Four-wheel eight-drive robot walking device

Abstract

The utility model relates to the technical field of four-wheel eight-drive robots, in particular to a four-wheel eight-drive robot walking device which comprises a mounting structure, a damping fixing frame and a damping assembly. A first connecting groove is formed in one end of the mounting structure, and a connecting arm extending downwards is arranged at the other end; a second connecting groove is formed in one end of the damping fixing frame, and the other end of the damping fixing frame is rotationally connected with the connecting arm; a first protection frame and a second protection frame are respectively arranged outside the first connecting groove and the second connecting groove; the damping assembly comprises a telescopic cylinder, a telescopic rod of the telescopic cylinder and the end of a cylinder body are hinged to the two connecting grooves respectively, a damping spring is arranged outside the telescopic rod and the cylinder body, a limiting barrel is arranged outside the damping spring, and the bottom end of the limiting barrel can make contact with the damping fixing frame when the damping spring deforms to the preset length. Through the design of the two protection frames, the two connection grooves can be limited to be not deformed when the telescopic cylinder acts, and protection is provided for the two connection grooves.

Description

Technical Field

[0001] The utility model relates to the technical field of four-wheel eight-drive robots, in particular to a four-wheel eight-drive robot running device. Background Art

[0002] The four-wheel, eight-wheel drive robot's travel device is mainly designed based on advanced intelligent technology and excellent mobility. It has strong off-road capabilities and excellent explosion-proof performance. It can operate stably in various complex environments and is particularly suitable for inspection and monitoring in high-risk places. By equipped with advanced Internet of Things technology, it realizes environmental perception, intelligent navigation, automatic obstacle avoidance and other functions, thereby improving work efficiency and safety.

[0003] Patent CN202320946393.X, published in 2023, discloses a driving mechanism for a four-wheel, eight-wheel drive trolley servo and a trolley chassis containing the same. The driving mechanism comprises a driving structure and a wheel hub, wherein the driving structure is mounted on the wheel hub. The driving structure comprises a running mechanism, a rotating mechanism, and a shock-absorbing mechanism. The rotating mechanism is fixedly mounted on the shock-absorbing mechanism via a mounting module, and the shock-absorbing mechanism is sleeved on the periphery of the running mechanism. The running mechanism and the shock-absorbing mechanism are connected to the wheel hub via a mounting mechanism. However, the reciprocating motion of the shock-absorbing assembly in this design within the running mechanism can damage the running mechanism. The baffle is not firmly connected to the side of the running mechanism, and prolonged use can also damage the running mechanism, causing cracks at the perforations on the end faces of the running mechanism grooves. Furthermore, the contact area between the lower limit component and the shock-absorbing mounting bracket is insufficient, resulting in uneven force, and the sliding connection of the telescopic rod exposed to the air is easily contaminated. Utility Model Content

[0004] The purpose of the utility model is to provide a four-wheel eight-drive robot running device to solve the problems of easy cracking and easy contamination of the connecting grooves and telescopic rods in the prior art.

[0005] To achieve the above objectives, the utility model proposes a four-wheel eight-drive robot running device, which is connected below the steering transmission component and includes a mounting structure, a shock-absorbing fixing frame and a shock-absorbing assembly;

[0006] The mounting structure is driven by the steering transmission component to rotate horizontally, and a first connecting groove is provided at one end thereof, and a connecting arm extending downward is provided at the other end thereof;

[0007] A second connecting groove is provided at one end of the shock-absorbing fixing frame, and the other end is rotatably connected to the connecting arm. A through hole is provided in the middle for connecting the hub motor and the wheel;

[0008] A first protection frame and a second protection frame are respectively provided outside the first connecting groove and the second connecting groove;

[0009] The shock-absorbing assembly includes a telescopic cylinder, the telescopic rod and the cylinder body end of the telescopic cylinder are respectively hinged to two connecting grooves, a shock-absorbing spring is provided on the outer sleeve of the telescopic rod and the cylinder body, and a limiting cylinder is provided on the outer sleeve of the shock-absorbing spring. The bottom end of the limiting cylinder can contact the shock-absorbing fixing frame when the shock-absorbing spring is deformed to a predetermined length.

[0010] The mounting structure is provided with an abutment platform at an end adjacent to the shock-absorbing fixing frame, and the shock-absorbing fixing frame can abut against the abutment platform when it is rotated upward to an extreme position.

[0011] The shock-absorbing fixing frame includes a hub motor sleeve, and the two sides of the hub motor sleeve extend symmetrically in the radial direction. The ends of the two extended parts are provided with connecting grooves, wherein one connecting groove is connected to the mounting structure, and the other connecting groove is a second connecting groove, which is connected to the cylinder body.

