Explosion-proof mobile robot shock absorption suspension structure

Abstract

The application discloses an explosion-proof mobile robot damping suspension structure and relates to the technical field of explosion-proof mobile robot damping. The explosion-proof mobile robot damping suspension structure comprises a servo motor, an explosion-proof housing is arranged on the servo motor, a suspension main transmission shaft for mounting a tire is fixedly connected to an output shaft of the servo motor, a connecting plate for mounting a robot is arranged on the top of the explosion-proof housing, at least one damping piece is arranged, the damping piece is used for absorbing axial impact generated by road surface protrusions or depressions during driving, and a suspension connecting piece is arranged outside the explosion-proof housing and is used for mounting the damping piece. In the application, the damping piece and the suspension connecting piece are arranged, axial impact from the road surface can be efficiently absorbed and attenuated, impact load transmitted to the connecting plate and the robot body is significantly reduced, in addition, the pre-compression amount of the first damping spring can be accurately changed by screwing an adjusting nut, and the suspension stiffness can be adjusted according to different loads or road conditions.

Description

Technical Field

[0001] This invention relates to the field of shock absorption technology for explosion-proof mobile robots, and in particular to a shock-absorbing suspension structure for explosion-proof mobile robots. Background Technology

[0002] In flammable and explosive hazardous environments such as petroleum, chemical, and coal mines, explosion-proof mobile robots are widely used for tasks such as inspection, handling, and disposal to reduce personnel safety risks and improve operational efficiency. The ground environments where these robots operate are typically harsh, with significant road bumps, depressions, gravel, or ditches. During operation, the impact loads generated by uneven road surfaces are directly transmitted through the tires to the robot body and its onboard precision sensors and instruments. Without effective shock absorption measures, strong axial impacts and vibrations can severely affect the robot's operational stability and positioning accuracy, and may even cause friction, sparks, or structural damage between the explosion-proof enclosures, leading to serious safety accidents.

[0003] Some existing suspension structures are either complex and space-consuming, making them unsuitable for integration into compact explosion-proof robots; or they have limited shock absorption stroke, lack preload adjustment function, and cannot adapt to different loads and road conditions, making it difficult to effectively absorb large axial impacts. Therefore, there is an urgent need to provide a shock-absorbing suspension structure that is compact, has good shock absorption effect, has preload adjustment function, and is specifically designed for explosion-proof environments. Summary of the Invention

[0004] The purpose of this invention is to address the technical problem that existing explosion-proof mobile robots cannot effectively buffer and absorb axial impacts caused by road bumps or depressions during operation, leading to unstable operation, damage to precision components, and even explosion-proof safety hazards. Therefore, this invention proposes a shock-absorbing suspension structure for explosion-proof mobile robots that is highly integrated, structurally robust, and has excellent axial shock absorption performance.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: An explosion-proof mobile robot shock-absorbing suspension structure includes: a servo motor, the servo motor being covered by an explosion-proof housing, the output shaft of the servo motor being fixedly connected to a main drive shaft for mounting tires, and an upper connecting plate for mounting the robot being provided on the top of the explosion-proof housing; At least one shock absorber is provided, which is used to absorb the axial impact generated by road surface bumps or depressions during driving. A suspension connector, located on the outside of the explosion-proof enclosure, is used to mount the shock absorber.

[0006] In one embodiment, the suspension connector includes a first suspension support frame and an upper connecting plate. The first suspension support frame is fixedly mounted on the outer wall of the explosion-proof housing, and the shock absorber is sleeved on the first suspension support frame.

[0007] In one embodiment, the shock absorber includes a guide shaft that slides through a first suspension support frame, and a first shock absorber spring is sleeved on the surface of the guide shaft. A second suspension support frame for mounting an upper connecting plate is fixedly installed on the top of the guide shaft.

[0008] In one embodiment, the guide shaft is provided with an adjusting member for adjusting the preload of the first damping spring.

