A robot

Abstract

The present application relates to the field of intelligent machines and provides a robot, comprising a machine body, a moving part, and a shock-absorbing component; the moving part is connected to the machine body through the shock-absorbing component, and the shock-absorbing component includes a support member, a transmission member, and a buffer member; the support member is installed at the bottom of the machine body, and the driving end of the machine body provides transmission to the support member; one end of the transmission member is connected to one end of the support member close to the machine body, the other end is connected to the moving part, and the side close to the moving part is connected to the end of the support member far from the machine body through the buffer member; the transmission member is inclined towards the buffer member with the connection point of the support member close to the machine body as the axis. The present application has the effect of providing shock absorption and reducing the impact of vibration on the motor.

Description

Technical Field

[0001] This application relates to the field of intelligent machines, and particularly to a robot. Background Art

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. A robot can perform tasks such as operations or movements through programming and automatic control. In particular, it refers to a mobile charging robot.

[0003] A mobile charging robot refers to a robot or a charging vehicle that can move to the positions of vehicles, equipment, etc. that need to be charged and provide emergency power supply. It generally uses driverless and automatic navigation and positioning, and belongs to the field of artificial intelligence.

[0004] During the process of driving such mobile charging robots or charging vehicles to the designated locations, they will encounter different road conditions, such as bumpy roads, roads with too many stones, roads with speed bumps and slopes. These road conditions will cause varying degrees of vibrations when the mobile charging robots or charging vehicles roll on the road surface. As the moving speed of the mobile charging robot or electric vehicle changes, the vibration amplitude will also change with the moving speed and road conditions. Excessive vibration amplitude will cause the wheels to transmit the vibration force to the motor, resulting in the motor being vibrated as well, and it is easy to damage the motor.

[0005] Regarding the related technology above, the inventor believes that there is a defect that the vibration of the wheels affects the operation of the motor. Summary of the Invention

[0006] In order to improve the problem that the vibration of the wheels affects the operation of the motor, this application provides a robot.

[0007] A robot provided by this application adopts the following technical solutions:

[0008] A robot includes a machine main body, a moving part, and a shock absorption component; the moving part is connected to the machine main body through the shock absorption component;

[0009] The shock absorption component includes a support part, a transmission part, and a buffer part; the support part is installed at the bottom of the machine main body, and the driving end of the machine main body provides transmission to the support part; one end of the transmission part is connected to one end of the support part close to the machine main body, and the other end is connected to the moving part, and the side close to the moving part is connected to the end of the support part far from the machine main body through the buffer part; the transmission part is inclined towards the buffer part with the connection point with the end of the support part close to the machine main body as the axis.

[0010] By adopting the above technical solution, the driving device (such as a motor) installed on the machine body is indirectly connected to the moving part through the transmission component, and the power is transmitted through the transmission component to drive the moving part to move, so as to realize the movement of the robot. During the movement, when the moving part encounters an uneven road surface, it vibrates due to the change of external force. Since the moving part is directly connected to the transmission component, the vibration of the moving part does not directly act on the motor, thereby avoiding the vibration being directly transferred to the motor and affecting the stability of the motor. Furthermore, by setting a buffer component, and the transmission component is inclined to the buffer component, when the moving part is vibrated, the transmission component is driven to lift in the inclined direction, and finally the vibration force is transmitted to the buffer component. Based on this, the vibration force is weakened by the buffer component, thereby realizing the shockproof of the machine body, and further reducing the impact of the vibration on the machine body on the stability of the motor.

[0011] Preferably, the supporting component includes a supporting seat, a fixed seat, a linkage bearing and a linkage wheel group; the supporting seat is installed on the machine body and is provided with a connecting port for connecting the transmission component; the fixed seat is installed on the bottom of the supporting seat; the linkage bearing is installed on the supporting seat; the linkage wheel group is sleeved on the linkage bearing and is connected to the output end of the machine body, and the transmission is provided by the output end of the machine body.

[0012] By adopting the above technical solution, the supporting component provides installation and support for the transmission component. The main function of the linkage wheel group is to transmit the motor driving force to the transmission component, so that the moving part can obtain the driving force to drive the robot to move and walk, thereby ensuring the normal movement of the robot. Based on this, a linkage wheel group is also connected between the transmission component and the motor, so that when the transmission component rotates or vibrates, it will not have a direct impact on the motor, thereby minimizing the instability of the motor due to the vibration of other components.

