Elastic damping structure of wheeled robot

Abstract

The utility model discloses a wheeled robot elastic damping structure which comprises a base, an anti-collision buffering damping device used for improving buffering damping performance is arranged on the outer surface of the base, the anti-collision buffering damping device comprises a fixed base, a V-shaped anti-collision plate and a connecting base, and an installation ring is arranged on the outer surface of the upper end of the fixed base. And a positioning sliding column is fixedly mounted in the middle of the inner surface of the mounting ring. According to the elastic damping structure of the wheeled robot, the anti-collision buffering damping device is arranged, so that the structure is simple, vibration caused when the wheeled robot meets potholes or protrusions in the walking process can be buffered, the good damping buffering effect is achieved, and the damping effect is good. And impact force can be effectively buffered after collision occurs when the wheeled robot walks, the situation that the robot is damaged by the impact force generated by collision is avoided, and protectiveness of the robot is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of wheeled robots, in particular to an elastic shock-absorbing structure of a wheeled robot. Background Art

[0002] Wheeled robots, also known as mobile robots, are machines that perform tasks automatically. They can accept human commands, run pre-programmed programs, or act according to principles formulated using artificial intelligence technology. Their mission is to assist or replace human work in areas such as manufacturing, construction, or dangerous jobs.

[0003] Existing wheeled robots lack a buffering and shock-absorbing structure. When a wheeled robot encounters potholes or bumps while walking on the road, the vibration buffering effect is single. When it collides with surrounding objects, it does not have the effect of buffering the impact force caused by the collision, which can easily cause damage to the precision parts inside the robot and affect its service life. In addition, the driving wheels of existing wheeled robots are mostly fixed, and the installation height of the driving wheels cannot be adjusted according to the road conditions, which affects the convenience of use and brings certain adverse effects to people's use process. For this reason, we propose a wheeled robot elastic shock-absorbing structure. Utility Model Content

[0004] In view of the problems existing in the above-mentioned prior art, the utility model provides an elastic shock-absorbing structure for a wheeled robot.

[0005] The utility model solves the above technical problems through the following technical means:

[0006] The invention relates to an elastic shock-absorbing structure of a wheeled robot, comprising a base, an outer surface of the base is provided with an anti-collision buffer shock-absorbing device for improving the buffering and shock-absorbing performance, the anti-collision buffer shock-absorbing device comprises a fixed base, a V-shaped anti-collision plate and a connecting seat, the upper outer surface of the fixed base is provided with a mounting ring, the middle part of the inner surface of the mounting ring is fixedly installed with a positioning slide column, the middle part of the inner surface of the positioning slide column is provided with a slide groove, the middle part of the outer surface of the lower end of the connecting seat is fixedly installed with a flexible rubber sliding sleeve, a piston column is provided between the middle part of the upper inner surface of the flexible rubber sliding sleeve and the inside of the slide groove, the connecting seat A No. 1 buffer spring is provided between the seat and the fixed base, and fixed blocks are provided at both ends of the No. 1 buffer spring. A rubber buffer pad is bonded to the outer surface of the V-shaped anti-collision plate, and a telescopic sleeve is fixedly installed on the inner surface of the V-shaped anti-collision plate. A movable sliding rod is provided inside the telescopic sleeve, and a No. 2 buffer spring is provided between the telescopic sleeve and the movable sliding rod. A mounting top seat is fixedly installed on the outer surface of the upper end of the connecting seat, and a height-adjustable wheel seat device for improving the convenience of height adjustment is provided on the outer surface of the lower end of the base, and a driving wheel body is provided on the outer surface of one side of the height-adjustable wheel seat device.

[0007] Furthermore, the positioning slide is fixedly connected to the middle part of the upper outer surface of the fixed base through the mounting ring, the slide groove passes through the middle part of the upper inner surface of the positioning slide, the flexible rubber sleeve is fixedly connected to the middle part of the lower outer surface of the connecting seat, the piston column is fixedly connected to the middle part of the upper inner surface of the flexible rubber sleeve, the piston column is slidingly connected to the inside of the slide groove, the flexible rubber sleeve is movably connected to the positioning slide, the number of the No. 1 buffer spring is four groups, the two ends of the No. 1 buffer spring are respectively fixedly connected to the fixed base and the connecting seat through the fixed block, and the connecting seat is movably connected to the upper outer surface of the fixed base through the No. 1 buffer spring.

[0008] Furthermore, the number of the V-shaped anti-collision plates is four groups, the rubber buffer pad is bonded to the outer surface of the V-shaped anti-collision plate, the telescopic sleeve is fixedly connected to the inner surface of the V-shaped anti-collision plate, the movable slide rod is fixedly connected to the outer surfaces of the four corners of the base, the movable slide rod is slidably connected to the inside of the telescopic sleeve, and the telescopic sleeve is movably connected to the movable slide rod through a No. 2 buffer spring.

