Caster assembly and robot

Abstract

The purpose of the present application is to provide a caster assembly and a robot, wherein the caster assembly is mainly composed of a caster, a swing bracket, and a shock-absorbing bracket assembly. Among them, the swing bracket is pivotally connected to the caster through an axle; the shock-absorbing bracket assembly, the top of which is used to connect the load platform of the robot, and the bottom of which is provided with an elastic component, and one end of the elastic component is slidably connected to the first end of the swing bracket, and the other end is connected to the second end of the swing bracket. Among them, one end of the elastic component slidably connected to the swing bracket is used to slide toward the other end in a direction parallel to the load platform when the pressure on the caster increases, and to slide in the opposite direction under the rebound action of the elastic component when the pressure on the caster decreases. Compared with the prior art, the present application can improve its shock-absorbing performance to facilitate passage.

Description

Technical Field

[0001] The invention relates to the field of machinery, and in particular to a caster assembly and a robot. Background Art

[0002] In recent years, with the development of science and technology, robots have been widely used in various fields, and the intelligence of robots is getting higher and higher, and they are rapidly changing people's lifestyles.

[0003] In the structure of the robot, its casters, such as movable casters or fixed casters, play a vital role in the stability of its operation. However, in the existing structure, the casters do not have a shock-absorbing function or have poor shock-absorbing performance. Therefore, when the robot encounters obstacles or depressions during driving, it is difficult to pass normally.

[0004] Therefore, how to provide a caster assembly and a robot to improve their shock absorption performance for easy passage is a technical problem that the present invention urgently needs to solve. Summary of the invention

[0005] In view of the above-mentioned shortcomings or deficiencies of the prior art, the technical problem to be solved by the present invention is how to provide a caster assembly and a robot with improved shock absorption performance to facilitate passage.

[0006] In order to solve the above technical problems, the present invention provides a caster assembly, comprising:

[0007] Casters;

[0008] A swing bracket pivotally connected to the caster via a wheel axle;

[0009] A shock-absorbing bracket assembly, the top of which is used to connect to the load platform of the robot, and the bottom of which is provided with an elastic component, and one end of the elastic component is slidably connected to the first end of the swing bracket, and the other end is pivotally connected to the second end of the swing bracket;

[0010] Among them, one end of the elastic component is slidably connected to the swing bracket, and is used to slide toward the other end in a direction parallel to the load platform when the pressure on the caster increases, and to slide in the opposite direction under the rebound action of the elastic component when the pressure on the caster decreases.

[0011] Further preferably, the elastic component includes: a first spring and a sliding component for forming the sliding connection; wherein the sliding component is rotatably connected to the swing bracket, and when the caster is in a free state, it is pressed by the first spring to be close to one end of the shock-absorbing bracket assembly.

[0012] Further preferably, the elastic component also includes: a second spring coaxially arranged with the first spring, and a stopper for separating the first spring and the second spring; wherein the opposite ends of the first spring respectively abut against the sliding component and the stopper; and the opposite ends of the second spring respectively abut against the stopper and the shock absorbing bracket assembly.

[0013] Further preferably, the shock absorbing bracket assembly includes: a first fixed plate for rotationally connecting to the load platform, a second fixed plate arranged below the first fixed plate and used to form the pivot connection with the swing bracket, a first limit plate and a second limit plate respectively connected to the second fixed plate at opposite ends, and a guide column respectively connected to the first limit plate and the second limit plate at opposite ends; wherein, the elastic component is coaxially sleeved on the guide column.

[0014] Further preferably, the stopper has a sleeve portion for accommodating a portion of the second spring; wherein the second spring is arranged between the stopper and the second limiting plate.

[0015] Further preferably, the top of the stopper also has a sliding block portion slidably connected to the second fixing plate; wherein the second fixing plate has a limiting sliding groove matched with the sliding block portion.

[0016] Further preferably, the swing bracket is a connecting rod swing assembly; wherein, the connecting rod swing assembly includes: a first connecting rod pivotally connected to the sliding part forming the sliding connection on the elastic assembly and forming a first end; a second connecting rod pivotally connected to the first connecting rod at one end and pivotally connected to the shock absorbing bracket assembly at the other end and forming a second end; wherein the height position of the second connecting rod gradually increases from the end connected to the first connecting rod toward the end connected to the shock absorbing bracket assembly; the length of the first connecting rod is less than the length of the second connecting rod.