[0013] Preferably, the linkage wheel set is a bevel gear, and the bevel gear is transmission-connected to the input end of the transmission component.

[0014] By adopting the above technical solution and setting the linkage wheel set as a bevel gear, the installation orientation and transmission direction of the motor can be adapted to improve adaptability.

[0015] Preferably, a rotary bearing is provided between the support seat and the machine body, and the support seat is fixedly connected to the rotary bearing.

[0016] By adopting the above technical solution, the rotating bearing can adjust the moving direction of the robot or the charging vehicle. The function of the rotating bearing is to drive the support seat to rotate synchronously, and drive the rotation of the transmission component through the support seat, and then the transmission component drives the moving part to rotate, so that the movement direction of the moving part can be adjusted, that is, the steering of the robot can be realized.

[0017] Preferably, the transmission component includes a load-bearing frame, a transmission group, a support wheel, a support shaft, a fixed bearing, a moving seat and a connecting frame; the support shaft is connected to the support component; the support wheel and the fixed bearing are sequentially installed on the support shaft, and the support wheel is driven by the output end of the support component; one end of the load-bearing frame is installed on the fixed bearing, and the other end is connected to the moving part, and is inclined towards the buffer component with the support shaft as the axis; the transmission group is installed on the side of the load-bearing frame away from the support wheel, and one end is connected to the support shaft and the other end is connected to the moving part; one side of the moving seat is connected to the load-bearing frame, and the other side is connected to the end of the moving part away from the transmission group through the connecting frame, and the moving seat is located between the support component and the moving part.

[0018] By adopting the above technical solution, when the motor provides drive, the driving force is transmitted to the support shaft through the support wheel, the support shaft rotates along the fixed bearing, and the transmission group rotates during the rotation process to drive the moving part to rotate. When the moving part moves on an uneven road surface and is affected by vibrations, the moving part will be squeezed and bounced to generate a vibration force, which transmits the vibration force to the load-bearing frame. Since the load-bearing frame is inclined towards the buffer component with the support shaft as the axis, the load-bearing frame and the transmission group installed on the load-bearing frame will rotate obliquely along the support shaft towards the buffer component, thereby transmitting the vibration force to the buffer component, and most of the vibration force is offset by the buffer component, preventing the vibration from being transmitted to the motor inside the machine body through the load-bearing frame.

[0019] Preferably, the transmission group includes a plurality of transmission wheels, and one end of the rotating shaft of the moving part is connected to the transmission wheel.

[0020] By adopting the above technical solution, a combination of multiple transmission wheels is set to adapt to different sizes of the moving part and enhance the adaptability.

[0021] Preferably, it further includes a closed cover, and the closed cover is installed on the transmission component.

[0022] By adopting the above technical solution, the closed cover provides shielding and protection. The size of the closed cover can fit the load-bearing frame, preventing sundries from entering the transmission group and jamming the transmission group.

[0023] Preferably, the buffer component includes a buffer member and an elastic member; one end of the buffer member is connected to the end of the support component away from the machine body, and the other end is connected to the side of the transmission component close to the moving part, and the end of the transmission component connected to the moving part is inclined close to the buffer member; the elastic member is sleeved on the buffer member and is located between the support component and the transmission component.

[0024] By adopting the above technical solution, when the buffer component generates vibration in the moving part, the transmission component tilts along the connection port, and drives the connection point between the transmission component and the buffer to move along the buffer towards the support component. While moving, the elastic component is extruded. When the elastic component is extruded, the elastic component generates an elastic force opposite to the extrusion force, offsetting the vibration force, thereby making the robot move more smoothly.

[0025] Preferably, the support component of the buffer component and the transmission component are correspondingly provided with limiting ports, and the size of the limiting ports is larger than the outer diameter of the elastic component. Both ends of the elastic component are located in the corresponding limiting ports.

[0026] By adopting the above technical solution, the limiting ports are provided to prevent the elastic component from shifting in position. At the same time, it also ensures that when the elastic component deforms due to extrusion, the whole is located within the limiting ports, protecting the elastic component and reducing its vulnerability.

[0027] Preferably, the buffer component further includes a plurality of limiting parts, and a plurality of limiting parts are provided on the transmission component, and the limiting parts are located beside the buffer.