[0009] Furthermore, the height-adjustable wheel seat device includes an electric cylinder, a mounting block is provided between the electric cylinder and the lower outer surface of the base, a connecting block is provided at the other end of the piston rod of the electric cylinder, and a drive wheel mounting seat is fixedly installed on the lower outer surface of the connecting block.

[0010] Furthermore, the number of the electric cylinders is four groups, the electric cylinders are fixedly connected to the outer surface of the lower end of the base through a mounting block, and the driving wheel mounting seat is fixedly connected to the other end of the piston rod of the electric cylinder through a connecting block.

[0011] Furthermore, the driving wheel body is fixedly connected to an outer surface of one side of the driving wheel mounting seat, and the driving wheel body is movably connected to the lower end outer surface of the base through the piston rod of the electric cylinder.

[0012] Beneficial effects

[0013] Compared with the prior art, the present invention provides an elastic shock-absorbing structure for a wheeled robot, which has the following beneficial effects:

[0014] 1. This wheeled robot elastic shock-absorbing structure is simple in structure by being equipped with an anti-collision buffering and shock-absorbing device. It can not only buffer the vibration caused by the wheeled robot encountering potholes or bumps during walking, so as to achieve a better shock-absorbing and buffering effect, but also effectively buffer the impact force after a collision occurs while the wheeled robot is walking, thereby avoiding damage to the robot caused by the impact force generated by the collision and improving the protection of the robot.

[0015] 2. This wheeled robot elastic shock-absorbing structure is equipped with a height-adjustable wheel seat device, which has a simple structure and a high degree of automation. The installation height of the driving wheel body can be automatically adjusted according to different road conditions to avoid collision between the base and road objects, further improving the shock-absorbing effect of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The utility model is a schematic diagram of the overall structure of an elastic shock-absorbing structure of a wheeled robot.

[0017] Figure 2 This is a schematic diagram of the overall structure of an anti-collision buffer and shock-absorbing device of an elastic shock-absorbing structure of a wheeled robot in the utility model.

[0018] Figure 3 This is an enlarged structural diagram of point A of the anti-collision buffer and shock-absorbing device of the elastic shock-absorbing structure of a wheeled robot in the utility model.

[0019] Figure 4 This is a schematic diagram of the planar installation structure of a V-shaped anti-collision plate of an anti-collision buffer and shock-absorbing device of an elastic shock-absorbing structure of a wheeled robot in the utility model.

[0020] Figure 5 This is a schematic diagram of the overall structure of a height-adjustable wheel seat device of an elastic shock-absorbing structure of a wheeled robot in the utility model.

[0021] In the figure: 1. Base; 2. Anti-collision buffer and shock absorption device; 3. Fixed base; 4. V-shaped anti-collision plate; 5. Mounting ring; 6. Positioning slide column; 7. Connecting seat; 8. Flexible rubber sliding sleeve; 9. Piston column; 10. Slide groove; 11. No. 1 buffer spring; 12. Fixed block; 13. Rubber buffer pad; 14. Telescopic sleeve; 15. Movable slide rod; 16. No. 2 buffer spring; 17. Mounting top seat; 18. Height-adjustable wheel seat device; 19. Electric cylinder; 20. Mounting block; 21. Connecting block; 22. Drive wheel mounting seat; 23. Drive wheel body. DETAILED DESCRIPTION

[0022] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0023] like Figure 1-Figure 5As shown, a wheeled robot elastic shock absorption structure includes a base 1, the outer surface of the base 1 is provided with an anti-collision buffer shock absorption device 2 for improving the buffering and shock absorption performance, the anti-collision buffer shock absorption device 2 includes a fixed base 3, a V-shaped anti-collision plate 4 and a connecting seat 7, the upper end outer surface of the fixed base 3 is provided with a mounting ring 5, the middle of the inner surface of the mounting ring 5 is fixedly installed with a positioning slide 6, the middle of the inner surface of the positioning slide 6 is provided with a slide groove 10, the middle of the inner surface of the positioning slide 6 is fixedly installed with a flexible rubber sliding sleeve 8, the middle of the lower end outer surface of the connecting seat 7 is provided with a piston column 9 between the middle of the upper end inner surface of the flexible rubber sliding sleeve 8 and the inside of the slide groove 10, the connecting seat 7 and the fixed base are connected. A No. 1 buffer spring 11 is provided between the seats 3, and fixed blocks 12 are provided at both ends of the No. 1 buffer spring 11. A rubber buffer pad 13 is bonded to the outer surface of the V-shaped anti-collision plate 4, and a telescopic sleeve 14 is fixedly installed on the inner surface of the V-shaped anti-collision plate 4. A movable slide rod 15 is provided inside the telescopic sleeve 14, and a No. 2 buffer spring 16 is provided between the telescopic sleeve 14 and the movable slide rod 15. A mounting top seat 17 is fixedly installed on the outer surface of the upper end of the connecting seat 7, and a height-adjustable wheel seat device 18 for improving the convenience of height adjustment is provided on the outer surface of the lower end of the base 1. A driving wheel body 23 is provided on the outer surface of one side of the height-adjustable wheel seat device 18.