[0009] In one embodiment, the adjusting member includes an adjusting nut sleeved on the surface of the guide shaft, and the surface of the guide shaft has threads that mate with the adjusting nut.

[0010] In one embodiment, the explosion-proof housing has a groove on its side for mounting a first suspension support frame.

[0011] In one embodiment, the suspension connector includes a mounting block integrally formed on the top of the explosion-proof housing, mounting frames are symmetrically mounted on both sides of the mounting block, a third suspension support frame is hinged to one end of the mounting frame, the shock absorber is disposed between the third suspension support frame and the mounting frame, and the upper connecting plate is mounted on the top of the third suspension support frame.

[0012] In one embodiment, the shock absorber includes a shock absorber sleeve hinged to the end of a third suspension support frame. The shock absorber sleeve has a shock absorber plate inside, and a buffer rod is provided at the bottom of the shock absorber plate. The buffer rod is hinged to the other end of the mounting frame, and a second shock absorber spring is provided between the shock absorber plate and the inner wall of the shock absorber sleeve.

[0013] In one embodiment, the surface of the buffer rod is provided with a limiting plate, the diameter of which is larger than the inner diameter of the shock-absorbing sleeve.

[0014] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: 1. In this invention, by setting up a shock absorber and suspension connection structure, the axial impact from the road surface can be efficiently absorbed and attenuated, thereby significantly reducing the impact load transmitted to the upper connecting plate and the robot body. In addition, the pre-compression of the first shock absorber spring can be precisely changed by turning the adjusting nut, thereby adjusting the suspension stiffness according to different loads or road conditions.

[0015] 2. In this invention, the hinged connecting rod and the spring inside the sleeve provide a large stroke buffer while the limiting plate prevents the spring from over-travel compression, ensuring structural safety. The entire shock-absorbing suspension structure is compactly arranged around the explosion-proof shell, without occupying additional wasted space, making it particularly suitable for explosion-proof mobile robots with extremely high requirements for size, safety, and stability. Attached Figure Description

[0016] Figure 1 A schematic diagram of the overall structure of the explosion-proof mobile robot shock-absorbing suspension structure according to a first embodiment of the present invention is shown. Figure 2 A schematic diagram of the unfolded structure of the shock-absorbing suspension structure for an explosion-proof mobile robot according to a first embodiment of the present invention is shown. Figure 3 A schematic diagram of the overall structure of the explosion-proof mobile robot shock-absorbing suspension structure according to the second embodiment of the present invention is shown. Figure 4 A schematic diagram of the overall unfolded structure of the shock-absorbing suspension structure for an explosion-proof mobile robot according to a second embodiment of the present invention is shown. Figure 5 A cross-sectional view of the internal structure of the shock-absorbing sleeve of the explosion-proof mobile robot shock-absorbing suspension structure according to the second embodiment of the present invention is shown.

[0017] Legend: 1. Servo motor; 2. Explosion-proof housing; 3. Suspension main drive shaft; 4. First suspension support frame; 5. Upper connecting plate; 6. Guide shaft; 7. First shock-absorbing spring; 8. Second suspension support frame; 9. Adjusting nut; 10. Mounting block; 11. Mounting bracket; 12. Third suspension support frame; 13. Shock-absorbing sleeve; 14. Shock-absorbing plate; 15. Buffer rod; 16. Second shock-absorbing spring; 17. Limiting plate. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0019] It should be noted that the terms "setup" and "connection" should be interpreted broadly. For example, they can refer to direct setup or connection, or indirect setup or connection through centered components or centered structures.

[0020] Furthermore, in embodiments of this invention, terms such as "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer" are used to indicate orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, or in a conventional placement or usage state. These terms are merely for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the structures, features, devices, or elements referred to must have a specific orientation or positional relationship, nor that they must be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0021] The various specific technical features and embodiments described in the detailed embodiments can be combined in any suitable manner without contradiction. For example, different implementation methods can be formed by combining different specific technical features / embodiments. In order to avoid unnecessary repetition, the various possible combinations of the various specific technical features / embodiments in this invention will not be described separately.