[0028] By adopting the above technical solution, when the machine body runs on a relatively smooth road surface, a part of the length of the limiting part extending towards the fixed seat can be extended, reducing the compressible space between the moving seat and the fixed seat, so as to limit the compression range of the elastic component, adjust the compressibility of the elastic component, avoid the elastic component from cracking due to excessive compression, extend the service life of the elastic component, and at the same time avoid affecting the connection stability between the moving part and other components due to excessive vibration.

[0029] In summary, the present application includes at least one of the following beneficial technical effects:

[0030] 1. The driving device (such as a motor) installed on the machine body is indirectly connected to the moving part through the transmission component, and at the same time, the power is transmitted through the transmission component to drive the moving part to move forward, realizing the movement of the robot. During the movement, when the moving part encounters an uneven road surface, it vibrates due to the change of external force. Since the moving part is directly connected to the transmission component, the vibration of the moving part will not directly act on the motor, thus avoiding the direct transduction of vibration to the motor and affecting the stability of the motor;

[0031] 2. Further, by setting the buffer component and setting the transmission component to be inclined towards the buffer component, when the moving part is vibrated, it drives the transmission component to lift along the inclined direction, and finally transmits the vibration force to the buffer component. Based on this, the buffer component weakens the vibration force, thereby realizing the shock absorption of the machine body and further reducing the influence on the stability of the motor due to the vibration impact on the machine body;

[0032] 3. The moving part squeezes the elastic part through the connecting frame and the transmission part. The elastic part is squeezed by the elastic force and presses against the supporting part, so that the elastic part generates an elastic force to provide buffering, so as to reduce the shock force and reduce the transmission of the shock force to the machine body and the supporting part, reduce the influence of vibration on equipment such as motors, and extend the service life. Brief Description of the Drawings

[0033] Figure 1 is a three-dimensional structural schematic diagram of the robot in Embodiment 1 of the present application;

[0034] Figure 2 is a three-dimensional structural schematic diagram of the shock absorption component in Embodiment 1 of the present application;

[0035] Figure 3 is a three-dimensional structural schematic diagram of the supporting part from the first perspective in Embodiment 1 of the present application;

[0036] Figure 4 is a three-dimensional structural schematic diagram of the supporting part from the second perspective in Embodiment 1 of the present application;

[0037] Figure 5 is a three-dimensional structural schematic diagram of the transmission part from the first perspective in Embodiment 1 of the present application;

[0038] Figure 6 is a three-dimensional structural schematic diagram of the transmission part from the second perspective in Embodiment 1 of the present application;

[0039] Figure 7 is a three-dimensional structural schematic diagram of the closing cover in Embodiment 1 of the present application;

[0040] Figure 8 is a three-dimensional structural schematic diagram of the buffer part from the first perspective in Embodiment 1 of the present application;

[0041] Figure 9 is a three-dimensional structural schematic diagram of the buffer part from the second perspective in Embodiment 1 of the present application;

[0042] The reference signs in the drawings are: 1. Machine body, 2. Moving part, 3. Shock absorption component, 31. Supporting part, 311. Support seat, 312. Fixed seat, 313. Linkage bearing, 314. Linkage wheel set, 315. Pivot interface, 316. Rotating bearing, 32. Transmission part, 321. Load-bearing frame, 322. Transmission group, 323. Support wheel, 324. Support shaft, 325. Fixed bearing, 326. Moving seat, 327. Connecting frame, 33. Buffer part, 331. Buffer member, 332. Elastic member, 333. Limiting port, 334. Limiting part, 335. Threaded hole, 34. Closing cover, 4. Driving device, 5. Steering device, 6. Power supply device. Detailed Description of the Invention

[0043] The following is combined with the attachedFigure 1 - Attachment Figure 9 , the present application will be further described in detail below.

[0044] The embodiment of the present application discloses a robot.

[0045] Embodiment 1:

[0046] A robot, as shown in reference to Figure 1 , includes a machine body 1, a moving part 2, and a shock absorption component 3; the moving part 2 is connected to the machine body 1 through the shock absorption component 3, where the driving device 4 can be an element such as a motor that provides walking power for the robot. In this embodiment, the motor is taken as an example for illustration. The moving part 2 may include wheels and tires and a rotating shaft connecting the wheels. A steering device 5 and a power supply device 6 are also provided inside the machine body 1. Among them, the power supply device 6 provides power supply for the operation of the driving device 4 and the steering device 5, and can store electricity and deliver the electricity to other external devices, such as charging devices that need to be charged, such as electric vehicles and work benches.