[0012] The top of the telescopic rod is connected to the first connecting groove through a first bolt, and the bottom of the cylinder body is connected to the second connecting groove through a second bolt.

[0013] The limiting cylinder is sleeved on the outer side of the upper part of the telescopic rod, and a sealing plate is provided on the upper part thereof for supporting the shock-absorbing spring, and an upper limit component is fixed on the outside thereof, and an opening is provided on the lower part thereof.

[0014] Preferably, the shock-absorbing spring can also be designed as a spindle shape with diameters at both ends smaller than the middle diameter. This design retains the shock-absorbing function while also better cooperating with the limiting cylinder.

[0015] The length of the limiting cylinder is greater than the length of the telescopic rod and less than the length of the connecting arm, so that the bottom end of the limiting cylinder can contact the second connecting groove of the shock-absorbing fixing frame when the shock-absorbing spring is deformed to a predetermined length.

[0016] The lower part of the cylinder body is sleeved with a lower limit component and a limit tube sealing plate to cooperate with the support of the shock-absorbing spring.

[0017] Furthermore, the lower limiting component is annular and has a diameter smaller than that of the limiting cylinder, so that it can better cooperate with the limiting cylinder and flexibly expand and contract in the limiting cylinder without hindering the contact between the bottom surface of the limiting cylinder and the second connecting groove.

[0018] The axes of the shock-absorbing spring, the limiting cylinder and the telescopic rod coincide with each other, and the forces are concentrated.

[0019] The first protective frame and the second protective frame are U-shaped, with openings facing the two connecting grooves respectively, respectively covering the outside of the two connecting grooves, and are fixed by first bolts and second bolts to prevent the two connecting grooves from cracking and deforming.

[0020] The second protective frame is flush with the upper surface of the second connecting groove; the internal distance of the opposite surfaces of the second protective frame is smaller than the cross-sectional diameter of the limiting cylinder, and the outer width of the opposite surfaces of the second protective frame is larger than the cross-sectional diameter of the limiting cylinder. The above two designs can ensure that the limiting cylinder falls on the second connecting groove and the second protective frame, and is evenly stressed, thereby avoiding stress concentration and damage to the device.

[0021] The characteristics and advantages of the four-wheel eight-drive robot running device of this utility model are:

[0022] 1. The utility model can effectively protect the telescopic rod from being contaminated in the environment where the robot is used by providing a limit cylinder, and can limit the distance between the end of the mounting structure and the end of the shock-absorbing fixing frame. The processing process is simple, the production cost is low, and it can adapt to unstable environments, providing an important guarantee for the movement of the four-wheel eight-wheel drive robot.

[0023] 2. The utility model is designed with two protective frames to prevent the two connecting grooves from being deformed when the telescopic cylinder is in motion, thereby providing further protection for the two connecting grooves. At the same time, the connection method is simple, no additional connecting parts are required, the production cost is low, and the connection is firm and reliable;

[0024] 3. The utility model can further cooperate with the limit cylinder through the design of the second protective frame. During the extension and retraction of the telescopic rod, when the lower limit component and the limit cylinder come into contact with the shock-absorbing fixed bracket, the force of the shock-absorbing fixed bracket is shared. The second protective frame is used to evenly distribute the force, thereby extending the service life of the four-wheel eight-wheel drive robot's running device. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In the attached figure:

[0026] Figure 1 This is a schematic diagram of the overall structure of the utility model;

[0027] Figure 2 It is a partial cross-sectional view of the utility model.

[0028] The components represented by the reference numerals in the figure are:

[0029] 1. Mounting structure; 101. First connecting groove; 102. Connecting arm; 103. First bolt; 2. First protective frame; 3. Second protective frame; 4. Shock-absorbing assembly; 401. Limiting cylinder; 402. Upper limit component; 403. Telescopic rod; 404. Telescopic cylinder; 405. Shock-absorbing spring; 406. Lower limit component; 5. Shock-absorbing fixing frame; 501. Second connecting groove; 502. Second bolt. DETAILED DESCRIPTION

[0030] The technical solution of this utility model is as follows:

[0031] like Figures 1 to 2 As shown, the utility model proposes a four-wheel eight-drive robot running device, which is connected below the steering transmission component and includes a mounting structure 1, a shock-absorbing fixing frame 5 and a shock-absorbing component 4 (such as Figure 1 shown);

[0032] The mounting structure 1 is driven by the steering transmission component to rotate horizontally, and a first connecting groove 101 is provided at one end thereof, and a connecting arm 102 extending downward is provided at the other end;

[0033] A second connecting groove 501 is provided at one end of the shock-absorbing fixing frame 5, and the other end is rotatably connected to the connecting arm 102. A through hole is provided in the middle for connecting the hub motor and the wheel;

[0034] A first protection frame 2 and a second protection frame 3 are respectively provided outside the first connecting groove 101 and the second connecting groove 501;

[0035] The shock-absorbing assembly 4 includes a telescopic cylinder 404, the telescopic rod 403 and the cylinder end of the telescopic cylinder 404 are hinged to two connecting grooves respectively, and a shock-absorbing spring 405 is provided on the outer sleeve of the telescopic rod 403 and the cylinder body. A limiting cylinder 401 is provided on the outer sleeve of the shock-absorbing spring 405, and the bottom end of the limiting cylinder 401 can contact the shock-absorbing fixing frame 5 when the shock-absorbing spring 405 is deformed to a predetermined length.

