged as described in claim 1, it is characterised in that：The connector, the front-wheel are outstanding
Frame and the rear wheel suspension are symmetrical structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721717674.9U CN207771807U (en) | 2017-12-11 | 2017-12-11 | A kind of robot balanced structure being hinged |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721717674.9U CN207771807U (en) | 2017-12-11 | 2017-12-11 | A kind of robot balanced structure being hinged |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207771807U true CN207771807U (en) | 2018-08-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721717674.9U Active CN207771807U (en) | 2017-12-11 | 2017-12-11 | A kind of robot balanced structure being hinged |
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| CN (1) | CN207771807U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108098733A (en) * | 2017-12-11 | 2018-06-01 | 浙江捷尚人工智能研究发展有限公司 | A kind of robot balanced structure being hinged |
-
2017
- 2017-12-11 CN CN201721717674.9U patent/CN207771807U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108098733A (en) * | 2017-12-11 | 2018-06-01 | 浙江捷尚人工智能研究发展有限公司 | A kind of robot balanced structure being hinged |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220921 Address after: Room 802, Building 18, No. 998, Wenyi West Road, Wuchang Street, Yuhang District, Hangzhou City, Zhejiang Province, 310000 Patentee after: Zhejiang Lishi industrial Interconnection Technology Co.,Ltd. Address before: 310000 rooms 502 and 602, unit 1, building 7, No. 998, Wenyi West Road, Wuchang Street, Yuhang District, Hangzhou City, Zhejiang Province Patentee before: ZHEJIANG JIESHANG ARTIFICIAL INTELLIGENCE RESEARCH AND DEVELOPMENT Co.,Ltd. |