A shock-absorbing component and a shock-absorbing device for a quadruped robot

Abstract

The present invention discloses a shock-absorbing assembly, which includes two bases and a plurality of buffer members. The buffer members are strip-shaped structures with toughness and deformation limits. Mounting holes are provided on the bases, and both ends of the buffer members are respectively inserted and fixed in the mounting holes; the plurality of buffer members are symmetrically arranged and bend outward under pressure to form a support between the two bases. With a simple structure, light weight, and small volume, the present invention can be applied to different occasions. When used on the back of a quadruped robot, it will not increase the burden on the robot and reduce unnecessary energy consumption during the operation of the quadruped robot.

Description

Technical Field

[0001] The present invention relates to the technical field of quadruped robot applications, and particularly to a shock-absorbing component and a shock-absorbing device for a quadruped robot. Background Art

[0002] With the continuous development of science and technology, quadruped robots are increasingly used to replace humans in production services or extreme environments. The application of quadruped robots can improve efficiency to a certain extent on the premise of ensuring personnel safety and avoiding casualties.

[0003] Quadruped robots can carry different devices to meet different working scenarios. In addition to household and life scenarios, medical treatment, material transportation, industrial consumption, environmental exploration, resource collection, etc. can all become the fields where quadruped robots are used. Among them, application scenarios such as material handling and resource collection have low requirements for the anti-vibration performance of quadruped robots. However, when it is necessary to collect images, especially when collecting images during the movement of quadruped robots, the requirements for the anti-vibration performance of quadruped robots become much higher. Therefore, there is an urgent need for a new type of shock-absorbing component that can be applied to quadruped robots and at the same time adapt to different working requirements of quadruped robots. Summary of the Invention

[0004] The purpose of the present invention is to provide a shock-absorbing component and a shock-absorbing device for a quadruped robot. With a simple structure, light weight, and small volume, it can be applied to different occasions. When used on the back of a quadruped robot, it will not increase the burden on the robot and reduce unnecessary energy consumption during the operation of the quadruped robot.

[0005] To achieve the above invention purpose, the present invention adopts the following technical solutions: A shock-absorbing component includes two bases and a plurality of buffer members. The buffer members are strip-shaped structures with toughness and deformation limits. Mounting holes are provided on the bases, and both ends of the buffer members are respectively inserted and fixed in the mounting holes; the plurality of buffer members are symmetrically arranged and bend outward under pressure to form a support between the two bases; it further includes an adjusting member for adjusting the torsion degree of the buffer members. The control end of the adjusting member is exposed outside the base, and the acting end of the adjusting member is located inside the base and contacts the buffer member; an adjusting hole is provided on the base, and the adjusting hole is communicated with the mounting hole. The adjusting member is rotatably arranged in the adjusting hole; a positioning member is provided at the end of the buffer member, and the positioning member is fixedly arranged with the buffer member. The positioning member is annularly sleeved outside the end of the buffer member, and the acting end of the adjusting member is in tooth engagement with the outside of the positioning member; when the adjusting member rotates, it drives the positioning member to rotate, and the buffer member follows the positioning member to rotate.

[0006] When a force is applied from the outside to the middle of the two bases, the buffer members in the two bases are deformed under pressure, and the force in one direction is dispersed along the length direction of the buffer member arranged in a long strip shape, playing a good buffering role.

[0007] Compared with the prior art, the shock absorption assembly adopting the above technical solution has the following beneficial effects:

[0008] First, by adopting the shock absorption assembly of the present invention and the shock absorption device for a quadruped robot, the structure is simple, the cost is low, and the maintenance is convenient.

[0009] Second, the structure of the shock absorption assembly is simple, and it can be applied to many occasions with wide applicability.

[0010] There are many ways to adjust the torsion degree of the buffer member. After removing the end of the buffer member fixed in the mounting hole from the base, the torsion degree can be adjusted, and then the buffer member can be reinstalled and continue to be debugged. After the adjusting member is provided on the base, the torsion degree of the buffer member can be directly adjusted without removing the buffer member, which is more convenient for later debugging.