[0036] The mounting structure 1 is further provided with a horizontally extending connecting platform with a hole for connecting with the steering transmission connecting component of the four-wheel eight-wheel drive robot.

[0037] The mounting structure 1 is provided with a contact platform at the end adjacent to the shock-absorbing fixing frame 5. When the shock-absorbing fixing frame 5 is rotated upward to the extreme position, it can abut against the contact platform. At the same time, the contact platform plays a limiting role to prevent the shock-absorbing fixing frame 5 from rotating too much and over-compressing the shock-absorbing component 4, thereby affecting the wheels of the robot.

[0038] The shock-absorbing fixing frame 5 includes a hub motor sleeve, and the two sides of the hub motor sleeve extend symmetrically in the radial direction. The ends of the two extension parts are provided with connecting grooves, wherein one connecting groove is connected to the mounting structure 1, and the other connecting groove is the second connecting groove 501, which is connected to the cylinder body.

[0039] The top of the telescopic rod 403 is connected to the first connecting groove 101 through the first bolt 103, and the bottom of the cylinder body is connected to the second connecting groove 501 through the second bolt 502. In the natural state, the telescopic rod 403 of the telescopic cylinder 404 is on the top and the cylinder body is on the bottom.

[0040] Reference Figure 2 The limiting cylinder 401 is sleeved on the outer side of the upper part of the telescopic rod 403, and a sealing plate is provided on the upper part to support the shock-absorbing spring 405, and an upper limit component 402 is fixed on the outside, and an opening is provided on the lower part.

[0041] Preferably, the shock-absorbing spring 405 can also be designed as a spindle shape with diameters at both ends smaller than the middle diameter. This design retains the shock-absorbing function while also better cooperating with the limiting cylinder 401 and flexibly extending and contracting in the limiting cylinder.

[0042] The length of the limiting cylinder 401 is greater than the length of the telescopic rod 403 and less than the length of the connecting arm 102, so that the bottom end of the limiting cylinder 401 can contact the second connecting groove 502 of the shock-absorbing fixing frame 5 when the shock-absorbing spring 405 is deformed to a predetermined length, and does not affect the function of the shock-absorbing assembly 4 when the shock-absorbing fixing frame 5 is not in contact with the contact platform. At the same time, it plays a protective role for the telescopic rod 403. A certain gap is required between the telescopic rod 403 and the cylinder body, and lubricating fluid is required to assist in telescopic expansion when necessary. When the four-wheel eight-wheel drive robot is walking in a poor environment, flying sand and dust will cause the gap between the telescopic rod 403 and the cylinder body to be contaminated with pollutants, destroying the telescopic function of the telescopic cylinder 404. Using the limiting cylinder 401 to protect the telescopic rod 403 can well avoid this problem.

[0043] The lower part of the telescopic cylinder 404 is sleeved with a lower limit component 406 which cooperates with the closing plate of the limit cylinder 401 to support the shock-absorbing spring 405. The opening diameter of the limit cylinder 401 is larger than the diameter of the lower limit component 406.

[0044] Furthermore, the lower limiting component 406 is annular and has a diameter smaller than that of the limiting cylinder 401 , and can better cooperate with the limiting cylinder 401 , flexibly expand and contract in the limiting cylinder 401 , and does not prevent the bottom surface of the limiting cylinder 401 from contacting the second connecting groove 502 .

[0045] The axes of the shock-absorbing spring 405, the limiting cylinder 401 and the telescopic rod 403 coincide with each other, so the forces are concentrated.

[0046] The first protection frame 2 and the second protection frame 3 are U-shaped, with openings facing the two connection grooves respectively, respectively covering the outside of the two connection grooves, and are fixed by the first bolts 103 and the second bolts 502 to prevent the two connection grooves from cracking and deforming.

[0047] Through holes are provided on the opposite surfaces of the first protective frame 2 and the second protective frame 3 for threaded connection with two bolts, and through holes are provided on the opposite surfaces of the first connecting groove 101 and the second connecting groove 501. With this design, a protective frame and a connecting groove can be connected by one bolt, which is simple in process and cost-controlled.