[0017] Further preferably, the second fixed plate also has a swing arm portion pivotally connected to the second connecting rod, and a position of a first pivot point where the first connecting rod is pivotally connected to the sliding component is higher than a position of a second pivot point where the swing arm portion is pivotally connected to the second connecting rod.

[0018] Further preferably, the connecting rod swing assembly, the swing arm portion and a part of the second fixed plate form a four-bar linkage.

[0019] Further preferably, the first connecting rod and the second connecting rod are arranged at a preset first angle; wherein the preset first angle is 30-120°.

[0020] Further preferably, a preset second angle is formed between the first connecting rod and the swing arm portion; the preset second angle is 30-60°.

[0021] Further preferably, the second connecting rod is connected to the wheel axle; the wheel axle is pivotally connected to the caster; or, one end of the wheel axle is connected to the caster, and the other end is pivotally connected to the second connecting rod.

[0022] Further preferably, the casters are two wheel bodies symmetrically arranged on opposite sides of the second connecting rod; the first connecting rod and the second connecting rod are plate-shaped connecting members.

[0023] Further preferably, the elastic component comprises at least: two guide posts and corresponding first springs and / or second springs.

[0024] Further preferably, the caster is a universal wheel.

[0025] The present application also provides a robot, comprising: the above-mentioned caster assembly.

[0026] Compared with the prior art, the caster assembly and robot provided in the present application can improve their shock absorption performance to facilitate passage. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0028] Figure 1 : A schematic structural diagram of a caster assembly in a first embodiment of the present invention;

[0029] Figure 2 : An exploded schematic diagram of a caster assembly in the first embodiment of the present invention;

[0030] Figure 3 : A schematic mid-section diagram of a caster assembly in a first embodiment of the present invention;

[0031] Figure 4 : Schematic diagram of the working state of the caster assembly in the first embodiment of the present invention Figure 1 ;

[0032] Figure 5 : Schematic diagram of the working state of the caster assembly in the first embodiment of the present invention Figure 2 ;

[0033] Figure 6 : Schematic diagram of the working state of the caster assembly in the first embodiment of the present invention Figure 3 . DETAILED DESCRIPTION

[0034] The concept, specific structure and technical effects of the present invention will be further described below in conjunction with the accompanying drawings to fully understand the purpose, characteristics and effects of the present invention.

[0035] Embodiment 1

[0036] like Figures 1 to 6 As shown, the first embodiment of the present invention provides a caster assembly, which is applied to a robot, and is mainly composed of a caster, a swing bracket, and a shock-absorbing bracket assembly. The swing bracket is pivotally connected to the caster through a wheel shaft. The shock-absorbing bracket assembly has a top portion for connecting to the load platform of the robot, and an elastic component is provided at the bottom thereof, and one end of the elastic component is slidably connected to the first end of the swing bracket, and the other end is fixedly connected to the second end of the swing bracket.

[0037] One end of the elastic component is slidably connected to the swing bracket, and is used to slide toward the other end in a direction parallel to the load platform when the pressure on the caster increases, and slide in the opposite direction under the rebound effect of the elastic component when the pressure on the caster decreases. It should be noted that the direction parallel to the load platform in this embodiment refers to a direction substantially parallel to the load platform, not absolutely parallel, and can be slightly angled to a certain extent, such as floating up and down 5 degrees.

[0038] From the above content, it can be known that: since the elastic component in the caster assembly is arranged in the horizontal direction, the pressure on the caster will change when it encounters an obstacle or an uneven terrain through the cooperation of the swing bracket and the elastic component, so that the swing force of the swing bracket pivotally connected to the caster is transmitted to squeeze the elastic component, so that the vibration of the caster in the vertical direction is converted into the telescopic movement of the elastic component, that is, the elastic component absorbs energy, and in the recovery process, the energy released by the elastic component makes the swing amplitude of the swing bracket not too large, thereby reducing the bumps of the robot.

