Universal robot chassis suspension device

Abstract

The utility model discloses a universal robot chassis suspension device which comprises a suspension body, a damper shell is arranged on the suspension body, a piston rod is arranged in the damper shell, a spring is arranged on the outer side of the piston rod, and an adjusting mechanism is arranged on the outer side of the damper shell. The adjusting mechanism comprises a moving sleeve, a pushing sleeve, a transmission sleeve, sliding rods, sliding blocks, telescopic springs, clamping plates, rubber strips, a linkage mechanism and a positioning mechanism, the moving sleeve slides on the outer wall of the damper shell, the pushing sleeve slides in the moving sleeve, the transmission sleeve is fixed to the outer wall of the pushing sleeve, the multiple sets of sliding rods are distributed in the moving sleeve, and the sliding blocks slide on the outer walls of the multiple sets of sliding rods. Through precise cooperation of the moving sleeve, the pushing sleeve, the transmission sleeve, the sliding rod, the sliding block, the telescopic spring, the clamping plate and the rubber strip, stepless adjustment of the suspension hardness of the robot chassis is achieved, the robot can rapidly adapt to the working environment according to different road conditions and load requirements, and the stability and the driving precision of the robot in the complex terrain are greatly improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of industrial automation, more specifically, it relates to a general robot chassis suspension device. BACKGROUND

[0002] In the field of industrial automation and intelligent services, the application scenarios of robots are increasingly diversified, and higher requirements are put forward for the adaptability of robot chassis. The existing robot chassis suspension system often adopts fixed parameter design. When the robot needs to frequently switch between different road conditions (such as flat ground, rugged terrain or special working condition environment), it is difficult to realize the rapid adjustment of suspension hardness. This limitation leads to poor stability and excessive vibration of the robot when it travels in complex terrain, which not only affects the work precision and efficiency, but also may cause damage to internal components or shorten the service life of the robot.

[0003] In application scenarios with high requirements for precise motion control and load adaptability, the hardness adjustment of the robot chassis suspension system becomes a key factor. Traditional suspension devices usually need to change the hardness parameter by disassembling, replacing or adjusting internal parts. This process not only consumes time and effort, but also requires professional technical personnel to operate, which cannot meet the demand for rapid response in on-site operation. UTILITY MODEL CONTENT

[0004] (I) Technical problems solved

[0005] In view of the problems existing in the prior art, the utility model provides a general robot chassis suspension device to solve the technical problem of difficult rapid adjustment of suspension hardness mentioned in the background art.

[0006] (II) Technical solutions

[0007] To achieve the above object, the utility model provides the following technical scheme: A general robot chassis suspension device, including suspension body, the suspension body is equipped with damper shell, the damper shell is equipped with piston rod, the piston rod outside is equipped with spring, the damper shell outside is provided with adjusting mechanism, the adjusting mechanism includes moving sleeve, push sleeve, transmission sleeve, sliding rod, sliding block, extension spring, clamping plate, rubber strip, linkage mechanism and positioning mechanism, moving sleeve slides in the damper shell outer wall, push sleeve slides in moving sleeve, transmission sleeve is fixed in push sleeve outer wall, sliding rod is provided with multiple groups and is distributed in moving sleeve, sliding block slides in multiple sliding rod outer wall, extension spring is provided with multiple groups and is respectively installed in multiple sliding block inside, clamping plate is provided with multiple groups and is respectively installed in multiple extension spring bottom end, rubber strip is provided with multiple groups and is respectively installed in multiple clamping plate inside, linkage mechanism includes screw rod, gear, rotating sleeve and gear ring, screw rod is provided with multiple groups and rotates in moving sleeve outside and is all connected with transmission sleeve thread, gear is fixed in multiple screw rod top end rotating sleeve rotating installation in moving sleeve outside, gear ring is fixed in rotating sleeve bottom end and is engaged with multiple gear.

[0008] The utility model further sets up, positioning mechanism includes connecting sleeve, movable block, movable slot, locating block, push spring, locating plate and locating hole, connecting sleeve installation is in moving sleeve top end, movable block is provided with multiple all sliding in connecting sleeve, movable slot is provided with multiple groups and is distributed in moving sleeve outer wall and is respectively with multiple movable block sliding connection, locating block sets up in multiple movable block top end, push spring installation is in multiple locating block bottom end and is connected with connecting sleeve fixed connection, locating plate is provided with multiple all installation in rotating sleeve top surface, locating hole sets up in multiple locating plate.