[0047] The shock absorption component 3 is correspondingly arranged with the moving part 2. Among them, the number of the moving parts 2 can be set according to the specific structural requirements of the robot. In this embodiment, the moving part 2 is set to be [number], and the corresponding shock absorption component 3 is set to be [number] groups.

[0048] As shown in reference to Figure 2 , the shock absorption component 3 includes a support member 31, a transmission member 32, and a buffer member 33; the support member 31 is installed at the bottom of the machine body 1, and the output end of the machine body 1 (i.e., the output end of the motor) provides transmission to the support member 31; one end of the transmission member 32 is connected to one end of the support member 31 close to the machine body 1, and the other end is connected to the moving part 2, and the side close to the moving part 2 is connected to the end of the support member 31 far from the machine body 1 through the buffer member 33; the transmission member 32 is inclined towards the buffer member 33 with the connection point with the end of the support member 31 close to the machine body 1 as the axis. The moving part 2 obtains the traveling power by providing transmission to the support member 31 and the transmission member 32 through the output end of the driving device 4. Among them, the end of the transmission member 32 connected to the support member 31 is in transmission connection with the driving device 4.

[0049] The moving part 2 is connected to the transmission member 32; the specific connection method can be a movable connection. Taking the moving part 2 using wheels as an example, both sides of the rotating shaft of the wheels are movably connected to both ends of the transmission member 32. Among them, the driving device 4 is the transmission source of the moving part 2, and the motor inside the machine body 1 is connected in series with the moving part 2 through the transmission member 32, so that the machine body 1 can drive the moving part 2 to move through the transmission member 32 to achieve the purpose of moving the entire machine body 1.

[0050] At present, the motor of the existing mobile charging robot or charging vehicle is directly connected to the moving part 2 for output transmission. Even if there is shock absorption between the moving part 2 and the machine body 1, the motor will still be affected by the transmission of vibration force, and the protection of the motor is insufficient. It is easy to cause the motor in operation to be damaged due to vibration. Especially during the moving process, when the moving part 2 encounters an uneven road surface, the moving part 2 will generate vibration. In the embodiment of the present application, since both ends of the rotating shaft of the moving part 2 are connected to the transmission component 32, and the connection point of the transmission component 32 and the support component 31 close to the machine body 1 is a movable connection.

[0051] When the robot is in a horizontal position, the transmission component 32 is inclined along the vertical direction of the support component 31 with the movable connection point of the support component 31 as the axis towards the buffer component 33, so that the two end parts of the transmission component 32 are not on the same vertical plumb line. That is, in the state where the robot is horizontally placed, the transmission component 32 is inclined relative to the vertical direction. Since the external steering device 5 can drive the moving part 2 and the transmission component 32 to turn, the inclination direction of the transmission component 32 will change, and the inclination direction is not limited here. Optionally, the inclination angle of the transmission component 32 can be set to 2-5 degrees to adapt to the distribution of force. In the case of force analysis, the force received by this inclination angle is smaller, which is sufficient to make the transmission component 32 drive the moving part 2 to incline, and other forces are supported by the support component 31. The larger the inclination angle of the transmission component 32, the greater the force. Since the transmission component 32 is not the main load-bearing component, it is easy to break or disengage under excessive force. Therefore, the inclination angle of 2-5 degrees is the best angle range, and 3 degrees is the best angle.

[0052] The buffer component 33 is located between the transmission component 32 and the support component 31. Therefore, when the moving part 2 is vibrated, it drives the transmission component 32 to rotate along the support component 31, and finally transmits the vibration force to the buffer component 33. Based on this, the force generated by the vibration does not directly pass through the transmission component 32 to the motor, but most of the vibration force is transmitted to the buffer component 33, so as to generate an acting force opposite to the vibration through the buffer component 33 to offset the vibration force, reduce the influence of the vibration force on the motor inside the machine body 1 when the moving part 2 vibrates, and maintain the stable state of the motor.

[0053] Reference Figure 3 As shown, among them, the support component 31 includes a support seat 311, a fixed seat 312, a linkage bearing 313 and a linkage wheel set 314; the support seat 311 is installed on the machine body 1 and is provided with a connection port for connecting the transmission component 32; the fixed seat 312 is installed at the bottom of the support seat 311; the linkage bearing 313 is installed on the support seat 311; the linkage wheel set 314 is sleeved on the linkage bearing 313 and is connected to the output end of the machine body 1 and is driven by the output end of the machine body 1.

