Robot chassis damping locking mechanism and working method

Abstract

The invention relates to the technical field of damping, in particular to a robot chassis damping locking mechanism, a working method and a damping module.The robot chassis damping locking mechanism comprises a guide column connected to a damping supporting frame and a damping spring connected to the lower bottom face of a damping assembly bottom plate, and the outer side of the guide column is sleeved with the damping spring; the locking module comprises a pin roller locking fixing seat connected to the damping assembly bottom plate, one end of a pin roller locking sliding block is connected to the damping supporting frame, the other end of the pin roller locking sliding block penetrates through the pin roller locking fixing seat, an inclined face groove is formed in the pin roller locking fixing seat, a pin roller is arranged in the inclined face groove, and the motion space of the pin roller forms a structure with the narrow upper portion and the wide lower portion; a roller sliding frame used for limiting movement of the roller is connected with the lower bottom face of the electromagnetic armature pull block, and an electromagnetic suction cup is arranged in the space above the electromagnetic armature pull block and connected to the fixing frame.

Description

Technical Field

[0001] The invention relates to the technical field of shock absorption, and in particular to a robot chassis shock absorption locking mechanism and a working method. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] Mobile working robots are common mechanical devices that often use chassis mobile vehicles to carry working manipulators or working tools to move to different areas for work. There are many types of vehicles commonly used to carry robots, such as wheeled and crawler types.

[0004] In order to avoid the problem of poor robot motion accuracy due to large shaking of the shock-absorbing chassis when the robot is parked, the current method of not using shock-absorbing suspension is to directly install the drive wheel set on the frame to form a rigid suspension. This method will cause some wheels in the chassis to have insufficient support and fail to contact the ground well when the robot is operating on some uneven ground. When the robot's operating range is large, the chassis support will fail, causing the operation process to be terminated.

[0005] In addition, some medium and large mobile robot chassis mostly use electric cylinders or oil cylinders and other mechanisms to support the ground as rigid support, but these structures are relatively complex, take a long time to support the ground, and are expensive, resulting in them not being widely used. Summary of the invention

[0006] In order to solve the technical problems existing in the above-mentioned background technology, the present invention provides a robot chassis shock-absorbing locking mechanism and a working method. Through a specific structure, it can quickly and effectively rigidly support the ground, and when the robot moves on uneven roads, it can also effectively reduce bumps and filter vibrations to achieve the purpose of protecting the equipment.

[0007] In order to achieve the above object, the present invention adopts the following technical solution:

[0008] A first aspect of the present invention provides a robot chassis shock absorbing locking mechanism, comprising:

[0009] The shock absorbing module comprises a guide column connected to the shock absorbing support frame, and a shock absorbing spring connected to the bottom surface of the bottom plate of the shock absorbing assembly, wherein the shock absorbing spring is sleeved on the outside of the guide column;

[0010] The locking module includes a roller locking fixed seat connected to the bottom plate of the shock absorbing assembly, one end of the roller locking slider is connected to the shock absorbing support frame, and the other end passes through the roller locking fixed seat, the interior of the roller locking fixed seat is provided with an inclined groove, and a roller is arranged in the inclined groove, so that the movement space of the roller forms a structure that is narrow at the top and wide at the bottom, and the roller sliding frame for limiting the movement of the roller is connected to the lower bottom surface of the electromagnetic armature pull block, and the space above the electromagnetic armature pull block is provided with an electromagnetic suction cup, and the electromagnetic suction cup is connected to the fixing frame.

[0011] Furthermore, the bottom plate of the shock absorbing assembly is connected to the fixing frame, and a linear bearing is provided on the upper surface. The bottom end of the guide column is connected to the shock absorbing support frame, and the top end passes through the shock absorbing spring and is connected to the linear bearing.

[0012] Furthermore, the shock absorbing support frame is located in the space below the bottom plate of the shock absorbing assembly, and the top end of the guide column is connected to the fender, which is located between the servo hub motor and the shock absorbing module and covers the area where the shock absorbing module is located.

