阅读说明：本技术 移动机器人减震器 (Mobile robot shock absorber ) 是由 司蓉兴 杨连明 于 2019-11-12 设计创作，主要内容包括：本发明属于移动机器人设备技术领域,涉及一种移动机器人减震器,包括活塞筒,所述活塞筒轴向一端固定连接底座,活塞筒的内腔中设置碟簧组,活塞杆滑动配合连接于活塞筒内孔中,活塞杆伸入活塞筒内孔的活塞头部设置环槽,滑环配合连接于所述环槽上,活塞杆的活塞头部通过活塞筒内孔的限位台阶限位。本发明产品结构简单、负载能力可调节、性能稳定可靠、成本低廉,也可以极大简化使用该型减震器的移动机器人结构,降低机器人维护成本,提高机器人整体稳定性。(The invention belongs to the technical field of mobile robot equipment, and relates to a mobile robot shock absorber which comprises a piston cylinder, wherein one axial end of the piston cylinder is fixedly connected with a base, a disc spring group is arranged in an inner cavity of the piston cylinder, a piston rod is connected in an inner hole of the piston cylinder in a sliding fit manner, a piston head part of the piston rod, which extends into the inner hole of the piston cylinder, is provided with a ring groove, a sliding ring is connected on the ring groove in a fit manner, and the piston head part of the piston rod is limited by a limiting step of the inner hole. The product of the invention has simple structure, adjustable load capacity, stable and reliable performance and low cost, and can also greatly simplify the structure of the mobile robot using the shock absorber, reduce the maintenance cost of the robot and improve the overall stability of the robot.)

1. A mobile robot bumper shock absorber which characterized in that: including piston cylinder (1), piston cylinder (1) axial one end fixed connection base (8) sets up dish spring group (2) in the inner chamber of piston cylinder (1), and piston rod (5) sliding fit connects in piston cylinder (1) hole, and the piston head that piston rod (5) stretched into piston cylinder (1) hole sets up the annular, and sliding ring (3) cooperation connect in on the annular, the piston head of piston rod (5) is spacing through spacing step (1-1) in piston cylinder (1) hole.

2. The mobile robot shock absorber of claim 1, wherein: the disc spring group (2) comprises a plurality of disc springs (201) which are overlapped in parallel.

3. The mobile robot shock absorber of claim 2, wherein: the disc springs (201) are overlapped in parallel or are overlapped in parallel and matched with the straight line combination.

4. The mobile robot shock absorber of claim 1, wherein: the base (8) is provided with a joint bearing (9), and the surfaces of two sides of the joint bearing (9) are limited by clamp springs (10) respectively.

5. The mobile robot shock absorber of claim 1, wherein: and a guide sleeve (4) is arranged in an inner hole of one end of the piston cylinder (1) corresponding to the piston rod (5).

6. The mobile robot shock absorber of claim 1, wherein: the axial outer end of the piston rod (5) is connected with a locking nut (6) and a Y-shaped joint (7).

Technical Field

The invention belongs to the technical field of mobile robot equipment, and relates to a mobile robot shock absorber.

Background

The suspension system is a general term for a connection device between a frame and wheels of a mobile robot as a core component of the mobile robot, and has the functions of transmitting force and torsion acting between the wheels and the frame, buffering impact force transmitted to the frame or a vehicle body from an uneven road surface, and attenuating vibration caused by the impact force so as to ensure that the robot can run smoothly. Typical suspension system structures are composed of structural elements, guide elements, shock absorbers, etc., and individual structures are bumper blocks, stabilizer bars, etc. The shock absorber is used as a core part of a suspension system, and the shock absorption effect and the quality of the shock absorber directly determine the overall performance of the mobile robot. The shock absorber for the mobile robot mainly comprises two types, 1, the light-load robot takes a compression spring as the shock absorber; 2. the heavy-load robot takes an oil-gas spring or a hydraulic oil cylinder as a shock absorber. Wherein, the compression spring has the problems of poor durability, short service life and the like; hydro-pneumatic springs are complex in structure, high in manufacturing requirement and high in cost; the hydraulic oil cylinder needs to be additionally provided with a hydraulic station unit, so that the structure is complex, the equipment cost is increased rapidly, and the maintenance is difficult.

Disclosure of Invention

Aiming at the problems, the invention provides a mobile robot shock absorber which is simple in structure, adjustable in load capacity, stable and reliable in performance and low in cost; meanwhile, the structure of the mobile robot using the shock absorber can be greatly simplified, the maintenance cost of the robot is reduced, and the overall stability of the robot is improved.