[0039] Furthermore, through the squeezing and buffering effect of the elastic component and the cooperation between the elastic component and the swing bracket, the caster can be in three different states during operation, such as Figures 4 to 6 The three states shown are: free state A, load state B, and obstacle crossing state B, so the robot's bumping can be reduced, and the stability and shock absorption performance during operation can be improved to facilitate passage, especially when encountering gullies, obstacles, etc. In addition, the above structure is simple, easy to install and disassemble, and reduces manufacturing costs.

[0040] Specifically, the elastic component at least includes: a first spring 9, a sliding component 19 for forming a sliding connection, etc. The sliding component 19 is rotatably connected to the swing bracket, and when the caster is in a free state, it is pressed by the first spring 9 to one end of the shock-absorbing bracket assembly.

[0041] When the caster bracket assembly is installed on the robot and is in a loaded state to cross obstacles, the caster is subjected to an external force exerted by the obstacle, which is transmitted to the sliding component 19 through the caster, and then the first spring 9 is compressed to store energy. After passing through gullies, obstacles and other terrains, the first spring 9 is automatically reset through the elasticity of the first spring 9 and releases energy.

[0042] Further preferably, the elastic component also includes: a second spring 10 coaxially arranged with the first spring 9, and a stopper 13 for separating the first spring 9 and the second spring 10; wherein the opposite ends of the first spring 9 respectively abut against the sliding component 19 and the stopper 13; and the opposite ends of the second spring 10 respectively abut against the stopper 13 and the shock absorbing bracket assembly.

[0043] Since the elastic component preferably adopts a structure in which two independent springs are independently partitioned, when the caster bracket assembly is installed on the robot and is in a loaded state to cross obstacles, the caster is subjected to an external force exerted by the obstacle, which is transmitted to the sliding component 19 through the caster. Under the compression of the second spring, the stopper 13 is subjected to the force of the sliding component 19, so that the stopper 13 compresses the second spring 10 again. At this time, in addition to the force exerted by the second spring 10, the sliding component 19 is also subjected to the force of the first spring 9, and when the sliding component 19 returns to the initial position, the first spring 9 and the second spring 10 will collide with each other when they are reset, thereby achieving secondary shock absorption, making the swing of the swing bracket relatively slow, thereby further reducing the bumps of the machine and improving the stability performance. Figure 5 shown.

[0044] Moreover, the stopper 13 can be used to better divide and limit the expansion and contraction space of the first spring 9 and the second spring 10, so as to meet the requirements of staged energy storage and buffering and shock absorption. At the same time, by the way in which the sliding component 19 is rotatably connected to the swing bracket, the sliding component 19 can avoid being stuck when the swing bracket swings and reciprocates in the horizontal direction. It is worth mentioning that in this embodiment, the sliding component 19 can also be fixedly connected to the swing bracket, and the swing bracket can be rotatably connected to the caster, or the swing bracket can be rotatably connected to the caster through a rotating mechanism, so as to avoid being stuck when the sliding component 19 reciprocates in the horizontal direction.

[0045] In addition, in this embodiment, the sliding component 19 can be directly used to replace the stopper 13 to separate the first spring 9 and the second spring 10 to achieve the same purpose as above.

[0046] In detail, the shock-absorbing bracket assembly in this embodiment can be composed of a first fixing plate 3 for rotationally connecting with the load platform, a second fixing plate 6 arranged below the first fixing plate 3 and for forming a pivotal connection with the connecting rod swinging assembly, a first limit plate 8 and a second limit plate 12 respectively connected to the second fixing plate 6 at opposite ends, and a guide column 11 respectively connected to the first limit plate 8 and the second limit plate 12 at opposite ends. Among them, the elastic component is coaxially sleeved on the guide column 11, that is, the above-mentioned sliding component 19, the first spring 9, the second spring 10, and the stopper 13 are coaxially sleeved on the guide column 11.

[0047] It can be seen from the above that: through the cooperation of the first fixing plate 3, the second fixing plate 6 and the elastic component, the swing bracket can transmit the vibration energy transmitted by the caster in the vertical direction in the horizontal direction, and the elastic component absorbs, stores and releases it in the horizontal direction, thereby ensuring that the robot can move smoothly in the horizontal direction. In addition, since the first fixing plate 3 is rotatably connected to the load platform, the caster can turn arbitrarily in the horizontal direction without affecting the smooth movement of its load platform.