[0022] Example 1

[0023] Reference Figure 1 and Figure 2 This invention provides a technical solution: an explosion-proof mobile robot shock-absorbing suspension structure, the overall structure of which is integrated around an explosion-proof shell 2. Specifically, the structure includes a servo motor 1 as the power core, which outputs precise rotational torque according to control commands. In order to solve the problem that the servo motor 1 may generate electric sparks or high-temperature surfaces during operation, thereby igniting the surrounding explosive gas or dust environment, an explosion-proof shell 2 is tightly covered outside the servo motor 1. The explosion-proof shell 2 is made of high-strength metal materials such as high-strength cast iron or stainless steel, and its shell wall thickness, joint surface gap and length strictly comply with relevant explosion-proof standards. The output shaft of the servo motor 1 extends out of the explosion-proof housing 2 through an explosion-proof joint structure, such as an explosion-proof gap formed by the shaft and the bushing. The end of the output shaft is fixedly connected to the main drive shaft 3. The end of the main drive shaft 3 is provided with a hub structure for mounting the tire. During operation, the power generated by the servo motor 1 is directly transmitted to the main drive shaft 3 via the output shaft, thereby driving the tire to rotate and realizing the movement of the robot. At the top of the explosion-proof housing 2, that is, at the end away from the main drive shaft 3, an upper connecting plate 5 is fixedly installed. The upper connecting plate 5 serves as the mounting interface between the entire shock-absorbing suspension structure and the robot body being supported, such as the frame, instrument compartment, explosion-proof control box, etc. Through the upper connecting plate 5, all or part of the weight of the robot body and the inertial load during the driving process are applied to the shock-absorbing suspension structure. To effectively attenuate axial impact, this embodiment provides multiple shock absorbers. Additionally, a suspension connector for mounting the shock absorbers is provided on the exterior of the explosion-proof housing 2. Specifically, the suspension connector includes a first suspension support frame 4, which is a highly rigid structural component. Its base is fixed to the outer wall of the explosion-proof housing 2. To enhance the stability of the connection and avoid stress concentration, in a preferred embodiment, a groove for mounting the first suspension support frame 4 is provided on the side of the explosion-proof housing 2. This groove not only provides a precise positioning reference but also partially accommodates the root of the first suspension support frame 4, making the transmission of suspension force more direct and optimizing the overall spatial layout. The shock absorber is not directly and rigidly connected to the robot body, but is sleeved on the first suspension support frame 4, so that the explosion-proof shell 2 can move relative to the first suspension support frame 4 and the shock absorber it carries. The specific structure is as follows: The shock absorber includes a guide shaft 6, one end of which slides through a guide hole opened on the first suspension support frame 4. A linear bearing or wear-resistant bushing can be installed in the guide hole to ensure that the guide shaft 6 can slide smoothly and without jamming. A first shock absorber spring 7 is sleeved on the surface of each guide shaft 6. The first shock absorber spring 7 is a cylindrical helical compression spring with a rectangular cross-section. Its lower end abuts against the upper surface of the first suspension support frame 4, and its upper end abuts against a spring seat that moves with the guide shaft 6. A second suspension support frame 8 is fixedly installed on the top of the guide shaft 6. The second suspension support frame 8 is roughly horizontal plate-shaped or beam-shaped and is used to connect the upper ends of two or more guide shafts 6 into a whole and finally fix it to the upper connecting plate 5. When the shock-absorbing suspension assembly is installed on the robot, the weight of the entire robot acts on the top of the guide shaft 6 through the upper connecting plate 5 and the second suspension support frame 8, and is transmitted to the first suspension support frame 4 and the explosion-proof housing 2 through the first shock-absorbing spring 7, and then to the tire. When the robot is stationary or traveling on a flat road, the first shock-absorbing spring 7 is compressed to a balance position. When the wheel encounters a road bump, the tire passively or through the main drive shaft 3 pushes the explosion-proof housing 2 and the first suspension support frame 4 fixedly connected to it to move upward. However, due to the robot body's inertia, it tends to maintain its original position. In fact, it is equivalent to the first suspension support frame 4 sliding upward relative to the guide shaft 6, further compressing the first shock-absorbing spring 7 and converting the impact kinetic energy into the elastic potential energy of the spring. Conversely, when the wheel encounters a concave road surface, the preload of the first shock-absorbing spring 7 pushes the first suspension support frame 4 to slide downward relative to the guide shaft 6, keeping the tire always in contact with the ground, thereby absorbing the impact in the tensile direction. Through the above process, the axial impact generated during driving is effectively buffered and absorbed by the first shock-absorbing spring 7, greatly reducing the vibration energy transmitted to the upper connecting plate 5 and the robot body. Furthermore, to adapt to different load weights or varying degrees of road surface roughness, the guide shaft 6 is equipped with an adjusting component for adjusting the preload of the first damping spring 7. The adjusting component includes an adjusting nut 9 fitted onto the surface of the guide shaft 6, and the surface of the guide shaft 6 is provided with threads that mate with the adjusting nut 9. Specifically, the outer surface of the upper half or upper middle section of the guide shaft 6 is machined with fine threads, and a matching adjusting nut 9 is screwed onto these threads. The aforementioned spring seat abutting the upper end of the first damping spring 7 can be the adjusting nut 9 itself, or a spring seat that is adjusted... The independent washer with axial limiting of the adjusting nut 9 allows for increased spring preload and suspension stiffness when heavy loads or relatively flat roads are required. Operators can use a special tool to turn the adjusting nut 9 downwards along the thread toward the first suspension support frame 4, thereby compressing the first damping spring 7 and increasing its initial compression. Conversely, turning the adjusting nut 9 upwards reduces the preload and stiffness, making it suitable for light loads or extremely harsh roads. This design greatly enhances the adaptability of the shock-absorbing suspension structure to different application scenarios and load conditions. Example 2