[0009] The utility model further sets up, the inside installation of moving sleeve is equipped with compression spring, the bottom end of compression spring is equipped with push ring, the push ring abuts in multiple sliding block top surface, through the cooperation of compression spring and push ring, forms elastic drive mechanism, ensures under the state of adjusting loosening can utilize the elastic force and automatically push the sliding block and moves, realizes quick reset function, improves the response speed and reliability of adjusting system.

[0010] The utility model further sets up, multiple sliding rod all are oblique installation in moving sleeve and are all equipped with guide strip on the outer wall, multiple guide strip are respectively connected with multiple sliding block sliding, adopt oblique type mounting structure and convert axial thrust into radial clamping force, and the sliding connection of guide strip and sliding block ensures the accuracy of sliding block movement track, prevents rotation deviation, improves the stability and precision of adjusting process.

[0011] The utility model further sets up, multiple rubber strip all are transversely distributed in multiple clamping plate inside, and the transverse distribution design of rubber strip increases the contact area with damper shell, improves the uniform distribution of clamping force, and rubber material provides appropriate buffering and friction characteristics, prevents the slippage or damage in clamping process.

[0012] The utility model further sets up, the mobile cover is equipped with the limit lever, the limit lever is provided with a plurality of groups and all is with the push cover sliding connection, forms the axial restraint mechanism through the sliding connection of limit lever and push cover, prevents the push cover from rotating or deviating in the movement process, ensures the transmission direction of force accurate, improves the operation stability of whole adjustment system.

[0013] The utility model further sets up, a plurality of positioning blocks are all arranged as arc shape outside, a plurality of positioning holes are all provided with bevel outside, the arc shape positioning block and the positioning hole with bevel form the gradual contact and separation mechanism, reduced the impact force in the positioning process, make the positioning more smooth, simultaneous bevel design is convenient for the positioning block in the rotation process automatic guiding enters the positioning hole.

[0014] The utility model further sets up, the outer wall of rotating cover is equipped with antiskid strip, the antiskid strip is provided with a plurality of groups, a plurality of antiskid strips increase the friction coefficient of rotating cover surface, improved the contact stability between the operator's finger and rotating cover, it is convenient to accurate control rotation strength and angle, especially in the wet or glove operation environment, greatly improved the convenience and accuracy of adjustment operation.

[0015] (Three) beneficial effects

[0016] Compared with the prior art, the utility model provides a kind of general robot chassis suspension device, with following beneficial effects:

[0017] 1, by the adjusting mechanism being set on suspension body, the precise cooperation of mobile cover, push cover, transmission cover, sliding rod, sliding block, extension spring, clamping plate and rubber strip is realized to the stepless adjustment of robot chassis suspension hardness, so that robot can quickly adapt to working environment according to different road conditions and load demand, greatly improve the stability and travel precision of robot in complex terrain.

[0018] 2, linkage mechanism is formed by the cooperative work of screw rod, gear, rotating cover and gear ring, forms high-efficiency accurate force transmission system, and operator only needs to rotate rotating cover to drive whole adjustment system to operate, realizes the convenient man-machine interaction mode.

[0019] 3, positioning mechanism includes the accurate cooperation of connecting cover, movable block, movable slot, positioning block, push spring, positioning plate and positioning hole, ensures the accurate control of adjustment process, realizes multistage positioning in adjustment process by the engagement of positioning block and positioning hole, guarantees the accuracy and repeatability of suspension hardness adjustment, avoids the unstable work performance due to adjustment error. DRAWINGS

[0020] Figure 1It is the whole structure schematic view of a general robot chassis suspension device in the utility model.

[0021] Figure 2 It is the structure schematic view of a spring in the utility model.

[0022] Figure 3 It is the sectional structure schematic view of an adjusting mechanism in the utility model.

[0023] Figure 4 It is the sectional structure schematic view of a linkage mechanism in the utility model.

[0024] Figure 5 It is the sectional structure schematic view of a moving sleeve in the utility model.

[0025] In the figure: 1, suspension body; 2, damper housing; 3, piston rod; 4, spring; 5, moving sleeve; 6, push sleeve; 7, transmission sleeve; 8, sliding rod; 9, sliding block; 10, extension spring; 11, clamping plate; 12, rubber strip; 13, screw; 14, gear; 15, rotating sleeve; 16, gear ring; 17, connecting sleeve; 18, movable block; 19, movable groove; 20, positioning block; 21, push spring; 22, positioning plate; 23, positioning hole; 24, compression spring; 25, push ring; 26, guide strip; 27, limiting rod; 28, anti-skid strip. DETAILED DESCRIPTION

[0026] It should be noted that the embodiments and features in the embodiments in the present application can be combined with each other without conflict.