[0048] like Figures 4 to 5 As shown, the sliding component 19 in this embodiment is used to be pressed by the first spring 9 to one end close to the second limiting plate 12 when the caster is in a free state.

[0049] When there is no load on the first fixed plate 3, the first spring 9 can push the sliding component 19 to move the caster downward. When the robot equipped with the caster crosses a ravine, the caster moves downward, which can reduce the bumping of the robot and improve the stability performance.

[0050] When there is no load on the first fixed plate 3, the robot's own weight will apply a downward force to the wheel module, and the ground will give the caster a reaction force. When the caster pushes the sliding component 19 through the swing bracket until it reaches a stationary state, the spring force applied by the elastic component to the sliding component 19 and the force transmitted by the caster with the help of the swing bracket are in a balanced state. Therefore, when the robot is subjected to external force, such as crossing obstacles and gullies, this balanced state can make the center of gravity of the caster assembly float up and down while the center of gravity of the first fixed plate 3 remains unchanged, thereby reducing the bumps of the machine and improving the stability performance.

[0051] When the caster assembly is installed on the robot and is in a loaded state to cross obstacles, the caster is subjected to an external force exerted by the obstacle, which is transmitted to the sliding component 19 through the caster. At this time, the stopper 13 is acted upon by the sliding component 19, triggering secondary shock absorption. Specifically, the stopper 13 is subjected to the force of the sliding component 19, and the stopper 13 compresses the second spring 10 again. At this time, in addition to the force exerted by the first spring 9, the sliding component 19 is also subjected to the force of the second spring 10, thereby realizing secondary shock absorption, reducing the bumps of the machine and improving the stability performance. Figure 5 shown.

[0052] Further preferably, the stopper 13 has a sleeve portion 132 for accommodating part of the second spring 10. The second spring 10 is arranged between the stopper 13 and the second limiting plate 12. The sleeve portion 132 can be used to limit and guide the extension direction of the second spring 10, ensuring that it is still in a coaxial arrangement state during the elastic deformation process, avoiding the generation of deformation forces in other directions.

[0053] Further preferably, the top of the stopper 13 also has a slider portion 131 slidably connected to the second fixing plate 6, wherein the second fixing plate 6 has a limiting slide groove (not shown) that matches the slider portion 131. The second fixing plate 6 limits the sliding position of the slider portion 131, which can provide good guidance, reduce the wear between the stopper 13 and the guide column, and avoid the occurrence of stuck phenomena.

[0054] As a further preferred embodiment, the swing bracket is a connecting rod swing assembly. In addition, the connecting rod swing assembly includes: a first connecting rod 18 pivotally connected to a sliding component that forms a sliding connection with the elastic component and forms a first end, a second connecting rod 14 pivotally connected to the first connecting rod 18 at one end and pivotally connected to the shock-absorbing bracket assembly at the other end and forming a second end, etc. Among them, the height position of the second connecting rod 14 gradually increases from the end connected to the first connecting rod 18 toward the end connected to the shock-absorbing bracket assembly. Through this structure, it can save power, balance and optimize the structural layout, etc.

[0055] In addition, it is worth mentioning that the swing bracket in this embodiment can also be a bracket structure of other fixed shapes, such as a V-shape, etc., which will not be described in detail here. Moreover, the connecting rod swing assembly in this embodiment is not limited to two connecting rods, and can also be a multi-connecting rod structure with more than three connecting rods. In the prior art, it is sufficient to convert the up and down vibration of the caster into the left and right sliding of the sliding component.

[0056] Further preferably, the length of the first connecting rod 18 is less than the length of the second connecting rod 14. Through this structural layout, the lever principle is utilized, so that the travel of the sliding component 19 can be relatively small relative to the change caused by vibration.

[0057] Further preferably, the shock-absorbing bracket assembly further comprises a swing arm portion 61 pivotally connected to the second connecting rod 14, wherein the swing arm portion 61 is preferably a part of the second fixing plate 6, and the position of the first pivot point where the first connecting rod 18 is pivotally connected is higher than the position of the second pivot point where the swing arm portion is pivotally connected to the second connecting rod 14. This layout is conducive to lowering the center of gravity of the load platform, making the operation of the caster more stable.