[0024] Reference Figure 3 , Figure 4 and Figure 5 This embodiment provides another explosion-proof mobile robot shock-absorbing suspension structure with a different structure. Its core power and explosion-proof configuration are similar to those of the first embodiment. It also includes a servo motor 1, an explosion-proof shell 2 covering the outside, a main drive shaft 3 for driving the tires, and an upper connecting plate 5 on top. The main difference in this embodiment is the specific implementation form and spatial layout of the suspension connectors and shock absorbers. In this embodiment, the suspension connector does not adopt a side-mounted support frame structure, but includes a mounting block 10 integrally formed on the top of the explosion-proof housing 2. The mounting block 10 serves as the load-bearing foundation of the entire suspension system and is cast as a whole with the top cover of the explosion-proof housing 2 or firmly connected by welding or other means, thereby ensuring extremely high connection strength and rigidity. On the left and right sides of the mounting block 10, that is, on the lateral sides along the robot's forward direction, two mounting frames 11 are symmetrically fixedly installed. Each mounting frame 11 is roughly "L" shaped or triangular, and one end of it is hinged to one end of a third suspension support frame 12 through a hinge shaft. The third suspension support frame 12 can be a swing arm or rocker arm structure, which can swing around its hinge point with the mounting frame 11 within a certain angle range. The upper connecting plate 5 is fixedly installed on the top of the third suspension support frame 12. The robot body is not directly rigidly connected to the explosion-proof housing 2, but is connected to the swingable third suspension support frame 12. The shock absorber is disposed between the third suspension support frame 12 and the mounting frame 11 to absorb the impact generated during the swing. Specifically, the shock absorber includes a shock absorber sleeve 13. One end of the shock absorber sleeve 13 is hinged to the end of the third suspension support frame 12, i.e., the end away from the hinge point with the mounting frame 11, via a hinge shaft. Inside the shock absorber sleeve 13, there is a cylindrical inner cavity. In this inner cavity, there is a shock absorber plate 14. The shock absorber plate 14 is a piston-shaped component that is precisely slidably fitted with the inner cavity wall. A sealing ring or guide ring can be provided on its outer edge. A buffer rod 15 is rigidly connected to the bottom of the shock absorber plate 14. The buffer rod 15 extends downward and passes through the bottom opening of the shock absorber sleeve 13. The lower end of the buffer rod 15 is hinged to the other end of the mounting frame 11, away from the end that is hinged to the third suspension support frame 12, via a hinge shaft. A second shock-absorbing spring 16 is provided between the upper surface of the shock-absorbing plate 14 and the inner wall of the top of the inner cavity of the shock-absorbing sleeve 13. The second shock-absorbing spring 16 is also a compression spring. When the third suspension support frame 12 swings, it will change the relative position between the shock-absorbing sleeve 13 and the buffer rod 15. For example, when the robot passes through a raised road surface, the tire and the explosion-proof shell 2 move upward, and the buffer rod 15 is pushed upward relative to the shock-absorbing sleeve 13 by the mounting block 10 and the mounting frame 11. At this time, the buffer rod 15 pushes the shock-absorbing plate 14 to compress the second shock-absorbing spring 16 in the inner cavity, thereby absorbing the impact energy. Conversely, when the tire passes through a concave road surface, under the action of the robot's gravity and the spring's restoring force, the second shock-absorbing spring 16 pushes the shock-absorbing plate 14 and the buffer rod 15 downward