[0013] Furthermore, the fender moves synchronously with the servo hub motor and the shock-absorbing support frame.

[0014] Furthermore, the roller sliding frames have at least two groups, which are respectively located on two opposite sides of the inner surface of the roller locking fixed seat. The roller sliding frames are provided with strip grooves for accommodating rollers, so that each roller is arranged in the inclined groove of the roller locking fixed seat.

[0015] Furthermore, each group of roller sliding frames is connected to the corresponding electromagnetic armature pull block through a pin.

[0016] Furthermore, a middle partition is provided on both sides of the roller locking fixed seat, and an electromagnetic suction cup fixing plate is provided in the space above the middle partition, and the electromagnetic suction cup is connected to the fixing frame through the electromagnetic suction cup fixing plate.

[0017] Furthermore, a return spring is provided between the electromagnetic armature pull block and the electromagnetic suction cup. When power is turned on, the electromagnetic suction cup attracts the electromagnetic armature pull block, and the return spring is compressed at the same time.

[0018] Furthermore, the electromagnetic armature pull block is attracted by the electromagnetic suction cup, and by pulling the roller, the inclined groove on the inner side of the roller locking fixed seat squeezes the roller locking slider to achieve shock-absorbing electromagnetic locking.

[0019] A second aspect of the present invention provides a working method of a robot chassis shock absorbing locking mechanism, comprising the following steps:

[0020] The shock absorbing module moves, the shock absorbing support frame and the shock absorbing assembly bottom plate approach each other, so that the shock absorbing spring is compressed, and the compression direction of the shock absorbing spring is guided by the guide column, and the shock energy is absorbed by the deformation of the shock absorbing spring, and the guide column is used to ensure that the deformation direction of the shock absorbing spring is vertical;

[0021] The locking module is activated, and power is supplied to cause the electromagnetic suction cup to absorb the electromagnetic armature pull block, pull the roller, and squeeze the roller locking slide block through the inclined groove of the roller locking fixed seat to achieve shock-absorbing electromagnetic locking.

[0022] Compared with the prior art, one or more of the above technical solutions have the following beneficial effects:

[0023] 1. The locking function of the shock absorption system can respond quickly. When the locking function is turned on, the system can quickly achieve rigid support, effectively support the ground, and reduce the precision error caused by insufficient chassis support when the manipulator moves; when the locking function is turned off, the shock absorption system returns to normal function, so that when the robot moves on uneven roads, it can effectively reduce bumps and filter vibrations, thereby achieving the purpose of protecting the equipment.

[0024] 2. With a small and compact independent shock-absorbing structure, the shock absorber can be locked in one direction by electromagnetic, which can meet the use requirements while realizing modularization, lightweight application and reducing costs. Among them, the processing dimensional accuracy requirements of the roller, roller locking slider and roller locking fixed seat are relatively high, which helps to reduce assembly errors and achieve higher locking force and longer service life. The electromagnetic attraction force is used to trigger this locking function, and the roller one-way inclined locking method is adopted, which can effectively achieve locking even when applied to heavy shock-absorbing support systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0026] Figure 1 is a schematic diagram of the overall structure of a robot chassis shock absorbing and locking mechanism provided by one or more embodiments of the present invention;

[0027] Figure 2 is a schematic structural diagram of a shock absorbing part in a shock absorbing locking mechanism for a robot chassis provided by one or more embodiments of the present invention;

[0028] Figure 3 is a schematic structural diagram of a locking portion in a robot chassis shock-absorbing locking mechanism provided by one or more embodiments of the present invention;

[0029] Figure 4 is a schematic cross-sectional structural diagram of a locking portion in a robot chassis shock-absorbing locking mechanism provided by one or more embodiments of the present invention;

[0030] Figure 5 It is a schematic diagram of a partially enlarged structure of a locking portion in a robot chassis shock-absorbing locking mechanism provided by one or more embodiments of the present invention.

