Utility model content
The main purpose of the utility model is to propose a kind of robot chassis shock mitigation system, it is intended to solve how to improve machineThe technical issues of people's overall stability.
To achieve the above object, the utility model proposes robot chassis shock mitigation system, comprising:
Idler wheel, including roller bearing and wheel body；
Lower bracing frame, including lower connecting plate and lower supporting plate, the lower connecting plate and the roller bearing are pivotally connected, the lower supportPlate is located at the top of the wheel body and connect with the top of the lower connecting plate；
Upper support frame, including being located at the upper backup pad above the lower supporting plate；
Flexible connector, the flexible connector is between the upper backup pad and lower supporting plate, so that the upper branchFagging can elastic lifting.
Preferably, the flexible connector includes the first support column and the elasticity for being sheathed on the first support column peripheryPart, first support column lower end are fixed with the lower supporting plate, and upper end slidably cooperates with the upper backup pad, the elasticityPart both ends are abutted with the lower supporting plate and upper backup pad elasticity respectively.
Preferably, the flexible connector includes the first support column and the elasticity for being sheathed on the first support column peripheryPart, first support column lower end are fixed with the lower supporting plate, and upper end slidably cooperates with the upper backup pad, the elasticityPart both ends are abutted with the lower supporting plate and upper backup pad elasticity respectively.
Preferably, the flexible connector further includes linear bearing, and the linear bearing and the upper backup pad are fixed simultaneouslySlidably cooperate with first support column, the elastic component is sheathed on the periphery of the linear bearing.
Preferably, the upper surface of the upper backup pad, robot chassis damping are protruded in the top of the linear bearingSystem further includes the first limit plate being connected at the top of the linear bearing, and is convexly equipped in the second support of the lower supporting plateColumn, the upper backup pad offer the slide opening slidably cooperated with second support column, and second support column is to limitFirst limit plate.
Preferably, robot chassis shock mitigation system further includes further including positioned at first limit plate and upper backup padBetween the second limit plate, second limit plate connect with the top of second support column, second limit plate it is upperSurface with first limit plate limit to abut, and the lower surface of second limit plate with the upper backup pad to limitIt abuts.
Preferably, the quantity of the linear bearing is two, and the both ends of first limit plate are connected to described in twoThe top of linear bearing, second limit plate offer two via hole corresponding with the top of two linear bearings respectively, instituteThe position for being connected to second limit plate between two via holes can be limited by stating the first limit plate.
Preferably, the upper support frame further includes upper junction plate and bottom support plate, the top of the upper junction plate with it is describedThe side of upper backup pad connects, and the bottom support plate is extended transversely and connect with the bottom of the upper junction plate.
Preferably, the lower end of the lower connecting plate protrudes from the lower surface of the bottom support plate, and the lower bracing frame is also wrappedInclude the third limit plate for being connected to the lower connecting plate lower end and extending transversely, the third limit plate to the bottom branchFagging limit abuts.
The utility model also proposes a kind of robot base component, including a kind of robot chassis shock mitigation system, the machinePeople chassis shock mitigation system includes: idler wheel, including roller bearing and wheel body；Lower bracing frame, including lower connecting plate and lower supporting plate, under describedConnecting plate and the roller bearing are pivotally connected, and the support plate is located at the top of the wheel body and connect with the top of the connecting plate；OnSupport frame, including being located at the upper backup pad above the lower supporting plate；Flexible connector, the flexible connector are located on describedBetween support plate and lower supporting plate, so that the upper backup pad can elastic lifting.
The utility model also proposes a kind of robot, including a kind of robot base component, the robot base component packetA kind of robot chassis shock mitigation system is included, which includes: idler wheel, including roller bearing and wheel body；Lower supportFrame, including lower connecting plate and lower supporting plate, the lower connecting plate and the roller bearing are pivotally connected, and the support plate is located at the wheel bodyTop is simultaneously connect with the top of the connecting plate；Upper support frame, including being located at the upper backup pad above the lower supporting plate；ElasticityConnector, the flexible connector is between the upper backup pad and lower supporting plate, so that the upper backup pad can elasticity literDrop.