[0011] By rotating the adjusting member, the torsion degree can be accurately adjusted.

[0012] Preferably, one end of the buffer member is fixed on one base. After the buffer member is uniformly twisted into a spiral shape along the circumferential direction, the other end of the buffer member is fixed on the other base.

[0013] The buffer member formed by torsion can provide buffering effects for the base along the length direction and the circumferential direction of the buffer member, making the shock absorption effect better, and at the same time increasing the resilience effect and anti-bending performance of the buffer member.

[0014] Preferably, the mounting holes on the base are communicated with each other, and two or more buffer members are arranged end to end. After the mutually connected buffer members penetrate into one mounting hole of the base, they penetrate out from another mounting hole and are inserted into the mounting hole of another base.

[0015] The multi-strand buffer filaments are twisted with each other, which can increase the toughness of the buffer member; when the buffer member is deformed under the impact of a strong external force, the multi-strand buffer filaments will not break simultaneously, improving the buffering performance and safety performance of the entire buffer assembly.

[0016] Preferably, the mounting holes on the base are communicated with each other, and two or more buffer members are arranged end to end. After the mutually connected buffer members penetrate into one mounting hole of the base, they penetrate out from another mounting hole and are inserted into the mounting hole of another base.

[0017] The interconnected buffer members are equivalent to increasing the length of the buffer members. The two bases are connected through the buffer members, reducing the number of fixing points between the buffer members and the bases and the risk of the connection points falling off. Moreover, adjusting the torsional degree of one buffer member can achieve the purpose of adjusting the seismic performance of the entire shock absorption assembly, making the installation and debugging more convenient.

[0018] Preferably, there are four buffer members, and four mounting holes are provided on each base; the mounting holes on the base are paired in pairs, and the two paired mounting holes communicate with each other.

[0019] Preferably, it further includes a fastener. The fastener is sleeved on the buffer member. There is a gap between the buffer member and the hole wall of the orifice of the mounting hole. One end of the fastener inserted into the gap is the fastening end, and the radial thickness of the fastening end is smaller than the other end of the fastener; the fastener is arranged in a non-closed ring shape with a notch. When the fastener is rotated and inserted into the mounting hole, it drives the buffer member to move into the mounting hole.

[0020] When the fastener enters from the mounting hole, due to the different caliber widths, the notch is compressed, the inner wall of the fastener squeezes the buffer member, and drives the buffer member to move inward. The fastener can fix the buffer member in the mounting hole to prevent the buffer member from slipping out of the mounting hole. At the same time, after being stuck between the buffer member and the mounting hole, it can effectively prevent the buffer member from rotating, ensuring that the buffer member will not rotate or loosen during the use of the shock absorption assembly.

[0021] Preferably, a limiting groove for restricting the rotation of the positioning member is provided at the bottom of the mounting hole. The limiting groove is provided on the bottom surface or the side wall of the mounting hole. When the buffer member enters and exits the mounting hole, the positioning member enters and exits the limiting groove.

[0022] When the limiting groove is provided on the bottom surface or the side surface of the mounting hole, the limiting groove is composed of a plurality of sub-grooves arranged in a circumferential array. The number and arrangement interval of the sub-grooves are the same as those of the acting end and the gear provided on the outer side of the positioning member; and at the same time, the bottom of the positioning member in contact with the limiting groove is also cooperatively arranged to ensure that no matter how many times the adjusting member rotates, the positioning member can cooperate with the limiting groove to cooperate with the end of the buffer member.

[0023] The mutual cooperation of the limiting groove and the fastener can achieve the fixation and adjustment of the buffer member.