According to the technical scheme of the invention: a mobile robot bumper shock absorber which characterized in that: including the piston barrel, the axial one end fixed connection base of piston barrel sets up the dish spring group in the inner chamber of piston barrel, and piston rod sliding fit connects in the piston barrel hole, and the piston head that the piston rod stretched into the piston barrel hole sets up the annular, and the sliding ring cooperation connect in on the annular, the piston head of piston rod is spacing through the spacing step of piston barrel hole.

As a further improvement of the invention, the disc spring group comprises a plurality of disc springs which are overlapped in parallel.

As a further improvement of the invention, the disc springs are matched with a straight line combination in a parallel overlapping mode or a parallel overlapping mode.

As a further improvement of the invention, the base is provided with a joint bearing, and the surfaces of the two sides of the joint bearing are respectively limited by clamp springs.

As a further improvement of the invention, a guide sleeve is arranged in an inner hole of the piston cylinder corresponding to one end of the piston rod.

As a further improvement of the invention, the axial outer end of the piston rod is connected with a locking nut and a Y-shaped joint.

The invention has the technical effects that: the product of the invention has simple structure, adjustable load capacity, stable and reliable performance and low cost, and can also greatly simplify the structure of the mobile robot using the shock absorber, reduce the maintenance cost of the robot and improve the overall stability of the robot.

Drawings

FIG. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic structural diagram of a disc spring set.

Fig. 3 is a perspective view of the present invention.

Detailed Description

The following further describes embodiments of the present invention with reference to the drawings.

In fig. 1 ~ 3, the device comprises a piston cylinder 1, a limit step 1-1, a disc spring group 2, a disc spring 201, a slip ring 3, a guide sleeve 4, a piston rod 5, a lock nut 6, a Y-shaped joint 7, a base 8, a joint bearing 9, a snap spring 10, and the like.

As shown in fig. 1 ~ 3, the invention is a mobile robot shock absorber, which comprises a piston cylinder 1, wherein one axial end of the piston cylinder 1 is fixedly connected with a base 8, a disc spring group 2 is arranged in an inner cavity of the piston cylinder 1, a piston rod 5 is connected in a sliding fit manner in an inner hole of the piston cylinder 1, a piston head part of the piston rod 5 extending into the inner hole of the piston cylinder 1 is provided with a ring groove, a sliding ring 3 is connected in a fit manner in the ring groove, and the piston head part of the piston rod 5 is limited by a limiting step 1-1 of the inner hole of the piston.

As shown in fig. 2, the disc spring group 2 comprises a plurality of disc springs 201 which are overlapped in parallel, and the disc springs 201 are overlapped in parallel or overlapped in parallel and matched with a straight line combination; the effect of adjusting the load capacity and the compression amount is achieved. In addition, when some dish springs 201 are damaged, only need individual change, reduce the maintenance cost.

The knuckle bearing 9 is installed on the base 8, the surfaces of two sides of the knuckle bearing 9 are limited by the clamp springs 10 respectively, and the knuckle bearing 9 is installed and fixed. The joint bearing 9 is installed in the installation hole of the base 8 and limited by the clamp springs 10 installed on two sides of the joint bearing 9.

A guide sleeve 4 is arranged in an inner hole of one end, corresponding to the piston rod 5, of the piston cylinder 1, and the guide sleeve 4 is a wear-resistant bushing and is installed at the front end of the piston cylinder 1.

The axial outer end of the piston rod 5 is connected with a locking nut 6 and a Y-shaped joint 7, and the locking nut 6 and the Y-shaped joint 7 are connected with the front end part of the piston rod 5 through threads.

The piston cylinder 1 is a seamless steel pipe, and the disc spring group 2 is arranged in the piston cylinder and can freely slide in the piston cylinder 1. The slip ring 3 is a combined sealing element, is pressed into the mounting groove at the rear end part of the piston rod 5 in a pressing mode, and moves along with the piston rod 5. The piston rod 5 is sleeved on the piston cylinder 1 and the guide sleeve 4 in a penetrating way and can flexibly extend and retract. The base 8 is mounted to the rear end of the piston cylinder 1 by screws 11.

The product of the invention has simple structure, adjustable load capacity, stable and reliable performance and low cost, and can also greatly simplify the structure of the mobile robot using the shock absorber, reduce the maintenance cost of the robot and improve the overall stability of the robot.