[0054] The function of the connection port is to provide a connection point with the transmission component 32. With the connection port as the fulcrum, one end of the transmission component 32 away from the connection port is inclined towards the buffer component 33. The linkage wheel set 314 is a bevel gear, and the bevel gear is drivingly connected to the input end of the transmission component 32; by setting the linkage wheel set 314 as a bevel gear, it can adapt to the installation orientation and transmission direction of the motor, improving the adaptability.

[0055] Referring to Figure 4 As shown, a rotary bearing 316 is provided between the support seat 311 and the machine body 1, and the support seat 311 is fixedly connected to the rotary bearing 316; the function of the rotary bearing 316 is to enable the support seat 311 to rotate along the rotary bearing 316, and in cooperation with the external steering device 5, it can provide the steering function of the moving part 2. A transmission part can be provided on the support seat 311, and the transmission part can be a gear. By connecting the transmission part to the internal steering device 5 of the robot, the transmission part and the support seat 311 can be driven to rotate along the rotary bearing 316 through the steering device 5 of the robot, so as to achieve the function of automatically controlling the steering of the moving part 2.

[0056] Referring to Figure 5 As shown, among them, the transmission component 32 includes a load-bearing frame 321, a transmission group 322, a support wheel 323, a support shaft 324, a fixed bearing 325, a moving seat 326 and a connecting frame 327; the support shaft 324 is connected to the support component 31; the support wheel 323 and the fixed bearing 325 are sequentially installed on the support shaft 324, and the support wheel 323 is driven by the output end of the support component 31; one end of the load-bearing frame 321 is installed on the fixed bearing 325, and the other end is connected to the moving part 2, and it is inclined towards the buffer component 33 with the support shaft 324 as the axis; the transmission group 322 is installed on the side of the load-bearing frame 321 away from the support wheel 323, and one end is connected to the support shaft 324 and the other end is connected to the moving part 2; one side of the moving seat 326 is connected to the load-bearing frame 321, and the other side is connected to the end of the moving part 2 away from the transmission group 322 through the connecting frame 327, and the moving seat 326 is located between the support component 31 and the moving part 2. The connection method between the transmission group 322 and the support shaft 324 is a fixed connection, and the connection method with the moving part 2 is a fixed connection, and the fixed connection point is the rotating shaft of the moving part 2.

[0057] The transmission component 32 is a connection bridge between the machine body 1 and the moving part 2. The load-bearing frame 321 provides the installation of the transmission group 322. The load-bearing frame 321 can be an H-shaped frame, and an H shape is formed by connecting through the connecting frame 327 and the moving seat 326. One end of the load-bearing frame 321 provides support through the support shaft 324 and is connected to the buffer component 33 through the moving seat 326. The connection method can be a movable connection, so that the load-bearing frame 321 can be inclined towards the buffer component 33 along the support shaft 324 through the moving seat 326.

[0058] When the robot is in a horizontal position, the support wheel 323 is connected to the linkage wheel set 314. For example, the support wheel 323 meshes with the linkage wheel set 314, so that when the linkage wheel set 314 is driven by the machine body 1, it drives the support wheel 323 to rotate. During the rotation of the support wheel 323 along the fixed bearing 325, it drives the transmission group 322 to rotate, and the transmission group 322 provides the traveling power for the moving part 2. The support shaft 324 can not only rotate along the fixed bearing 325, but also rotate or tilt along the connection port when providing driving force. The support shaft 324 is sleeved on the fixed bearing 325, and the load-bearing frame 321 is fixedly installed on the fixed bearing 325. Therefore, the load-bearing frame 321 can tilt in the vertical direction of the support seat 311 towards the buffer component 33 with the support shaft 324 and the connection port as the axis, and the two end parts of the load-bearing frame 321 are not on the same vertical line after tilting. When the load-bearing frame 321 tilts, it is pushed towards the fixed seat 312 along the buffer component 33 through the moving seat 326, and is supported by the buffer component 33 and the fixed seat 312. Since the load-bearing frame 321 provides a support point for one end of the rotating shaft of the moving part 2 through the connecting frame 327, when the moving part 2 generates a vibration force, the load-bearing frame 321 rotates along the support shaft 324 through the fixed bearing 325, increasing the tilt angle. The upward pressure vibration force is transmitted to the buffer component 33 through the load-bearing frame 321, and part of the vibration force is offset by the reaction force provided by the buffer component 33.