[0024] A shock absorption device for a quadruped robot, characterized in that: it includes two buffer seats and the shock absorption assembly described in the above solution. There is one or more shock absorption assemblies. Fixing holes are provided on both the base and the buffer seat, and the two buffer seats are respectively fixed on the two bases of the same shock absorption assembly.

[0025] Compared with the prior art, the shock absorption device for quadruped robots adopting the above technical solution has the following beneficial effects:

[0026] First, by using the shock absorption component and the shock absorption device for quadruped robots of the present invention, and by adjusting the size of the buffer member and the number of shock absorption components, it is possible to be used for devices of different sizes and weights.

[0027] Second, the shock absorption component itself has a simple structure, is light in weight and small in occupied volume, and can be applied to different occasions. When used on the back of a quadruped robot, it will not increase the burden on the robot and reduce unnecessary energy consumption during the operation of the quadruped robot.

[0028] Third, the shock absorption degree of the shock absorption component can be directly adjusted through the adjusting member, which is convenient for later maintenance and debugging. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic structural diagram of an embodiment of the shock absorption device for quadruped robots in the present invention.

[0030] Figure 2 It is a schematic structural diagram of the shock absorption component and the buffer seat in the present invention.

[0031] Figure 3 It is a schematic structural diagram of Embodiment 1 of the shock absorption component.

[0032] Figure 4 It is a schematic structural diagram of Embodiment 2 of the shock absorption component.

[0033] Figure 5 It is a schematic structural diagram of Embodiment 3 of the shock absorption component.

[0034] Figure 6 It is a partial cross-sectional view of the base in Embodiment 3.

[0035] Figure 7 It is Figure 6 a schematic structural diagram of the buffer member at A in the unlocked state.

[0036] Figure 8 It is Figure 6 a schematic structural diagram of the buffer member at A in the locked state.

[0037] Reference numerals: 1, base; 11, mounting hole; 111, gap; 112, limiting groove; 12, adjusting hole; 2, buffer member; 21, buffer filament; 3, adjusting member; 31, control end; 32, acting end; 4, positioning member; 5, fastening member; 50, fastening end; 51, notch; 6, quadruped robot; 7, buffer seat; 71, fixing hole. DETAILED DESCRIPTION OF THE INVENTION

[0038] The present invention will be further described below with reference to the drawings.

[0039] Example 1:

[0040] Such as Figure 3 The shock-absorbing assembly and the shock-absorbing device for the quadruped robot 6 shown in the figure include two bases 1 and a plurality of buffer members 2. The buffer members 2 are strip-shaped structures with toughness and deformation limits. Mounting holes 11 are provided on the bases 1, and both ends of the buffer members 2 are respectively inserted and fixed in the mounting holes 11; the plurality of buffer members 2 are symmetrically arranged and form a support between the two bases 1 when compressed and bent outward. Among them, the mounting holes 11 can all be provided on the bottom surface of the base 1, or on the side surface of the base 1, or a combination of the side surface and the bottom surface.

[0041] When a force is applied from the outside to the middle of the two bases 1, the buffer members 2 in the two bases 1 are deformed under pressure, and the force in one direction is diverged along the length direction of the strip-shaped buffer members 2, playing a good buffering role.

[0042] The buffer member 2 can be made of an elastic linear material, such as a spring. Both ends of the spring are respectively fixed on different bases 1, or other elastically bent materials. However, after repeated compression and rebound, the spring and other elastically bent materials are prone to losing elasticity and losing the shock-absorbing function.

[0043] Therefore, in this embodiment, one end of the buffer member 2 is fixed on one base 1. After the buffer member 2 itself is uniformly twisted into a spiral shape along the circumferential direction, the other end of the buffer member 2 is fixed on the other base 1. The twisted buffer member 2 can provide buffering effects along the length direction and the circumferential direction of the buffer member 2 for the base 1, making the shock-absorbing effect better, and at the same time increasing the rebound effect and anti-bending performance of the buffer member 2.