[0031] In the figure: 1 fixed frame, 2 shock absorbing assembly base plate, 3 linear bearing, 4 shock absorbing spring, 5 guide column, 6 shock absorbing support frame, 7 mud guard, 8 roller locking slider, 9 servo hub motor, 10 roller locking fixed seat, 11 roller sliding frame, 12 electromagnetic armature pull block, 13 middle partition, 14 electromagnetic suction cup fixing plate, 15 return spring, 16 roller, 17 electromagnetic suction cup, 18 pin. DETAILED DESCRIPTION

[0032] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0033] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0034] It should be noted that the terms herein are only intended to describe specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0035] A mobile working robot refers to a device that uses a mobile vehicle to carry a working manipulator or working tool and moves to different areas to perform work. The mobile vehicle has several wheel sets on its chassis, and a flexible or rigid shock-absorbing mechanism is provided between each wheel set and the chassis.

[0036] As introduced in the background technology, there is a shock absorbing mechanism between the chassis and the wheel set of the mobile working robot. When the robot is parked, the shock absorbing mechanism will cause the robot to shake during movement. When the shaking amplitude is too large, the robot's movement accuracy cannot meet the working requirements. The shaking comes from the structural design of the shock absorbing mechanism. When a flexible shock absorbing mechanism is used, the shaking problem is more likely to occur. Some existing technologies do not use shock absorbing suspension, and directly install the wheel set on the frame of the mobile trolley to form a rigid shock absorbing mechanism. Although it can alleviate the shaking problem when parking, when the robot is in an uneven ground, some of the wheel sets in the chassis cannot fully contact the ground, resulting in insufficient support force. When the robot's movement amplitude is too large, the support fails due to insufficient chassis support force, causing the operation process to be terminated.

[0037] Some medium and large robots or similar devices, due to their high load-bearing capacity, use mechanisms such as electric cylinders or oil cylinders to form a rigid support that can support the ground, and release the rigid support formed by the electric cylinders or oil cylinders after the operation is completed (such as the chassis and hydraulic support system equipped in a truck crane). However, due to their complex structure, long ground support process, and high cost, they have not been widely used so far.

[0038] Therefore, the following embodiments provide a robot chassis shock absorbing locking mechanism and working method, which can quickly and effectively rigidly support the ground through a specific structure, and when the robot moves on an uneven road, it can also effectively reduce bumps and filter vibrations to achieve the purpose of protecting the equipment.

[0039] Embodiment 1:

[0040] A robot chassis shock absorbing locking mechanism, comprising:

[0041] The shock absorbing module comprises a guide column connected to the shock absorbing support frame, and a shock absorbing spring connected to the bottom surface of the bottom plate of the shock absorbing assembly, wherein the shock absorbing spring is sleeved on the outside of the guide column;

[0042] The locking module includes a roller locking fixed seat connected to the bottom plate of the shock absorbing assembly, one end of the roller locking slider is connected to the shock absorbing support frame, and the other end passes through the roller locking fixed seat, the interior of the roller locking fixed seat is provided with an inclined groove, and a roller is arranged in the inclined groove, so that the movement space of the roller forms a structure that is narrow at the top and wide at the bottom, and the roller sliding frame for limiting the movement of the roller is connected to the lower bottom surface of the electromagnetic armature pull block, and the space above the electromagnetic armature pull block is provided with an electromagnetic suction cup, and the electromagnetic suction cup is connected to the fixing frame.

[0043] When the shock absorbing module is in operation, the shock absorbing support frame and the shock absorbing assembly bottom plate are close to each other, so that the shock absorbing spring is compressed. At the same time, the compression direction of the shock absorbing spring is guided by the guide column, and the deformation of the shock absorbing spring is used to absorb the vibration energy. The guide column is used to ensure that the deformation direction of the shock absorbing spring is vertical.

[0044] When the locking module is in action, the electromagnetic suction cup is energized to suck the electromagnetic armature pull block, pull the roller and squeeze the roller locking slide block through the inclined groove of the roller locking fixed seat to achieve shock-absorbing electromagnetic locking.