[0024] The positioning slide 6 is fixedly connected to the middle part of the upper outer surface of the fixed base 3 through the mounting ring 5, the slide groove 10 passes through the middle part of the upper inner surface of the positioning slide 6, the flexible rubber sleeve 8 is fixedly connected to the middle part of the lower outer surface of the connecting seat 7, the piston column 9 is fixedly connected to the middle part of the upper inner surface of the flexible rubber sleeve 8, the piston column 9 is slidingly connected to the inside of the slide groove 10, the flexible rubber sleeve 8 is movably connected to the positioning slide 6, the number of No. 1 buffer springs 11 is four groups, and the two ends of the No. 1 buffer spring 11 are fixedly connected to the fixed base 3 and the connecting seat 7 respectively through the fixed block 12, and the connecting seat 7 is movably connected to the upper outer surface of the fixed base 3 through the No. 1 buffer spring 11.

[0025] There are four groups of V-shaped anti-collision plates 4. The rubber buffer pad 13 is bonded to the outer surface of the V-shaped anti-collision plate 4, the telescopic sleeve 14 is fixedly connected to the inner surface of the V-shaped anti-collision plate 4, the movable slide rod 15 is fixedly connected to the outer surfaces of the four corners of the base 1, the movable slide rod 15 is slidably connected to the inside of the telescopic sleeve 14, and the telescopic sleeve 14 is movably connected to the movable slide rod 15 through the No. 2 buffer spring 16.

[0026] The height-adjustable wheel seat device 18 includes an electric cylinder 19, a mounting block 20 is provided between the electric cylinder 19 and the lower outer surface of the base 1, and a connecting block 21 is provided at the other end of the piston rod of the electric cylinder 19, and a driving wheel mounting seat 22 is fixedly installed on the lower outer surface of the connecting block 21.

[0027] There are four groups of electric cylinders 19 , which are fixedly connected to the outer surface of the lower end of the base 1 through a mounting block 20 , and a driving wheel mounting seat 22 is fixedly connected to the other end of the piston rod of the electric cylinder 19 through a connecting block 21 .

[0028] The driving wheel body 23 is fixedly connected to the outer surface of one side of the driving wheel mounting seat 22 , and the driving wheel body 23 is movably connected to the lower end outer surface of the base 1 through the piston rod of the electric cylinder 19 .

[0029] How it works

[0030] When the wheeled robot encounters potholes or bumps during walking, the base 1 shakes and the vibration force is buffered by four groups of No. 1 buffer springs 11. After being subjected to the shaking force, the connecting seat 7 can slide in the slide groove 10 of the positioning slide column 6 through the piston column 9 in the flexible rubber sleeve 8, thereby performing secondary buffering on the vibration force, so as to achieve the effect of elastic shock absorption, thereby further improving the shock absorption effect of the wheeled robot when walking. When the robot collides with an object, the base 1 will not directly contact and collide with the object, and the rubber buffer pads 13 on the outer surface of the four groups of V-shaped anti-collision plates 4 can directly buffer the impact force of the collision. After the impact force is transmitted to the telescopic sleeve 14, the telescopic sleeve 14 performs secondary buffering of the impact force after telescoping and sliding between the movable slide rods 15 through the second buffer spring 16, thereby protecting the device. When it is necessary to adjust the installation height of the driving wheel body 23 according to road conditions, by controlling the piston rods of the four groups of electric cylinders 19 to be pushed out or retracted, the driving wheel mounting seat 22 at the lower end can be driven to rise and fall, thereby adjusting the distance between the driving wheel body 23 and the base 1, and realizing automatic adjustment of the installation height of the driving wheel body 23 to adapt to different road conditions, avoid the base 1 being too low and causing collision with objects, and further improve the buffering and shock absorption performance of the robot.