[0044] Furthermore, the buffer member 2 includes a plurality of buffer filaments 21. The plurality of buffer filaments 21 are closely attached to each other and twisted to form the buffer member 2. The twisting of the plurality of buffer filaments 21 can increase the toughness of the buffer member 2; when the buffer member 2 is deformed under the impact of a strong external force, the plurality of buffer filaments 21 will not break simultaneously, improving the buffering performance and safety performance of the entire shock-absorbing assembly. The twisting method of the plurality of buffer filaments 21 close to each other can refer to the structure of hemp rope or steel wire rope.

[0045] Example 2:

[0046] In this embodiment, the mounting holes 11 on the base 1 communicate with each other. Two or more buffer members 2 are arranged end to end. After the mutually connected buffer members 2 pass through one mounting hole 11 of the base 1, they pass through another mounting hole 11 and are inserted into the mounting hole 11 of another base 1. The mutually connected buffer members 2 are equivalent to increasing the length of the buffer members 2. The two bases 1 are connected through the buffer members 2, reducing the number of fixing points of the buffer members 2 and the base 1 and reducing the risk of the connection points falling off. Moreover, adjusting the torsion degree of one buffer member 2 can achieve the purpose of adjusting the seismic performance of the entire shock absorption assembly, making the installation and debugging more convenient.

[0047] Specifically, as Figure 4 , there are four buffer members 2, and there are four mounting holes 11 on each of the bases 1. The mounting holes 11 on the base 1 are paired in twos, and the two paired mounting holes 11 communicate with each other. In this embodiment, in order to reduce the volume and weight and decrease the thickness of the base 1, the channels of the two mutually communicating mounting holes 11 are arranged in parallel. The four exposed buffer members 2 can be four separately arranged, with both ends fixed on different bases 1 respectively; or they can form two mutually connected buffer members 2, or a complete buffer member 2 connected end to end to form a loop.

[0048] Furthermore, it also includes an adjusting member 3 for adjusting the torsion degree of the buffer member 2. The control end 31 of the adjusting member 3 is exposed outside the base 1, and the acting end 32 of the adjusting member 3 is located inside the base 1 and contacts the buffer member 2. There is also an adjusting hole 12 on the base 1, and the adjusting hole 12 communicates with the mounting hole 11. The adjusting member 3 is rotatably arranged in the adjusting hole 12. The end of the buffer member 2 is provided with a positioning member 4, and the positioning member 4 is fixedly arranged with the buffer member 2. The positioning member 4 is annularly sleeved outside the end of the buffer member 2, and the acting end 32 of the adjusting member 3 is engaged with the outside of the positioning member 4. When the adjusting member 3 rotates, it drives the positioning member 4 to rotate, and the buffer member 2 rotates following the positioning member 4.

[0049] The adjusting member 3 can adjust the torsion degree of the buffer member 2 by rotation. In this embodiment, the control end 31 can adopt a slotted screw head of a cross shape or other shaped grooves, which is convenient for the user to use existing tools to rotate and adjust it.

[0050] Among them, the orifice positions of the adjusting hole 12 and the mounting hole 11 can be set as required. The two orifices can even be on the same bottom surface, the same side surface or different surfaces of the base 1. In Figure 4 , when they are set on different surfaces, in the actual production and application process, they can be designed as required.

[0051] Embodiment 3:

[0052] In this embodiment, as Figure 5As shown, it further includes a fastener 5. The fastener 5 is sleeved on the buffer member 2. There is a gap 111 between the buffer member 2 and the hole wall of the orifice of the mounting hole. One end of the fastener 5 inserted into the gap 111 is a fastening end 50, and the radial thickness of the fastening end 50 is less than the other end of the fastener 5. The fastener 5 is arranged in a non-closed ring shape with a notch 51. When the fastener 5 is inserted into the mounting hole by rotation, it drives the buffer member 2 to move into the mounting hole.

