Pre-tightening force adjusting structure, chassis suspension assembly and robot

Abstract

The invention belongs to the technical field of robots, and particularly relates to a pre-tightening force adjusting structure, a chassis suspension assembly and a robot, wherein the pre-tightening force adjusting structure comprises a connecting rod, an elastic element, a guiding column and a fixing element, wherein an installing hole is formed in the connecting rod; the elastic element is installed in the installing hole; the first end of the guiding column penetrates through the installing hole and the elastic element extends to the outer of an orifice of the installing hole; and the fixingelement is arranged at the first end of the guiding column. When the second end of the guiding column is fixed on a structural element, the relative position between the fixing element and the guiding column is adjusted to adjust the scalability of the elastic element. According to the pre-tightening force adjusting structure, the structure is simple, the scalability of the elastic element is adjustable, and different pre-tightening forces can be applied to the elastic element according to different application scenarios.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a pretightening force adjustment structure, a chassis suspension assembly and a robot. Background technique [0002] A robot is a machine device that performs work automatically. It can accept human command, run pre-programmed programs, and act according to rules formulated with artificial intelligence technology. Its mission is to assist or replace human work, such as manufacturing, construction, or hazardous work. [0003] Often the robot needs to move during the working process, but the road conditions and working conditions often change complicatedly during the moving process. Under these different road conditions and working conditions, the road surface is transmitted to the robot chassis through the tires. When the torque is too large, it is easy to cause vibration or excessive roll of the robot body, which will affect the realization of the robot's own functio...

AI Technical Summary

Problems solved by technology

[0005] 1. Poor stability when starting and stopping: Since the universal wheel is equipped with a spring, the main part of the robot that bears the load pressure is the driving wheel, and the spring on the universal wheel produces a small deformation, so that when the robot starts and stops, the robot body will rock like a seesaw

[0006] 2. The difficulty of spring selection is high: under heavy load, in order to increase the maximum static friction of the drive wheel, the universal wheel should share less load pressure, that is, the elastic coefficient should be small; under light load, in order to increase The stability of the robot body, at this time, the elastic coefficient of the spring of the universal wheel should be larger

[0007] 3. It is inconvenient to replace the spring: According to the force model of the robot, the elastic coefficient required by the spring can be calculated, but in actual use, due to various reasons, the theoretically calculated elastic coefficient may be too large or too small, and the spring should be replaced at this time It needs to be disassembled and reinstalled, which greatly increases the debugging time

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