to keep the tire in contact with the ground. To prevent the buffer rod 15 from overextending into or dislodging from the shock absorber sleeve 13 under extreme conditions, such as when the wheel suddenly lands after leaving the ground, thus damaging the internal structure, a limiting plate 17 is fixedly installed on the surface of the buffer rod 15 near its top, i.e., near the bottom of the shock absorber plate 14. The diameter of the limiting plate 17 is designed to be larger than the inner diameter of the shock absorber sleeve 13. When the buffer rod 15 moves downward relative to the shock absorber sleeve 13, i.e. when the shock absorber spring is stretched to its limit position, the limiting plate 17 will lock onto the lower opening end face of the shock absorber sleeve 13, thereby preventing the buffer rod 15 from extending further. This provides a mechanical limiting safety protection, preventing the second shock absorber spring 16 from being overstretched or the hinge point from disengaging. At the same time, the limiting plate 17 can also limit the maximum stroke of the shock absorber plate 14 under huge impacts, protecting the bottom structure of the shock absorber sleeve 13. This embodiment combines a shock-absorbing sleeve 13 with a buffer rod 15 with a hinged swing arm third suspension support frame 12 and a mounting frame 11 to form a shock absorption scheme that integrates a linkage mechanism and a spring damping system. This structure not only provides reliable axial shock absorption, but also has an arc-shaped motion trajectory, which can provide a certain lateral or longitudinal deformation capability while vertically absorbing shock, further optimizing the robot's ride smoothness. Working principle: Referring to the first embodiment: When in use, the robot body is fixedly installed on the upper connecting plate 5. The power supply and control cable of the servo motor 1 enters the interior through the explosion-proof cable introduction device on the explosion-proof housing 2. After starting, the servo motor 1 drives the suspension main drive shaft 3 and the tires to rotate, and the robot starts to move. When moving at a constant speed on a flat road, the first shock absorber spring 7 is in a balanced compression state, and the upper connecting plate 5 and the explosion-proof housing 2 maintain a relatively stable distance. When the tire encounters a raised obstacle on the road, the tire is lifted, causing the main drive shaft 3, the explosion-proof housing 2, and the first suspension support frame 4 fixed to its side wall to move upward quickly. At this time, due to the inertia of the connecting plate 5 on the robot body, it temporarily maintains its original height. Therefore, the relative distance between the first suspension support frame 4 and the upper connecting plate 5 is reduced, causing the first shock-absorbing spring 7 to be further compressed. During the compression process, the impact kinetic energy is converted into the elastic deformation energy of the spring. At the same time, the restoring force of the spring acts on the upper connecting plate 5, slowing down its upward acceleration. After the bump is passed, the first shock-absorbing spring 7 releases the stored energy and presses the tire back to the ground. Similarly, when the tire passes through a depression, the first shock-absorbing spring 7 pushes the first suspension support frame 4 to move downward, allowing the tire to fall naturally to fill the depression and prevent the robot body from being impacted by gravity. The stiffness of the spring can be changed by adjusting the nut 9 to adapt to different working conditions. The second embodiment works similarly, except that the motion is transmitted through the hinged linkage mechanism of the mounting frame 11, the third suspension support frame 12, the shock-absorbing sleeve 13 and the buffer rod 15, as well as the compression and extension of the internal second shock-absorbing spring 16.