[0048] The lower surface of the first protective frame 2 is flush with the lower surface of the first connecting groove 101 , and the width and length of the first protective frame 2 are both greater than the diameter of the upper limit component 402 to ensure uniform force.

[0049] The second protective frame 3 is flush with the upper surface of the second connecting groove 501; the internal distance of the opposite surfaces of the second protective frame 3 is smaller than the cross-sectional diameter of the limiting cylinder 401, and the outer width of the opposite surfaces of the second protective frame 3 is larger than the cross-sectional diameter of the limiting cylinder 401. The above two designs can ensure that the limiting cylinder 401 falls on the second connecting groove 502 and the second protective frame 3, and is evenly stressed, avoiding stress concentration and damage to the device.

[0050] When the four-wheel eight-drive robot encounters a road surface with a height difference during its movement, the mounting structure 1 contacts the platform and the shock-absorbing fixing frame 5, the spring is in a retracted state, the limiting cylinder 401 contacts the second protective frame 3, the upper limiting component 402 contacts the first protective frame 2, the lower limiting component 406 contacts the second protective frame 3, and the telescopic cylinder 404 is in a retracted state.

Claims

1. A four-wheel eight-drive robot running device, connected below the steering transmission component, characterized by: It comprises a mounting structure (1), a shock-absorbing fixing frame (5) and a shock-absorbing assembly (4); The mounting structure (1) is driven by a steering transmission component to rotate horizontally, and is provided with a first connecting groove (101) at one end and a connecting arm (102) extending downward at the other end; The shock-absorbing fixing frame (5) is provided with a second connecting groove (501) at one end, and is rotatably connected to the connecting arm (102) at the other end, and a through hole is provided in the middle for connecting the hub motor and the wheel; A first protection frame (2) and a second protection frame (3) are respectively provided outside the first connecting groove (101) and the second connecting groove (501); The shock absorbing assembly (4) comprises a telescopic cylinder (404), wherein the telescopic rod (403) and the cylinder end of the telescopic cylinder (404) are respectively hinged to two connecting grooves, a shock absorbing spring (405) is provided on the outer sleeve of the telescopic rod (403) and the cylinder, and a limiting cylinder (401) is provided on the outer sleeve of the shock absorbing spring (405), and the bottom end of the limiting cylinder (401) can contact the shock absorbing fixing frame (5) when the shock absorbing spring (405) is deformed to a predetermined length.

2. A four-wheel eight-drive robot running device according to claim 1, characterized in that: The mounting structure (1) is provided with an abutment platform at an end adjacent to the shock-absorbing fixing frame (5), and the shock-absorbing fixing frame (5) can abut against the abutment platform when it is rotated upward to an extreme position.

3. The four-wheel eight-drive robot running device according to claim 1, characterized in that: The top of the telescopic rod (403) is connected to the first connecting groove (101) via a first bolt (103), and the bottom of the cylinder body is connected to the second connecting groove (501) via a second bolt (502).

4. The four-wheel eight-drive robot travel device according to claim 1, characterized in that: The limiting cylinder (401) is sleeved on the outer side of the upper part of the telescopic rod (403), and a sealing plate is provided on the upper part thereof for supporting the shock-absorbing spring (405). An upper limit component (402) is fixed on the outside, and an opening is provided on the lower part thereof.

5. The four-wheel eight-drive robot travel device according to claim 4, characterized in that: The lower part of the telescopic cylinder (404) is sleeved with a lower limiting component (406) which cooperates with the sealing plate of the limiting cylinder (401) to support the shock-absorbing spring (405).

6. The four-wheel eight-drive robot travel device according to claim 1, characterized in that: The axes of the shock-absorbing spring (405), the limiting cylinder (401) and the telescopic rod (403) coincide with each other.

7. The four-wheel eight-drive robot running device according to claim 6, characterized in that: The length of the limiting cylinder (401) is greater than the length of the telescopic rod (403).

8. The four-wheel eight-drive robot travel device according to claim 1, characterized in that: The first protection frame (2) and the second protection frame (3) are U-shaped, with openings facing the two connection slots respectively, respectively covering the outsides of the two connection slots, and are fixed by first bolts (103) and second bolts (502).

9. The four-wheel eight-drive robot travel device according to claim 8, characterized in that: The second protection frame (3) is flush with the upper surface of the second connection groove (501).

10. The four-wheel eight-drive robot travel device according to claim 9, characterized in that: The inner distance of the opposite surfaces of the second protection frame (3) is smaller than the cross-sectional diameter of the limiting cylinder (401), and the outer width of the opposite surfaces of the second protection frame (3) is larger than the cross-sectional diameter of the limiting cylinder (401).

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