The utility model robot chassis shock mitigation system between upper support frame and lower bracing frame by being arranged elastic connectionPart, while the roller bearing of lower bracing frame and idler wheel is connected, so that idler wheel is transferred to lower bracing frame when area of jolting is shakenVibration can be offset by flexible connector, lower bracing frame shake when, upper backup pad can be declined by elasticity of compression connector,During this, flexible connector also will do it elasticity and restore increase upper support frame, can reduce during idler wheel jolts as a result,The vibration of upper support frame, to reduce the vibration for the component for being installed on upper support frame, so as to reduce the noise that vibration generates, simultaneouslyImprove the overall stability of robot.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility modelClearly and completely describing, it is clear that described embodiment is only a part of the embodiment of the utility model, rather than allEmbodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premiseUnder every other embodiment obtained, fall within the protection scope of the utility model.
It is to be appreciated that if related in the utility model embodiment directionality instruction (such as upper and lower, left and right, it is preceding,Afterwards ...), then directionality instruction is only used for explaining opposite between each component under a certain particular pose (as shown in the picture)Positional relationship, motion conditions etc., if the particular pose changes, directionality instruction is also correspondingly changed correspondingly.
In addition, if relating to the description of " first ", " second " etc. in the utility model embodiment, " first ", " theTwo " etc. description is used for description purposes only, and is not understood to indicate or imply its relative importance or is implicitly indicated meaningThe quantity of the technical characteristic shown." first " is defined as a result, the feature of " second " can explicitly or implicitly include at least oneA this feature.In addition, the meaning of the "and/or" occurred in full text is, including three schemes arranged side by side, by " A and/or B for ",The scheme met simultaneously including A scheme or B scheme or A and B.In addition, the technical solution between each embodiment can be mutualIn conjunction with, but must be based on can be realized by those of ordinary skill in the art, when mutual lance occurs in the combination of technical solutionShield or cannot achieve when, will be understood that the combination of this technical solution is not present, also not in the protection scope of the requires of the utility modelWithin.
The utility model proposes a kind of robot chassis shock mitigation systems.
In the utility model embodiment, as shown in Figures 1 to 6, which includes:
Idler wheel 10, including roller bearing 11 and wheel body 12；
Lower bracing frame 20, including lower connecting plate 21 and lower supporting plate 22, the lower connecting plate 21 are pivotally connected with the roller bearing 11,The lower supporting plate 22 is located at the top of the wheel body 12 and connect with the top of the lower connecting plate 21；
Upper support frame 30, the upper backup pad 31 including being located at 22 top of lower supporting plate；
Flexible connector 40, the flexible connector 40 between the upper backup pad 31 and lower supporting plate 22 so thatThe upper backup pad 31 can elastic lifting.
In the present embodiment, wheel body 12 is used for mobile with ground face contact, and roller bearing 11 with driving device for connecting to driveWheel body 12 rolls.The quantity of lower connecting plate 21 is two, and two lower connecting plates 21 are pivotally connected with the both ends of roller bearing 11 respectively.Lower supporting plate22 are located at the surface of wheel body 12, and the two sides of lower supporting plate 22 are connect with the top of two lower connecting plates 21 respectively, to supportWhile upper support frame 30, moreover it is possible to making two lower connecting plates 21 be kept fixed spacing.Flexible connector 40 can be elastic component 42,It can be the combination of elastic component 42 and retractable supports part, need to only meet flexible connector 40 can elastic telescopic deformation.ElasticityConnector 40 between upper backup pad 31 and lower supporting plate 22,40 both ends of flexible connector can respectively with upper backup pad 31 and underSupport plate 22 connects, can also be to abut, and only need to meet upper backup pad 31 can be by elasticity of compression connector 40 and in elastic connectionElastic lifting under the restitution of part 40.In idler wheel 10 during jolting, the meeting vertical tremor of lower bracing frame 20, vibration existsIt can make flexible connector 40 that elastic deformation occur during being transferred to upper support frame 30 by flexible connector 40, generate elasticityPotential energy, to make the gently flexibility decrease of upper backup pad 31.After upper backup pad 31 drops to extreme position, elastic supporting member for supporting optical member can be sent outRaw elasticity is restored, so that upper backup pad 31 gently rises, to convert the vibration of lower bracing frame 20 on the bullet of upper support frame 30Mild-natured slow lifting reduces the vibration of upper support frame 30, that is, reduces the vibration for being mounted on the component of upper support frame 30, as a result,The noise that robot interior vibration generates can be reduced, while improving the overall stability of robot.