[0045] As a further implementation, the bottom plate of the shock absorbing assembly is connected to the fixing frame, and a linear bearing is provided on the upper surface. The bottom end of the guide column is connected to the shock absorbing support frame, and the top end passes through the shock absorbing spring and is connected to the linear bearing.

[0046] As a further implementation, the shock absorbing support frame is located in the space below the bottom plate of the shock absorbing assembly, the top end of the guide column is connected to the fender, the fender is located between the servo hub motor and the shock absorbing module, and covers the area where the shock absorbing module is located.

[0047] As a further embodiment, the fender moves synchronously with the servo wheel hub motor and the shock absorbing support frame.

[0048] As a further embodiment, the roller sliding frames have at least two groups, and the two groups of roller sliding frames are respectively located on two sides of the inner surface of the roller locking fixed seat that are arranged opposite to each other. The roller sliding frames are provided with strip grooves for accommodating rollers, so that each roller is arranged in the inclined groove of the roller locking fixed seat accordingly.

[0049] As a further embodiment, each group of roller sliding frames is connected to the corresponding electromagnetic armature pull block via a pin.

[0050] As a further implementation, a middle partition is provided on both sides of the roller locking fixed seat, and an electromagnetic suction cup fixing plate is provided in the space above the middle partition, and the electromagnetic suction cup fixing plate is connected to the fixing frame through the electromagnetic suction cup fixing plate.

[0051] As a further implementation, a return spring is provided between the electromagnetic armature pull block and the electromagnetic suction cup. When power is turned on, the electromagnetic suction cup attracts the electromagnetic armature pull block, and the return spring is compressed at the same time.

[0052] As a further implementation method, the electromagnetic armature pull block is attracted by the electromagnetic suction cup, and by pulling the roller, the inclined groove on the inner side of the roller locking fixed seat squeezes the roller locking slider to achieve shock-absorbing electromagnetic locking.

[0053] The overall structure of the robot chassis shock absorbing locking mechanism in this embodiment is as follows Figure 1 The specific structure of the agency is as follows:

[0054] like Figure 2 As shown, the robot chassis damping locking mechanism includes a steering fixed frame 1 and a damping assembly base plate 2, which are fastened together by bolts. Two linear bearings 3 are installed on the damping assembly base plate 2 to provide precise guiding and positioning functions for the spring damping structure.

[0055] like Figure 2 As shown, the shock-absorbing support frame 6 and the two guide pillars 5 are fixedly connected, and the servo hub motor 9 and the roller locking slider 8 are installed on the shock-absorbing support frame 6.

[0056] like Figure 2 As shown, two guide posts 5 cooperate with the linear bearing 3 on the bottom plate 2 of the shock-absorbing assembly to realize linear precision sliding in the up and down directions. A shock-absorbing spring 4 is sleeved on each guide post 5 to be responsible for elastic support and shock absorption of the chassis. A fender 7 is installed on one side of the guide post 5, and moves up and down with the servo wheel hub motor 9 and the shock-absorbing support frame 6 to block and reduce dust and foreign particles entering between the spring 4 and the guide post 5.

[0057] The structure of the locking part is as follows Figure 3As shown, it includes a roller locking fixed seat 10 with four inclined grooves processed inside, and two roller sliding frames 11 are respectively equipped with two rollers 16 placed in the strip grooves, and each roller 16 is placed in the inclined groove of the roller locking fixed seat 10 accordingly.

[0058] like Figure 3 As shown, two middle partitions 13 are respectively installed on both sides of the roller locking fixed seat 10, electromagnetic suction cups 17 are installed on both sides of the electromagnetic suction cup fixing plate 14 and are installed above the middle partition 13, and two electromagnetic armature pull blocks 12 are installed on the roller sliding frame 11 through pins 18.

[0059] like Figure 4 As shown, the electromagnetic armature block 12 and the electromagnetic suction cup 17 are spaced 2 mm apart, and each electromagnetic armature block 12 is equipped with four return springs 15. When power is turned on, the electromagnetic suction cup 17 sucks the electromagnetic armature block 12, and the return spring 15 is compressed, pulling the four rollers 16 through the inclined groove of the roller locking fixed seat 10 to squeeze the roller locking slider 8, thereby achieving the purpose of shock-absorbing electromagnetic locking.