[0059] Reference Figure 6 As shown, the initial tilt angle of the load-bearing frame 321 tilting with the support shaft 324 and the connection port as the center can be set to 2 - 5 degrees to adapt to the distribution of force. In the case of force analysis, this tilt angle makes the force on the support shaft 324 smaller, which is sufficient to make the support shaft 324 cooperate with the load-bearing frame 321 to drive the moving part 2 to tilt, and other forces are supported by the support component 31. The larger the tilt angle of the load-bearing frame 321 in the vertical direction of the support shaft 324, the greater the force. Since the support shaft 324 is not the main load-bearing component, it is prone to breakage, damage or detachment from the connection port when subjected to excessive force. Therefore, the initial tilt angle of 2 - 5 degrees is the best angle, and the maximum angle at which the load-bearing frame 321 continues to tilt towards the buffer component 33 after being stressed can reach about 20 degrees.

[0060] Among them, the transmission group 322 includes a number of transmission wheels. One end of the rotating shaft of the moving part 2 is connected to the transmission group 322, and each transmission wheel corresponds to a bearing. The rotating shaft of the moving part 2 is fixedly connected to the last transmission wheel. The transmission wheels mesh with each other. A number of bearings are provided on the load-bearing frame 321, and a corresponding transmission wheel and rotating shaft are provided on each bearing. The first transmission wheel is connected to the support shaft 324. Therefore, during the rotation of the support shaft 324, the first transmission wheel is driven to rotate. The first transmission wheel drives other transmission wheels to rotate until the last transmission wheel is connected to the rotating shaft of the moving part 2, thereby driving the moving part 2 to rotate. The number of transmission wheels provided is determined by the specific size of the transmission wheels and the size of the moving part 2.

[0061] Refer to Figure 7 As shown, it further includes a closing cover 34. The closing cover 34 is installed on the transmission component 32. The function of the closing cover 34 is to cover and protect the transmission component 32, that is, the closing cover 34 is provided on the load-bearing frame 321 to cover the transmission group 322, preventing stones and branches from getting stuck in the gears of the transmission wheels during the movement of the machine body 1, resulting in abnormal operation of the transmission wheels. Through the provision of the closing cover 34 for shielding and protection, the size of the closing cover 34 can fit the load-bearing frame 321.

[0062] When the motor in the machine body 1 provides drive, the driving force is transmitted to the support shaft 324 through the support wheel 323. The support shaft 324 rotates along the fixed bearing 325. During the rotation process, the transmission group 322 is driven to rotate to drive the moving part 2 to rotate. When the moving part 2 moves on an uneven road surface and generates vibration effects, the moving part 2 will generate a vibration force pressing upwards on the transmission component 32. The load-bearing frame 321 is affected by the vibration force and thus rotates along the connection port through the support shaft 324, causing the entire moving part 2 to tilt along the support shaft 324. During the tilting process, the buffer component 33 provides a reaction force to offset part of the vibration force, thereby reducing the vibration force generated during the operation of the moving part 2 from being transmitted to the machine body 1 and the motor through the load-bearing frame 321 and affecting the operation of the motor.

[0063] Refer to Figure 8 As shown, among them, the buffer component 33 includes a buffer member 331 and an elastic member 332. One end of the buffer member 331 is connected to the end of the support component 31 away from the machine body 1, and the other end is connected to the side of the transmission component 32 close to the moving part 2, and the end of the transmission component 32 connected to the moving part 2 is inclined close to the buffer member 331. The elastic member 332 is sleeved on the buffer member 331 and is located between the support component 31 and the transmission component 32. By providing the buffer component 33, the vibration force generated by the moving part 2 can be weakened to improve the stability of the robot and reduce the transmission of the generated vibration force to the motor to maintain the stable operation of the motor.

[0064] Specifically, one end of the buffer member 331 is mounted on the fixed seat 312, and the other end is slidably connected to the moving seat 326. The slidable connection between the buffer member 331 and the moving seat 326 can be achieved by screwing an external nut. For example, a through hole is formed in the moving seat 326. One end of the buffer member 331 is fixedly mounted at one end of the fixed seat 312 close to the moving part 2, and the other end passes through the through hole and extends downward below the moving seat 326. An external thread is provided at the end extending downward. By screwing the buffer member 331 located at one end of the moving seat 326 with an external nut, and the size of the nut is larger than the size of the through hole, the buffer member 331 can be prevented from detaching from the moving seat 326, and the moving seat 326 can also slide along the buffer member 331. The buffer member 331 can be a damping structure, and the external nut member can also be integrally provided with the buffer member 331. Without threading connection, the same limiting effect can be achieved.