The utility model robot chassis shock mitigation system between upper support frame 30 and lower bracing frame 20 by being arranged elasticityConnector 40, while connect lower bracing frame 20 with the roller bearing 11 of idler wheel 10, so that idler wheel 10 is when area of jolting is shaken,The vibration for being transferred to lower bracing frame 20 can be offset by flexible connector 40, and when lower bracing frame 20 shakes, upper backup pad 31 can lead toOvercompression flexible connector 40 declines, and in the process, flexible connector 40 also will do it elasticity and restore to make on upper support frame 30It rises, the vibration of upper support frame 30 can be reduced during idler wheel 10 jolts as a result, to reduce the component for being installed on upper support frame 30Vibration while improving the overall stability of robot so as to reduce the noise that vibration generates.
Further, as shown in Figure 2 and Figure 6, the flexible connector 40 includes the first support column 41 and is sheathed on describedThe elastic component 42 of first support column, 41 periphery, 41 lower end of the first support column and the lower supporting plate 22 are fixed, upper end and instituteIt states upper backup pad 31 slidably to cooperate, 42 both ends of elastic component are supported with the lower supporting plate 22 and 31 elasticity of upper backup pad respectivelyIt connects.
In the present embodiment, upper backup pad 31 can be realized by opening up sliding hole and be matched with the sliding of the first support column 41It closes, can also be realized by connection sliding shaft sleeve and be slidably matched with first support column 41, need to only meet upper backup pad 31 and theOne support column 41 slidably cooperates.Elastic component 42 is compressed spring, and elastic component 42 is sheathed on 41 periphery of the first support column,During the jolting of idler wheel 10, upper backup pad 31 declines compression elastic piece 42, and elastic component 42 occurs elasticity in turn again and restores to makeUpper backup pad 31 rises, to realize the elastic lifting of upper backup pad 31 with the cooperation of elastic component 42 by the first support column 41.
Further, as shown in Figure 2 and Figure 6, the flexible connector 40 further includes linear bearing 43, the linear bearing43 fix with the upper backup pad 31 and slidably cooperate with first support column 41, and the elastic component 42 is sheathed on described straightSpool holds 43 periphery.In the present embodiment, the top of linear bearing 43 is fixedly connected with upper backup pad 31, bottom with firstDagger 41 slidably cooperates, to realize the slidably cooperation of upper backup pad 31 and the first support column 41.Linear bearing 43 andOne support column 41 is slidably matched, and can reduce fit clearance, to horizontally be formed to upper backup pad 31 and the first support column 41Effectively limit, further increases the stability of robot chassis shock mitigation system.
Further, as shown in Figure 2 and Figure 6, the upper table of the upper backup pad 31 is protruded at the top of the linear bearing 43Face, robot chassis shock mitigation system further include being connected to first limit plate 50 at 43 top of the linear bearing and convexSet on the second support column 60 of the lower supporting plate 22, the upper backup pad 31 is offered with second support column 60 slidablyThe slide opening 311 of cooperation, second support column 60 is to limit first limit plate 50.In the present embodiment, the second supportColumn 60 can be abutted directly with the limit of the first limit plate 50, and abutting can also be limited indirectly by other structures, need to only be met in upper branchAfter fagging 31 drops to extreme position, the second support column 60 can form effective limit to the first limit plate 50, to prevent bulletProperty part 42 is overly compressed and damages.Free gap is formed between second support column 60 and the first limit plate 50, free gapSpacing is preferably equal to the maximum deformation quantity of elastic component 42, when so that elastic component 42 being in ultimate deformation state, the second support column 60Limited support just is formed to the first limit plate 50, so that upper backup pad 31 there are enough decline bradyseism distances, but also can effectively protectProtect elastic component 42.