[0060] like Figure 5 As shown, the roller locking fixed seat 10 has a cavity inside which the roller locking slider 8 passes and a cavity through which the roller sliding frame 11 passes. The inclined groove is located on the inner wall of the cavity through which the roller locking fixed seat 10 accommodates the roller sliding frame 11, so that the cavity forms a structure that is narrow at the top and wide at the bottom. When the roller 16 and the roller sliding frame 11 are placed in the cavity, a wider area is formed at the bottom end of the inclined groove, allowing the roller 16 to move in the cavity, while the narrower part clamps the roller 16, so that the movement of the roller 16 in the cavity is restricted.

[0061] For example, Figure 5 As shown, the thickness a of the roller slide frame 11 is 2 mm, the bevel groove is an inclined wall with a set angle, the narrower portion b of the bevel groove is 3.7 mm, and gradually transitions from 3.7 mm to the wider portion, the wider portion c is 4 mm, and the transition portion d is 3.8 mm.

[0062] In this embodiment, when the electromagnetic suction cup 12 attracts the electromagnetic armature pull block 12, the roller 16 is pulled toward the narrower position of the inclined groove through the roller sliding frame 11. At this time, the roller 16 contacts the roller locking slider 8 and the roller locking fixed seat 10 at the same time, and under the action of the narrower area of ​​the inclined groove, the roller locking slider 8 and the roller locking fixed seat 10 are gradually squeezed, so that when the roller locking slider 8 continues to move upward, it is affected by the friction force brought by the roller 16 moving upward to a narrower position, so as to produce the effect of reversely jamming the roller locking slider 8.

[0063] The above structure can improve the stability of the robot chassis support. The special suspension locking design structure can quickly open and close the locking function of the suspension shock absorber through electromagnetic attraction, realizing the rigid support from the chassis to the wheels and the ground. The design structure is compact and the manufacturing cost is low, which can be applied to light and heavy vehicle chassis.

[0064] This embodiment can realize the one-way electromagnetic locking of the shock absorber with a small and compact independent shock absorbing structure, which can meet the use requirements while realizing modularization and lightweight application. The processing dimensional accuracy requirements of the roller 16, the roller locking slider 8 and the roller locking fixed seat 10 are relatively high, which helps to reduce assembly errors and can achieve higher locking force and longer service life. The electromagnetic attraction force is used to trigger this locking function, and the roller one-way inclined locking method is adopted, which can effectively achieve locking even when applied to heavy shock absorbing support systems.

[0065] The structure is simple, so that the locking function responds quickly, and after locking, the movement slip of the guide column in the locking direction can be controlled within 0.05mm, which can achieve high-precision locking at any position.

[0066] Embodiment 2:

[0067] A working method of a robot chassis shock absorbing locking mechanism comprises the following steps:

[0068] The shock absorbing module moves, the shock absorbing support frame and the shock absorbing assembly bottom plate approach each other, so that the shock absorbing spring is compressed. At the same time, the compression direction of the shock absorbing spring is guided by the guide column, and the deformation of the shock absorbing spring is used to absorb vibration energy. The guide column is used to ensure that the deformation direction of the shock absorbing spring is vertical.

[0069] The locking module is activated, and power is supplied to cause the electromagnetic suction cup to absorb the electromagnetic armature pull block, pull the roller, and squeeze the roller locking slide block through the inclined groove of the roller locking fixed seat to achieve shock-absorbing electromagnetic locking.

[0070] The locking function of the shock absorption system can respond quickly. When the locking function is turned on, the system can quickly achieve rigid support, effectively support the ground, and reduce the precision error caused by insufficient chassis support when the manipulator moves; when the locking function is turned off, the shock absorption system resumes normal function, so that when the robot moves on uneven roads, it can effectively reduce bumps and filter vibrations, thereby achieving the purpose of protecting the equipment.