[0053] When the fastener 5 enters from the mounting hole 11, due to the different caliber widths, the notch 51 is compressed. The inner wall of the fastener 5 presses against the buffer member 2 and drives the buffer member 2 to move inward. The fastener 5 can fix the buffer member 2 in the mounting hole 11 to prevent the buffer member 2 from disengaging from the mounting hole 11. At the same time, after being stuck between the buffer member 2 and the mounting hole 11, it can effectively prevent the buffer member 2 from rotating, ensuring that during the use of the shock-absorbing assembly, the buffer member 2 will not rotate or become loose.

[0054] As Figure 6 shown, a limiting groove 112 for restricting the rotation of the positioning member 4 is provided at the bottom of the mounting hole 11. The limiting groove 112 is provided on the bottom surface or the side wall of the mounting hole 11. When the buffer member 2 enters and exits the mounting hole, the positioning member 4 enters and exits the limiting groove 112.

[0055] When the limiting groove 112 is provided on the bottom surface or the side surface of the mounting hole 11, the limiting groove 112 is composed of a combination of multiple circumferentially arranged sub-grooves. The number and arrangement interval of the sub-grooves are the same as those of the acting end 32 and the gear on the outer side of the positioning member 4. And at the same time, the bottom of the positioning member 4 in contact with the limiting groove 112 is also provided in a matching manner, ensuring that no matter how many times the adjusting member 3 rotates, the positioning member 4 can cooperate with the limiting groove to cooperate with the end of the buffer member 2.

[0056] Among them, the fastener 5 can be screwed into the orifice of the mounting hole 11 in a threaded manner, which can further ensure the play of the fastening function of the fastener 5.

[0057] Combined Figure 7 and Figure 8 , the adjustment and fixing processes of the fastener 5, the buffer member 2, and the adjusting member 3 are described in detail.

[0058] As Figure 7 shown, at this time, the buffer member 2 is in an unlocked state. At this time, the fastener 5 is not fixed in the mounting hole 11. The buffer member 2 disengages from the limiting groove due to its own elasticity or external force, and the outer side of the positioning member 4 is in tooth engagement with the acting end 32 of the adjusting member 3. At this time, by rotating the adjusting member 3, the positioning member 4 at the end of the buffer member 2 can be driven to rotate, so as to achieve the purpose of adjusting the torsional degree of the buffer member 2.

[0059] After adjusting to the required degree of torsion, rotate the fastener 5 so that the fastener 5 is inserted into the mounting hole 11. The notch 51 on the fastener 5 shrinks and squeezes the buffer member 2, driving the buffer member 2 to move inward, so that the positioning member 4 is inserted into the limiting groove, fixing the end of the buffer member 2, achieving the effect of preventing the buffer member 2 from rotating by itself.

[0060] In this embodiment, the settings and the number of adjustment holes 12, adjustment members 3 and fasteners 5 can all be set as required. It is not necessary to set the same adjustment structure for each mounting hole 11. Among them, in order to facilitate the rotation of multiple fasteners 5, the outer diameter of the fastener 5 exposed from the base 1 is set as a polygon, which is convenient to use existing tools, such as wrenches, to directly rotate and adjust the fastener 5.

[0061] Shock Absorption Device:

[0062] As Figure 2 shown in the schematic diagram of the shock absorption device, it includes two buffer seats 7 and a shock absorption component. There is one or more shock absorption components. Fixed holes 71 are provided on both the base 1 and the buffer seat 7. The two buffer seats 7 are respectively fixed on the two bases 1 of the same shock absorption component. During actual use, different machine devices can be fixed on the two buffer seats 7 according to actual needs to be applicable to different occasions.

[0063] In this embodiment, as Figure 1 shown, one buffer seat 7 is fixed on the back of the quadruped robot 6, and the other buffer seat 7 can be fixed with a 3D laser scanner, a network camera or a transmitter sight, etc. according to needs.