[0031] It should be noted that, in this document, relational terms such as first and second (number one, number two), etc., are used solely to distinguish one entity or operation from another, and do not necessarily require or imply any actual relationship or order between these entities or operations. Furthermore, the terms "include," "comprise," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "includes a..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0032] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and improvements may be made to the present invention without departing from the spirit and scope of the present invention, and such changes and improvements shall fall within the scope of the present invention as claimed.

Claims

1. A wheeled robot elastic shock-absorbing structure, comprising a base (1), characterized in that: The outer surface of the base (1) is provided with an anti-collision buffering and shock absorbing device (2) for improving the buffering and shock absorbing performance. The anti-collision buffering and shock absorbing device (2) comprises a fixed base (3), a V-shaped anti-collision plate (4) and a connecting seat (7). The upper outer surface of the fixed base (3) is provided with a mounting ring (5). A positioning slide column (6) is fixedly mounted in the middle of the inner surface of the mounting ring (5). A slide groove (10) is provided in the middle of the inner surface of the positioning slide column (6). A flexible rubber sliding sleeve (8) is fixedly mounted in the middle of the lower outer surface of the connecting seat (7). A piston column (9) is provided between the middle of the upper inner surface of the flexible rubber sliding sleeve (8) and the inside of the slide groove (10). A No. 1 buffer is provided between the connecting seat (7) and the fixed base (3). Spring (11), both ends of the No. 1 buffer spring (11) are provided with fixed blocks (12), the outer surface of the V-shaped anti-collision plate (4) is bonded with a rubber buffer pad (13), the inner surface of the V-shaped anti-collision plate (4) is fixedly installed with a telescopic sleeve (14), the interior of the telescopic sleeve (14) is provided with a movable slide rod (15), a No. 2 buffer spring (16) is provided between the telescopic sleeve (14) and the movable slide rod (15), the upper end outer surface of the connecting seat (7) is fixedly installed with a mounting top seat (17), the lower end outer surface of the base (1) is provided with a height-adjustable wheel seat device (18) for improving the convenience of height adjustment, and the outer surface of one side of the height-adjustable wheel seat device (18) is provided with a driving wheel body (23).

2. The wheeled robot elastic shock-absorbing structure according to claim 1, characterized in that: The positioning slide (6) is fixedly connected to the middle of the upper outer surface of the fixed base (3) through the mounting ring (5), the slide groove (10) passes through the middle of the upper inner surface of the positioning slide (6), the flexible rubber sleeve (8) is fixedly connected to the middle of the lower outer surface of the connecting seat (7), the piston column (9) is fixedly connected to the middle of the upper inner surface of the flexible rubber sleeve (8), the piston column (9) is slidably connected to the inside of the slide groove (10), the flexible rubber sleeve (8) is movably connected to the positioning slide (6), the number of the No. 1 buffer spring (11) is four groups, the two ends of the No. 1 buffer spring (11) are fixedly connected to the fixed base (3) and the connecting seat (7) respectively through the fixed block (12), and the connecting seat (7) is movably connected to the upper outer surface of the fixed base (3) through the No. 1 buffer spring (11).

3. The wheeled robot elastic shock-absorbing structure according to claim 1, characterized in that: The number of the V-shaped anti-collision plates (4) is four groups, the rubber buffer pads (13) are bonded to the outer surfaces of the V-shaped anti-collision plates (4), the telescopic sleeves (14) are fixedly connected to the inner surfaces of the V-shaped anti-collision plates (4), the movable slide rods (15) are fixedly connected to the outer surfaces of the four corners of the base (1), the movable slide rods (15) are slidably connected to the inside of the telescopic sleeves (14), and the telescopic sleeves (14) are movably connected to the movable slide rods (15) via the second buffer spring (16).

4. The wheeled robot elastic shock-absorbing structure according to claim 1, characterized in that: The height-adjustable wheel seat device (18) comprises an electric cylinder (19), a mounting block (20) is provided between the electric cylinder (19) and the lower outer surface of the base (1), a connecting block (21) is provided at the other end of the piston rod of the electric cylinder (19), and a driving wheel mounting seat (22) is fixedly mounted on the lower outer surface of the connecting block (21).

5. The wheeled robot elastic shock-absorbing structure according to claim 4, characterized in that: The number of the electric cylinders (19) is four groups. The electric cylinders (19) are fixedly connected to the outer surface of the lower end of the base (1) via a mounting block (20). The driving wheel mounting seat (22) is fixedly connected to the other end of the piston rod of the electric cylinder (19) via a connecting block (21).

6. The wheeled robot elastic shock-absorbing structure according to claim 4, characterized in that: The driving wheel body (23) is fixedly connected to an outer surface of one side of the driving wheel mounting seat (22), and the driving wheel body (23) is movably connected to the outer surface of the lower end of the base (1) via the piston rod of the electric cylinder (19).

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