[0071] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A robot chassis shock absorbing locking mechanism, characterized in that: include: The shock absorbing module comprises a guide column connected to the shock absorbing support frame, and a shock absorbing spring connected to the bottom surface of the bottom plate of the shock absorbing assembly, wherein the shock absorbing spring is sleeved on the outside of the guide column; The locking module includes a roller locking fixed seat connected to the bottom plate of the shock absorbing assembly, one end of the roller locking slider is connected to the shock absorbing support frame, and the other end passes through the roller locking fixed seat, the interior of the roller locking fixed seat is provided with an inclined groove, and a roller is arranged in the inclined groove, so that the movement space of the roller forms a structure that is narrow at the top and wide at the bottom, and the roller sliding frame for limiting the movement of the roller is connected to the lower bottom surface of the electromagnetic armature pull block, and the space above the electromagnetic armature pull block is provided with an electromagnetic suction cup, and the electromagnetic suction cup is connected to the fixing frame.

2. A robot chassis shock absorbing locking mechanism as claimed in claim 1, characterized in that: The bottom plate of the shock absorbing component is connected to the fixing frame, and a linear bearing is arranged on the upper surface; the bottom end of the guide column is connected to the shock absorbing support frame, and the top end passes through the shock absorbing spring and is connected to the linear bearing.

3. A robot chassis shock absorbing locking mechanism as claimed in claim 1, characterized in that: The shock absorbing support frame is located in the space below the bottom plate of the shock absorbing assembly, and the top end of the guide column is connected to the fender, which is located between the servo wheel hub motor and the shock absorbing module and covers the area where the shock absorbing module is located.

4. A robot chassis shock absorbing locking mechanism as claimed in claim 3, characterized in that: The fender moves synchronously with the servo wheel hub motor and the shock absorbing support frame.

5. A robot chassis shock absorbing locking mechanism as claimed in claim 1, characterized in that: The roller sliding frames have at least two groups, which are respectively located on two opposite sides of the inner surface of the roller locking fixed seat. The roller sliding frames are provided with strip grooves for accommodating rollers, so that each roller is arranged in the inclined groove of the roller locking fixed seat.

6. A robot chassis shock absorbing locking mechanism as claimed in claim 5, characterized in that: Each group of roller sliding frames is connected to the corresponding electromagnetic armature pull block through a pin.

7. A robot chassis shock absorbing locking mechanism as claimed in claim 1, characterized in that: A middle partition is arranged on both sides of the roller locking fixed seat, and an electromagnetic suction cup fixing plate is arranged in the space above the middle partition, and the electromagnetic suction cup is connected to the fixing frame through the electromagnetic suction cup fixing plate.

8. The robot chassis shock absorbing locking mechanism according to claim 1, characterized in that: A return spring is arranged between the electromagnetic armature pull block and the electromagnetic suction cup. When power is turned on, the electromagnetic suction cup attracts the electromagnetic armature pull block, and the return spring is compressed at the same time.

9. A robot chassis shock absorbing locking mechanism as claimed in claim 1, characterized in that: The electromagnetic armature pulling block is attracted by the electromagnetic suction cup, and by pulling the roller, the inclined groove on the inner side of the roller locking fixed seat squeezes the roller locking slider to achieve shock-absorbing electromagnetic locking.

10. A working method of the robot chassis shock absorbing locking mechanism according to any one of claims 1 to 9, characterized in that: The following steps are involved: The shock absorbing module moves, the shock absorbing support frame and the shock absorbing assembly bottom plate approach each other, so that the shock absorbing spring is compressed, and the compression direction of the shock absorbing spring is guided by the guide column, and the shock energy is absorbed by the deformation of the shock absorbing spring, and the guide column is used to ensure that the deformation direction of the shock absorbing spring is vertical; The locking module is activated, and power is supplied to cause the electromagnetic suction cup to absorb the electromagnetic armature pull block, pull the roller, and squeeze the roller locking slide block through the inclined groove of the roller locking fixed seat to achieve shock-absorbing electromagnetic locking.

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