[0065] The elastic member 332 can be composed of a plurality of compression springs combined. In this embodiment, the number of compression springs corresponding to each moving part 2 is 2. Sufficient elastic force is provided by the compression springs for buffering. The elastic member 332 is sleeved on the buffer member 331. Therefore, one end is connected to the fixed seat 312, and the other end passes through the buffer member 331 and is connected to the moving seat 326. The connection method can be a fixed connection, or the two ends can be abutted against the fixed seat 312 and the moving seat 326 in sequence, both of which do not affect the use effect.

[0066] When the moving part 2 vibrates, the transmission member 32 inclines along the connection port, and drives the moving seat 326 to move along the buffer member 331 towards the fixed seat 312. While moving, the elastic member 332 is squeezed. When the elastic member 332 is squeezed, the elastic member 332 generates an elastic force opposite to the vibration force, offsetting part of the vibration force, so that the robot moves more smoothly. At the same time, the elastic member 332 will also rebound the transmission member 32 to its original position to reduce the impact when being vibrated next time.

[0067] Reference Figure 9 As shown, the buffer member 33, the support member 31 and the transmission member 32 are correspondingly provided with limiting ports 333, and the size of the limiting ports 333 is larger than the outer diameter of the elastic member 332. Both ends of the elastic member 332 are located in the corresponding limiting ports 333; Limiting ports 333 are formed at the bottom of the fixed seat 312 and the top of the moving seat 326. One end of the elastic member 332 is located in the limiting port 333 at the bottom of the fixed seat 312, and the other end is located in the limiting port 333 at the top of the moving seat 326. When the elastic member 332 is squeezed, it is limited and fixed through the limiting port 333 to prevent the elastic member 332 from deviating under force and reduce the occurrence of the situation where the elastic member 332 deviates. During the compression process of the elastic member 332, deviation affects normal expansion and contraction and is easy to be damaged. The limiting port 333 provides limitation to protect the normal expansion and contraction of the elastic member 332.

[0068] Among them, the buffer member 33 further includes a number of limiting portions 334. A number of limiting portions 334 are provided on the transmission member 32, and the limiting portions 334 are located beside the buffer member 331. The installation position of the limiting portion 334 is on the moving seat 326. A threaded hole 335 is formed in the moving seat 326. The limiting portion 334 can be a screw rod, and the screw rod can be screwed into the threaded hole 335 and extends through the threaded hole 335 towards the fixed seat 312. In this embodiment, the number of limiting portions 334 provided for each moving portion 2 is 2, and the threaded hole 335 can be replaced by a nut.

[0069] Setting the limiting portion 334 can adjust the distance between the moving seat 326 along the buffer member 331 and the fixed seat 312. For example, when the limiting portion 334 is a screw rod, the screw rod is screwed into the threaded hole 335, so that the protruding part of the limiting portion 334 is located between the moving seat 326 and the fixed seat 312, thereby reducing the movable space of the moving seat 326 towards the fixed seat 312. Therefore, the compressible degree of the elastic member 332 is reduced. The longer the ejection range of the limiting portion 334, the lower the compressible degree of the elastic member 332, avoiding multiple excessive squeezes of the elastic member 332, providing partial protection for the elastic member 332, extending the service life of the elastic member 332, and the extending length of the limiting portion 334 can also be adjusted according to the specific road conditions.

[0070] The implementation principle of the embodiment of this application includes: The driving device 4 (such as a motor) installed on the machine body 1 is indirectly connected to the moving portion 2 through the transmission member 32, and at the same time, power is transmitted through the transmission member 32 to drive the moving portion 2 to move forward, realizing the movement of the robot. During the movement, when the moving portion 2 encounters an uneven road surface, it vibrates due to the change in external force. Since the moving portion 2 is directly connected to the transmission member 32, the vibration of the moving portion 2 will not directly act on the motor, thus avoiding the direct transduction of vibration to the motor and affecting the stability of the motor. Further, by setting the buffer member 33 and the transmission member 32 is inclined towards the buffer member 33, when the moving portion 2 is vibrated, it drives the transmission member 32 to lift along the inclined direction and finally transmits the vibration force to the buffer member 33. Based on this, the buffer member 33 weakens the vibration force, thereby realizing the shock absorption of the machine body 1 and further reducing the influence on the stability of the motor due to the vibration impact on the machine body 1.