[0027] It should be noted that, unless otherwise specified, all technical and scientific terms used in the present application have the same meaning as generally understood by those skilled in the art to which the present application belongs.

[0028] In the utility model, the orientation such as "up, down" is generally directed to the direction shown in the drawing, or is directed to the vertical, perpendicular or gravity direction, unless otherwise stated; similarly, for the convenience of understanding and description, "left, right" is generally directed to the left and right shown in the drawing; "inner, outer" refers to the inner and outer relative to the contour of each component itself, but the above orientation words are not used to limit the utility model.

[0029] Please refer to Figures 1-5The utility model provides a kind of general robot chassis suspension device, including suspension body 1, damper housing 2 is equipped on suspension body 1, piston rod 3 is equipped in damper housing 2, spring 4 is equipped outside piston rod 3, adjusting mechanism is provided outside damper housing 2, adjusting mechanism includes moving sleeve 5, push sleeve 6, transmission sleeve 7, slide bar 8, sliding block 9, telescopic spring 10, clamping plate 11, rubber strip 12, linkage mechanism and positioning mechanism, moving sleeve 5 slides in damper housing 2 outer wall, push sleeve 6 slides in moving sleeve 5, transmission sleeve 7 is fixed in push sleeve 6 outer wall, slide bar 8 is provided with multiple groups and is distributed in moving sleeve 5, sliding block 9 slides in the outer wall of multiple groups of slide bar 8, telescopic spring 10 is provided with multiple groups and is respectively mounted in the inboard of multiple groups of sliding block 9, clamping plate 11 is provided with multiple groups and is respectively mounted in the bottom end of multiple groups of telescopic spring 10, rubber strip 12 is provided with multiple groups and is respectively mounted in the inboard of multiple groups of clamping plate 11, linkage mechanism includes screw rod 13, gear 14, rotating sleeve 15 and gear ring 16, screw rod 13 is provided with multiple groups and rotates in moving sleeve 5 outside and is all connected with transmission sleeve 7 thread, gear 14 is fixed in the top end of multiple groups of screw rod 13 rotating sleeve 15 is rotatably installed in moving sleeve 5 outside, gear ring 16 is fixed in the bottom end of rotating sleeve 15 and is engaged with multiple groups of gear 14.

[0030] Positioning mechanism includes connecting sleeve 17, movable block 18, movable slot 19, positioning block 20, push spring 21, positioning plate 22 and positioning hole 23, connecting sleeve 17 is installed in the top end of moving sleeve 5, movable block 18 is provided with multiple groups and slides on connecting sleeve 17, movable slot 19 is provided with multiple groups and is distributed in the outer wall of moving sleeve 5 and is respectively connected with multiple groups of movable block 18 sliding, positioning block 20 is provided at the top end of multiple groups of movable block 18, push spring 21 is installed in the bottom end of multiple groups of positioning block 20 and is fixedly connected with connecting sleeve 17, positioning plate 22 is provided with multiple groups and is all installed in the top surface of rotating sleeve 15, positioning hole 23 is provided on multiple groups of positioning plate 22.

[0031] Compression spring 24 is mounted in the inboard of moving sleeve 5, push ring 25 is connected in the bottom end of compression spring 24, push ring 25 abuts on the top surface of multiple groups of sliding block 9, the principle is that compression spring 24 provides downward elastic thrust, and force is evenly distributed to multiple groups of sliding block 9 by push ring 25, forms automatic reset mechanism, to ensure that the adjusting system can quickly recover the initial state after loosening.

[0032] Multiple groups of slide bar 8 are all obliquely installed in moving sleeve 5 and are all provided with guide strip 26 on outer wall, multiple groups of guide strip 26 are respectively connected with multiple groups of sliding block 9 sliding, the principle is that obliquely installed slide bar 8 converts axial movement into radial force, and guide strip 26 ensures that sliding block 9 moves accurately along the predetermined path, prevents deflection during stress process.

[0033] Multiple groups of rubber strip 12 are all transversely distributed in the inboard of multiple groups of clamping plate 11, the principle is that transversely distributed rubber strip 12 increases contact area and provides appropriate friction and buffering performance, so that clamping plate 11 can uniformly and stably act on the surface of damper housing.

[0034] The limiting rod 27 is arranged in the moving sleeve 5 and is in sliding connection with the push sleeve 6, and the principle is that the limiting rod 27 constructs the movement track of the push sleeve 6 to prevent rotation in the sliding process and ensure that the force transmission direction and position are accurately controllable.