[0058] Further preferably, in order to facilitate installation and disassembly in actual application, the second connecting rod 14 is connected to the axle 16; the axle is pivotally connected to the caster; or in other words, one end of the axle in this embodiment is connected to the caster, and the other end is pivotally connected to the second connecting rod 14.

[0059] Further preferably, the casters are two wheel bodies symmetrically arranged on opposite sides of the second connecting rod 14, so that the contact between the casters and the ground can be increased, making the chassis of the second fixing plate more stable.

[0060] Further preferably, the first connecting rod 18 and the second connecting rod 14 are plate-shaped connecting members, so that the force of the connecting rod swinging assembly is more balanced and the operation of the caster is smoother.

[0061] Preferably, the connecting rod swing assembly, the swing arm portion 61 and a portion of the second fixing plate 6 form a four-bar linkage. With this structural layout, the shock absorbing assembly can achieve better energy conversion and shock absorption effects when the caster encounters obstacles or terrains at any angle, and is less likely to be stuck and cause instantaneous bumps.

[0062] Further preferably, the first connecting rod 18 and the second connecting rod 14 are arranged at a preset angle. The preset angle is 30 to 120 degrees. Obviously, the preset first angle in this embodiment can also be designed as other angle settings to form a V-shaped angle, such as 15 degrees, 135 degrees, etc.

[0063] Further preferably, a preset second angle is formed between the first connecting rod 18 and the swing arm portion 61; wherein the preset second angle is 30 to 60 degrees. Obviously, the preset first angle in this embodiment can also be designed as other angles to form a V-shaped angle, such as 15 degrees, 135 degrees, etc.

[0064] Further preferably, the elastic component at least comprises: two guide posts 11 and corresponding first springs 9 and / or second springs 10. With this structure, the sliding of the slider 131 is made more stable, thereby achieving a further shock-absorbing effect.

[0065] Further preferably, the caster is a universal wheel.

[0066] In order to briefly explain the above structure, the assembly process is as follows:

[0067] Step 1: Assemble the shock-absorbing bracket assembly and the upper fixing area of ​​the load platform:

[0068] The small bearing 5 is respectively fixed tightly to the first fixed plate 3, the large bearing 4, and the second fixed plate 6, and then the upper fixed shaft 1 passes through the bearing pressure plate 2, the first fixed plate 3 with the bearing assembly, and the second fixed plate 6 with the bearing assembly, and then the shaft 7 is fastened with fixing screws to complete the assembly. Then, the second fixed plate 6 can rotate 360° around the small bearing 5.

[0069] Step 2: Assemble the lower mounting area where the shock-absorbing bracket assembly is connected to the caster:

[0070] Fix the guide column 11 on the spring fixing plate 12 with screws, pass the sliding component 19 through the two holes of the guide column 11, and then coaxially pass the stopper 13 through the guide column 11, insert the first spring 9 into the guide column 11, and then insert the second spring 10 into the stopper 13, finally fix the guide column 11 and the spring fixing plate 8 with screws, and then fix the entire shock absorber module to the upper fixing area.

[0071] Step 3: Assemble the shock-absorbing bracket assembly and the swing bracket:

[0072] The first connecting rod 18 and the sliding component 19 are fixed by the first rotating shaft 20; the first connecting rod 18 is pivotally connected to the second connecting rod 14 by the second rotating shaft 20; the second connecting rod 14 and the second fixed plate 6 are connected and fixed by the third rotating shaft 15, and the wheel shaft 16 is fixed under the second connecting rod 14 by screws, and the two wheel bodies 21 are fixed at both ends of the wheel shaft 16.

[0073] Embodiment 2

[0074] The present application also provides a robot, comprising: the caster assembly in the above-mentioned embodiment 1.

[0075] The above embodiments are only used to illustrate the technical solution of the present invention but not to limit it. The present invention is described in detail with reference to the preferred embodiments. It should be understood by those skilled in the art that the technical solution of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present invention, and all should be included in the scope of the claims of the present invention.