[0064] The above is the preferred embodiment of the present invention. For those of ordinary skill in the art, without departing from the principle of the present invention, several variations and improvements can still be made, and these should also be regarded as the protection scope of the present invention.

Claims

1. A shock-absorbing assembly, characterized in that: It includes two bases (1) and a plurality of buffer members (2). The buffer members (2) are strip-shaped structures with toughness and deformation limits. The base (1) is provided with mounting holes (11), and both ends of the buffer member (2) are respectively inserted and fixed in the mounting holes (11); a plurality of buffer members (2) are symmetrically arranged and bend outward under pressure to form a support between the two bases (1); it further includes an adjusting member (3) for adjusting the torsion degree of the buffer member (2). The control end (31) of the adjusting member (3) is exposed outside the base (1), and the acting end (32) of the adjusting member (3) is located inside the base (1) and contacts the buffer member (2); the base (1) is provided with an adjusting hole (12), and the adjusting hole (12) is communicated with the mounting hole (11), and the adjusting member (3) is rotatably arranged in the adjusting hole (12); a positioning member (4) is provided at the end of the buffer member (2), and the positioning member (4) is fixedly arranged with the buffer member (2). The positioning member (4) is annularly sleeved outside the end of the buffer member (2), and the acting end (32) of the adjusting member (3) is engaged with the outside of the positioning member (4); when the adjusting member (3) rotates, it drives the positioning member (4) to rotate, and the buffer member (2) rotates following the positioning member (4).

2. The shock-absorbing assembly according to claim 1, characterized in that: One end of the buffer member (2) is fixed on one base (1). After the buffer member (2) itself is uniformly twisted along the circumferential direction into a spiral shape, the other end of the buffer member (2) is fixed on the other base (1).

3. The shock-absorbing assembly according to claim 2, characterized in that: The buffer member (2) includes a plurality of buffer filaments (21), and the plurality of buffer filaments (21) are closely attached to each other and twisted to form the buffer member (2).

4. The shock-absorbing assembly according to claim 3, characterized in that: The mounting holes (11) on the base (1) are communicated with each other. Two or more buffer members (2) are arranged end to end. After the mutually connected buffer members (2) penetrate into one mounting hole (11) of the base (1), they penetrate out from another mounting hole (11) and are inserted into the mounting hole (11) of another base (1).

5. The shock-absorbing assembly according to claim 4, characterized in that: There are four buffer members (2), and four mounting holes (11) are provided on each base (1); the mounting holes (11) on the base (1) are paired in twos, and the two paired mounting holes (11) are communicated with each other.

6. The shock-absorbing assembly according to claim 5, characterized in that: It further includes a fastener (5), the fastener (5) is sleeved on the buffer member (2), a gap (111) is left between the buffer member (2) and the hole wall of the orifice of the mounting hole (11), one end of the fastener (5) inserted into the gap (111) is a fastening end (50), and the radial thickness of the fastening end (50) is smaller than the other end of the fastener (5); the fastener (5) is arranged in a non-closed ring shape with a notch (51), and when the fastener (5) is inserted into the mounting hole (11) by rotation, the buffer member (2) is driven to move into the mounting hole (11).

7. The shock absorption assembly according to claim 6, characterized in that: a limiting groove (112) for restricting the rotation of the positioning member (4) is provided at the bottom of the mounting hole (11), the limiting groove (112) is provided on the bottom surface or the side wall of the mounting hole (11), and when the buffer member (2) moves in and out of the mounting hole (11), the positioning member (4) moves in and out of the limiting groove (112).

8. A shock absorption device for a quadruped robot, characterized in that: it includes two buffer seats (7) and the shock absorption assembly according to any one of claims 1 to 7, one or more shock absorption assemblies are provided, fixing holes (71) are provided on both the base (1) and the buffer seats (7), and the two buffer seats (7) are respectively fixed on the two bases (1) of the same shock absorption assembly.

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