[0071] The embodiments of this specific implementation manner are all preferred embodiments of this application, and do not limit the protection scope of this application accordingly. The same components are denoted by the same reference numerals. Therefore, all equivalent changes made according to the structure, shape, and principle of this application should be covered within the protection scope of this application.

Claims

1. A robot, characterized in that, It includes a machine body (1), a moving part (2), and a shock absorption component (3); the moving part (2) is connected to the machine body (1) through the shock absorption component (3). The shock absorption component (3) includes a support component (31), a transmission component (32), and a buffer component (33); the support component (31) is installed at the bottom of the machine body (1), and the driving end of the machine body (1) provides transmission to the support component (31); one end of the transmission component (32) is connected to one end of the support component (31) close to the machine body (1), the other end is connected to the moving part (2), and the side close to the moving part (2) is connected to the end of the support component (31) far from the machine body (1) through the buffer component (33); the transmission component (32) is inclined towards the buffer component (33) with the connection point with the end of the support component (31) close to the machine body (1) as the axis. Among them, the support component (31) includes a support seat (311), a fixed seat (312), a linkage bearing (313), and a linkage wheel set (314); the support seat (311) is installed on the machine body (1) and is provided with a connection port for connecting the transmission component (32); the fixed seat (312) is installed at the bottom of the support seat (311); the linkage bearing (313) is installed on the support seat (311); the linkage wheel set (314) is sleeved on the linkage bearing (313), connected to the output end of the machine body (1), and driven by the output end of the machine body (1). Among them, the transmission component (32) includes a load-bearing frame (321), a transmission group (322), a support wheel (323), a support shaft (324), a fixed bearing (325), a moving seat (326), and a connecting frame (327); the support shaft (324) is connected to the support component (31); the support wheel (323) and the fixed bearing (325) are sequentially installed on the support shaft (324), and the support wheel (323) is driven by the output end of the support component (31); one end of the load-bearing frame (321) is installed on the fixed bearing (325), the other end is connected to the moving part (2), and is inclined towards the buffer component (33) with the support shaft (324) as the axis; the transmission group (322) is installed on the side of the load-bearing frame (321) far from the support wheel (323), and one end is connected to the support shaft (324), the other end is connected to the moving part (2); one side of the moving seat (326) is connected to the load-bearing frame (321), the other side is connected to the end of the moving part (2) far from the transmission group (322) through the connecting frame (327), and the moving seat (326) is located between the support component (31) and the moving part (2). Among them, the buffer component (33) includes a buffer member (331) and an elastic member (332); one end of the buffer member (331) is connected to the end of the support component (31) away from the machine body (1), and the other end is connected to the side of the transmission component (32) close to the moving part (2), and the end of the transmission component (32) connected to the moving part (2) is inclined close to the buffer member (331); the elastic member (332) is sleeved on the buffer member (331) and is located between the support component (31) and the transmission component (32); a limit port (333) is opened at the bottom of the fixed seat (312) and the top of the moving seat (326), and the size of the limit port (333) is larger than the outer diameter of the elastic member (332), and both ends of the elastic member (332) are located in the corresponding limit ports (333).

2. The robot according to claim 1, characterized in that, The linkage wheel set (314) is a bevel gear, and the bevel gear is in transmission connection with the input end of the transmission component (32).

3. A robot according to claim 1, characterized in that, A rotary bearing (316) is arranged between the support seat (311) and the machine body (1), and the support seat (311) is fixedly connected to the rotary bearing (316).

4. A robot according to claim 1, wherein The transmission group (322) includes a plurality of transmission wheels, and one end of the rotating shaft of the moving part (2) is connected to the transmission wheel.

5. A robot according to claim 1, characterized in that, It further includes a closed cover (34), and the closed cover (34) is installed on the transmission component (32).

6. A robot according to claim 1, characterized in that, The buffer component (33) further includes a plurality of limit parts (334), and the installation position of the limit parts (334) is located on the moving seat (326), and the limit parts (334) are located beside the buffer member (331).

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