Claims

1. A caster assembly, comprising: The caster is characterized in that it also includes: A swing bracket pivotally connected to the caster via a wheel axle; A shock-absorbing bracket assembly, the top of which is used to connect to the load platform of the robot, and the bottom of which is provided with an elastic component, and one end of the elastic component is slidably connected to the first end of the swing bracket, and the other end is pivotally connected to the second end of the swing bracket; Wherein, one end of the elastic component is slidably connected to the swing bracket, and is used to slide toward the other end in a direction parallel to the load platform when the pressure on the caster increases, and to slide in the opposite direction under the rebound action of the elastic component when the pressure on the caster decreases; The elastic component comprises: a first spring (9) and a sliding component (19) for forming the sliding connection; wherein the sliding component (19) is rotatably connected to the swing bracket and is pressed by the first spring (9) to be in close contact with one end of the shock-absorbing bracket component when the caster is in a free state; The elastic component further comprises: a second spring (10) coaxially arranged with the first spring (9), and a stopper (13) for separating the first spring (9) and the second spring (10); wherein the opposite ends of the first spring (9) respectively abut against the sliding component (19) and the stopper (13); and the opposite ends of the second spring (10) respectively abut against the stopper (13) and the shock-absorbing bracket assembly; The shock-absorbing bracket assembly comprises: a first fixing plate (3) for being rotatably connected to the load platform, a second fixing plate (6) arranged below the first fixing plate (3) and for forming the pivotal connection with the swing bracket, a first limiting plate (8) and a second limiting plate (12) respectively connected to the second fixing plate (6) at opposite ends, and a guide column (11) respectively connected to the first limiting plate (8) and the second limiting plate (12) at opposite ends; wherein the elastic component is coaxially sleeved on the guide column (11); The swing bracket is a connecting rod swing component.

2. The caster assembly according to claim 1, characterized in that: The stopper (13) has a sleeve portion (132) for accommodating a portion of the second spring (10); wherein the second spring (10) is arranged between the stopper (13) and the second limiting plate (12).

3. The caster assembly according to claim 1, characterized in that: The top of the stopper (13) also has a sliding block portion (131) slidably connected to the second fixing plate (6); wherein the second fixing plate (6) has a limiting sliding groove matched with the sliding block portion (131).

4. The caster assembly according to claim 1, characterized in that: in, The connecting rod swing assembly comprises: a first connecting rod (18) pivotally connected to the sliding component forming the sliding connection on the elastic assembly and forming a first end; a second connecting rod (14) pivotally connected to the first connecting rod (18) at one end and pivotally connected to the shock-absorbing bracket assembly at the other end and forming a second end; wherein the height position of the second connecting rod (14) gradually increases from the end connected to the first connecting rod (18) toward the end connected to the shock-absorbing bracket assembly; and the length of the first connecting rod (18) is less than the length of the second connecting rod (14).

5. The caster assembly according to claim 4, characterized in that: The second fixing plate (6) further comprises a swing arm portion (61) pivotally connected to the second connecting rod (14), and the position of a first pivot point at which the first connecting rod (18) is pivotally connected to the sliding component (19) is higher than the position of a second pivot point at which the swing arm portion (61) is pivotally connected to the second connecting rod (14).

6. The caster assembly according to claim 5, characterized in that: The connecting rod swing assembly, the swing arm portion (61) and a portion of the second fixed plate (6) form a four-bar linkage; the first connecting rod (18) and the second connecting rod (14) are arranged at a preset first angle; the first connecting rod (18) and the swing arm portion (61) are arranged at a preset second angle; wherein the preset first angle is 30 to 120 degrees; and the preset second angle is 30 to 60 degrees.

7. The caster assembly according to claim 5, characterized in that: The second connecting rod (14) is connected to the wheel axle (16); the wheel axle is pivotally connected to the caster; or one end of the wheel axle is connected to the caster, and the other end is pivotally connected to the second connecting rod (14).

8. The caster assembly according to claim 7, characterized in that: The casters are two wheel bodies symmetrically arranged on opposite sides of the second connecting rod (14); the first connecting rod (18) and the second connecting rod (14) are plate-shaped connecting parts.

9. The caster assembly according to any one of claims 1 to 8, characterized in that: The elastic component comprises at least: two guide posts (11) and corresponding first springs (9) and / or second springs (10).

10. The caster assembly according to claim 1, characterized in that: The casters are universal wheels.

11. A robot, characterized in that: include: A castor assembly according to any one of claims 1 to 10.

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