[0035] The outer side of each of the plurality of positioning blocks 20 is arranged in a circular arc shape, and the outer side of each of the plurality of positioning holes 23 is arranged with an inclined angle, and the principle is that the circular arc-shaped positioning block 20 cooperates with the positioning hole 23 with an inclined angle to form a self-guiding mechanism, so that the positioning process is gradual and smooth, mechanical impact is reduced, and positioning accuracy is improved.

[0036] The outer wall of the rotating sleeve 15 is provided with anti-skid strips 28, and the anti-skid strips 28 are arranged in multiple groups, and the principle is that the anti-skid strips 28 increase the surface friction coefficient, so that the operator can stably grasp the rotating sleeve 15 and apply accurate rotating force, and good controllability can be maintained even in a wet or oily environment.

[0037] In this embodiment, when it is necessary to adjust the hardness of the suspension, the rotating sleeve 15 is rotated to drive the gear ring 16 to rotate, the gear ring 16 is in meshing transmission with the plurality of gears 14 and drives the screw rod 13 to rotate, the plurality of screw rods 13 are in threaded cooperation with the transmission sleeve 7, so that the transmission sleeve 7 drives the push sleeve 6 to slide along the limiting rod 27 to release the abutment of the bottom end of the plurality of sliding blocks 9, at this time the plurality of sliding blocks 9 are driven by the elastic reset of the compression spring 24 to push the plurality of sliding blocks 9, so that the plurality of sliding blocks 9 respectively slide along the slide rods 8 obliquely installed, so that the plurality of clamping plates 11 release the clamping of the damper shell 2, and then the moving sleeve 5 pushes the spring 4 to be extruded, and then the rotating sleeve 15 is reversely rotated to drive the screw rod 13 and the transmission sleeve 7 to cooperate through the gear 14, so as to drive the push ring 25 to push the plurality of sliding blocks 9 to slide along the slide rod 8 and abut against the push ring 25 to extrude the compression spring 24, and at the same time drive the rubber strips 12 inside the plurality of clamping plates 11 to abut against the outer wall of the damper shell 2 and press the plurality of extension springs 10, at this time the spring 4 is extruded, so that the suspension becomes hard, and vice versa, the spring 4 is extended, so that the suspension becomes soft.

[0038] More specifically, when the rotating sleeve 15 is rotated, the plurality of positioning plates 22 are rotated, the plurality of positioning plates 22 push the positioning blocks 20 to make them slide along the movable blocks 18 in the movable grooves 19 and extrude the push springs 21, when the positioning hole 23 moves to the outer side of the positioning block 20, the push spring 21 pushes the positioning block 20 to be clamped in the positioning hole 23, so that the rotating sleeve 15 is positioned once for each end distance, the distance between the plurality of positioning blocks 20 is equal, and when the rotating sleeve 15 stops, a certain force needs to be applied to make the rotating sleeve 15 rotate.

[0039] In summary, during use or operation of the overall equipment: when it is necessary to adjust the suspension stiffness, rotating the rotating sleeve 15 drives the gear ring 16 to rotate. The gear ring 16 meshes with multiple sets of gears 14, simultaneously driving the screw 13 to rotate. The multiple sets of screws 13 are threadedly engaged with the transmission sleeve 7, causing the transmission sleeve 7 to drive the push sleeve 6 to slide along the limiting rod 27, releasing its contact with the bottom of the multiple sets of sliders 9. At this time, the multiple sets of sliders 9 are pushed by the push ring 25 through the elastic reset of the compression spring 24, causing the multiple sets of sliders 9 to slide along the inclined sliding rod 8, thus allowing the multiple sets of sliders 9 to slide along the inclined sliding rod 8. The clamping plate 11 releases its clamp on the damper housing 2, and then pushes the moving sleeve 5 to compress the spring 4. Then, the rotating sleeve 15 rotates in the opposite direction, and through the gear 14, it drives the screw 13 to cooperate with the transmission sleeve 7, thereby driving the push ring 25 to push multiple sets of sliders 9 to slide along the slide rod 8 and abut against the push ring 25 to compress the compression spring 24. At the same time, it drives the rubber strips 12 on the inner side of multiple sets of clamping plates 11 to press against the outer wall of the damper housing 2 and press against multiple sets of extension springs 10. At this time, the spring 4 is compressed, making the suspension stiffer. Conversely, when the spring 4 extends, the suspension becomes softer.

[0040] When the rotating sleeve 15 rotates, it drives multiple sets of positioning plates 22 to rotate. The outer side of the multiple sets of positioning plates 22 pushes the positioning block 20 so that it slides along the movable groove 19 through the movable block 18 and squeezes the push spring 21. When the positioning hole 23 moves to the outside of the positioning block 20, the push spring 21 pushes the positioning block 20 to engage with the positioning hole 23, so that the rotating sleeve 15 performs a positioning once for each rotation of one end. The distance between the multiple sets of positioning blocks 20 is set to be equal, and a certain force needs to be applied when the rotating sleeve 15 stops so that the rotating sleeve 15 can rotate.