Further, as shown in Figure 2 and Figure 6, robot chassis shock mitigation system further include further include being located at described theThe second limit plate 70 between one limit plate 50 and upper backup pad 31, second limit plate 70 and second support column 60Top connection, the upper surface of second limit plate 70 with first limit plate 50 limit to abut, second limitThe lower surface of plate 70 with the upper backup pad 31 limit to abut.In the present embodiment, the second limit plate 70 and lower supporting plate22 spacing is constant, and for upper backup pad 31 during opposite lower supporting plate 22 is gone up and down, the first limit plate 50 is also with respect to the second limitPosition plate 70 is gone up and down.It is appreciated that the top of linear bearing 43 protrudes from the top of the second limit plate 70, so that the first limit plate 50There are free gaps between the second limit plate 70, when the first limit plate 50, which drops to, is connected to the second limit plate 70, elasticityPart 42 stops deformation, forms support to the first limit plate 50 by the second support column 60 connecting with the second limit plate 70, i.e., by theEffective support is integrally formed to upper support frame 30 in two support columns 60, increases supporting point and support force to upper support frame 30, fromAnd improve the stability of robot entirety.
Further, as shown in Figure 2 and Figure 6, the quantity of the linear bearing 43 is two, first limit plate 50Both ends are connected to the top of two linear bearings 43, second limit plate 70 offer respectively with two linear axisHold 43 corresponding two via hole 71 in top, first limit plate 50, which can limit, is connected to second limit plate 70 described in twoPosition between via hole 71.In the present embodiment, the quantity of the first support column 41 is two, and it is straight that the first limit plate 50 is connected to twoSpool holds 43, the lifting at each position of upper backup pad 31 can be made more synchronous, while the structure for improving the first limit plate 50 itself is strongDegree.First limit plate 50 can be limited with position of second limit plate 70 between two via holes 71 and be abutted, and can improve the first limit plateThe synchronism that 50 each positions are abutted with the second limit plate 70, so that upper support frame 30 is more stable in shock absorbing process, intoThe stability of one step raising robot interior.
Further, as shown in Figure 3 and Figure 4, the upper support frame 30 further includes upper junction plate 32 and bottom support plate 33, instituteThe top for stating upper junction plate 32 is connect with the side of the upper backup pad 31, the bottom support plate 33 extend transversely and with it is describedThe bottom of upper junction plate 32 connects.In the present embodiment, bottom support plate 33 can be used for the internal component of mounting robot, upper connectionPlate 32 and bottom support plate 33 are located at the side in 10 transverse direction of idler wheel, can make rolling of the bottom support plate 33 in height closer to idler wheel 10Axis 11, so that bottom support plate 33 can be more steady in 10 rotation process of idler wheel, thus make in robot moving process, inPortion's structure can be more steady.
Further, as shown in Figure 3 and Figure 4, the lower end of the lower connecting plate 21 protrudes under the bottom support plate 33Surface, the lower bracing frame 20 further include the third limit plate 23 for being connected to 21 lower end of lower connecting plate and extending transversely,The third limit plate 23 with the bottom support plate 33 limit to abut.In the present embodiment, third limit plate 23 and bottom branchFagging 33 is opposite, if 30 fall of upper support frame is excessive, third limit plate 23 can form effective limit to bottom support plate 33,It avoids 33 excessive descent of bottom support plate and touches bottom surface, further increase the overall stability of robot.
The utility model also proposes a kind of robot base component, which includes a kind of robot chassisShock mitigation system, the specific structure of the robot chassis shock mitigation system is referring to above-described embodiment, since robot base assembly is adoptedOwn with whole technical solutions of above-mentioned all embodiments, therefore at least brought by the technical solution with above-described embodimentBeneficial effect, this is no longer going to repeat them.
The utility model also proposes a kind of robot, including a kind of robot base component, the robot base component packetA kind of robot chassis shock mitigation system is included, the specific structure of the robot chassis shock mitigation system is referring to above-described embodiment, due to thisRobot uses whole technical solutions of above-mentioned all embodiments, therefore at least with the technical solution institute band of above-described embodimentAll beneficial effects come, this is no longer going to repeat them.
The above is only the preferred embodiment of the present invention, and therefore it does not limit the scope of the patent of the utility model,It is all under the inventive concept of the utility model, equivalent structure made based on the specification and figures of the utility model becomesIt changes, or directly/be used in other related technical areas indirectly and be included in the scope of patent protection of the utility model.