[0025] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A shock-absorbing suspension structure for an explosion-proof mobile robot, characterized in that, include: Servo motor (1), the servo motor (1) is covered with an explosion-proof shell (2), the output shaft of the servo motor (1) is fixedly connected to a suspension main drive shaft (3) for mounting tires, and the top of the explosion-proof shell (2) is provided with an upper connecting plate (5) for mounting the robot. At least one shock absorber is provided, which is used to absorb the axial impact generated by road surface bumps or depressions during driving. A suspension connector is disposed on the outside of the explosion-proof housing (2) for mounting the shock absorber.

2. The explosion-proof mobile robot shock-absorbing suspension structure according to claim 1, characterized in that, The suspension connector includes a first suspension support frame (4) and an upper connecting plate (5). The first suspension support frame (4) is fixedly installed on the outer wall of the explosion-proof housing (2), and the shock absorber is sleeved on the first suspension support frame (4).

3. The explosion-proof mobile robot shock-absorbing suspension structure according to claim 2, characterized in that, The shock absorber includes a guide shaft (6) that slides through the first suspension support frame (4), and a first shock absorber spring (7) is sleeved on the surface of the guide shaft (6). A second suspension support frame (8) for mounting the upper connecting plate (5) is fixedly installed on the top of the guide shaft (6).

4. The explosion-proof mobile robot shock-absorbing suspension structure according to claim 3, characterized in that, The guide shaft (6) is provided with an adjusting component for adjusting the preload of the first damping spring (7).

5. The explosion-proof mobile robot shock-absorbing suspension structure according to claim 4, characterized in that, The adjusting component includes an adjusting nut (9) sleeved on the surface of the guide shaft (6), and the surface of the guide shaft (6) is provided with threads that cooperate with the adjusting nut (9).

6. The explosion-proof mobile robot shock-absorbing suspension structure according to any one of claims 2-5, characterized in that, The explosion-proof housing (2) has a groove on its side for installing the first suspension support frame (4).

7. The explosion-proof mobile robot shock-absorbing suspension structure according to claim 1, characterized in that, The suspension connector includes an integrally formed mounting block (10) on the top of the explosion-proof shell (2). Mounting brackets (11) are symmetrically mounted on both sides of the mounting block (10). A third suspension support frame (12) is hinged to one end of the mounting bracket (11). The shock absorber is disposed between the third suspension support frame (12) and the mounting bracket (11). The upper connecting plate (5) is installed on the top of the third suspension support frame (12).

8. The shock-absorbing suspension structure for an explosion-proof mobile robot according to claim 7, characterized in that, The shock absorber includes a shock absorber sleeve (13) hinged to the end of the third suspension support frame (12). The shock absorber sleeve (13) has a shock absorber plate (14) inside. The bottom of the shock absorber plate (14) has a buffer rod (15). The buffer rod (15) is hinged to the other end of the mounting frame (11). A second shock absorber spring (16) is provided between the shock absorber plate (14) and the inner wall of the shock absorber sleeve (13).

9. The explosion-proof mobile robot shock-absorbing suspension structure according to claim 8, characterized in that, The surface of the buffer rod (15) is provided with a limiting plate (17), the diameter of the limiting plate (17) is larger than the inner diameter of the shock-absorbing sleeve (13).

Images