[0041] Of all the solutions mentioned above, those involving the connection between two components can be selected according to the actual situation, such as welding, bolt and nut connection, bolt or screw connection, or other known connection methods, which will not be elaborated here. For all the fixed connections mentioned above, welding is preferred. Although embodiments of this utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this utility model. The scope of this utility model is defined by the appended claims and their equivalents.

Claims

1. A universal robot chassis suspension device, comprising a suspension body (1), characterized in that: The suspension body (1) is provided with a damper housing (2), and a piston rod (3) is provided inside the damper housing (2). A spring (4) is provided on the outside of the piston rod (3). An adjustment mechanism is provided on the outside of the damper housing (2). The adjustment mechanism includes a moving sleeve (5), a push sleeve (6), a transmission sleeve (7), a slide rod (8), a slider (9), a telescopic spring (10), a clamping plate (11), a rubber strip (12), a linkage mechanism, and a positioning mechanism. The moving sleeve (5) slides on the outer wall of the damper housing (2), the push sleeve (6) slides inside the moving sleeve (5), the transmission sleeve (7) is fixed on the outer wall of the push sleeve (6), and multiple sets of slide rods (8) are provided distributed inside the moving sleeve (5). The slider (9) slides on multiple sets of slide rods (8). The outer wall of the sliding rod (8) has multiple sets of telescopic springs (10) installed on the inner side of multiple sets of sliders (9), multiple sets of clamping plates (11) installed on the bottom of multiple sets of telescopic springs (10), multiple sets of rubber strips (12) installed on the inner side of multiple sets of clamping plates (11), and the linkage mechanism includes a screw (13), a gear (14), a rotating sleeve (15) and a toothed ring (16). The screw (13) has multiple sets of rotating sleeves (5) and is threadedly connected to the transmission sleeve (7). The gear (14) is fixed on the top of multiple sets of screws (13). The rotating sleeve (15) is rotatably installed on the outer side of the moving sleeve (5). The toothed ring (16) is fixed on the bottom of the rotating sleeve (15) and meshes with multiple sets of gears (14).

2. The universal robot chassis suspension device according to claim 1, characterized in that: The positioning mechanism includes a connecting sleeve (17), a movable block (18), a movable groove (19), a positioning block (20), a push spring (21), a positioning plate (22), and a positioning hole (23). The connecting sleeve (17) is installed on the top of the movable sleeve (5). Multiple sets of movable blocks (18) are provided and slide on the connecting sleeve (17). Multiple sets of movable grooves (19) are provided on the outer wall of the movable sleeve (5) and are slidably connected to the multiple sets of movable blocks (18). The positioning block (20) is provided on the top of the multiple sets of movable blocks (18). The push spring (21) is installed on the bottom of the multiple sets of positioning blocks (20) and is fixedly connected to the connecting sleeve (17). Multiple sets of positioning plates (22) are provided and are installed on the top surface of the rotating sleeve (15). The positioning hole (23) is provided on the multiple sets of positioning plates (22).

3. The universal robot chassis suspension device according to claim 2, characterized in that: A compression spring (24) is installed inside the movable sleeve (5), and a push ring (25) is connected to the bottom end of the compression spring (24). The push ring (25) abuts against the top surface of multiple sets of sliders (9).

4. A universal robot chassis suspension device according to claim 3, characterized in that: multiple sets The slide bars (8) are all installed at an inclination inside the movable sleeve (5) and the outer wall is provided with guide strips (26). The multiple sets of guide strips (26) are slidably connected to multiple sets of sliders (9).

5. A universal robot chassis suspension device according to claim 4, characterized in that: The multiple sets of rubber strips (12) are all laterally distributed on the inner side of the multiple sets of clamps (11).

6. A universal robot chassis suspension device according to claim 5, characterized in that: The movable sleeve (5) is provided with a limiting rod (27), and the limiting rod (27) is provided in multiple sets and is slidably connected to the push sleeve (6).

7. A universal robot chassis suspension device according to claim 6, characterized in that: The outer sides of the multiple sets of positioning blocks (20) are all set in an arc shape, and the outer sides of the multiple sets of positioning holes (23) are all set with bevels.

8. A universal robot chassis suspension device according to claim 7, characterized in that: The outer wall of the rotating sleeve (15) is provided with anti-slip strips (28), and multiple sets of anti-slip strips (28) are provided.

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