A shock absorbing mechanism and docking station apparatus thereof

Abstract

This invention provides a shock-absorbing mechanism and its expansion dock equipment, including a shock-absorbing base fixedly installed above an expansion dock platform. A shock-absorbing plate is provided above the shock-absorbing base. Under the magnetic repulsion of a magnetic sliding plate and a magnetic movable plate, the magnetic movable plate rotates around a torsion shaft seat at a certain angle, suspending the observation equipment mounting seat. Damping blades are fixedly installed on both ends of the torsion shaft extending into the viscous damping chamber. This invention sets up a shock-absorbing mechanism on the expansion dock platform, suspending the observation equipment mounting seat through the magnetic repulsion of magnets. During the up-and-down vibration of the expansion dock platform, the reciprocating swing of the shock-absorbing plate is controlled by liquid viscosity, thereby ensuring the stability of the transmitted images. It can also adjust the angle of the observation equipment mounting seat according to the tilt of the expansion dock platform, facilitating the observation of ground information in extreme situations.

Description

Technical Field

[0001] This invention relates to the field of shock absorption structure technology for multi-legged robots, specifically a shock absorption mechanism and its expansion dock equipment. Background Technology

[0002] A multi-legged rescue robot, disclosed in the prior art with the publication number "CN114083550B", includes a shock-absorbing device, legs, short rods, long rods, vertical plates, an inner support frame, a worm gear, a worm, a motor, a motor bracket, a shell, a body, a main frame, columns, an upper frame, and an extension rod. The legs include a triangular part, a foot, a notch, and a rope hole. The shock-absorbing device includes a lower support rod, an upper support rod, a lower buffer device, and an upper buffer device. Four columns are set on the main frame, and the upper frame is supported above the columns. The body is located inside the four columns. The main frame includes a rectangular frame, and the body is fixed inside the frame. Four shells are connected to the outside of the frame, and the inner support frame is connected inside the shells. A bracket is connected to the rear side of the inner support frame.

[0003] However, the aforementioned multi-legged rescue robot still has some obvious defects in use: the shock absorption mechanism in the above-mentioned device and the prior art is usually set at the walking feet of the multi-legged robot. Since the coordination between the various mechanisms is relatively complex during the walking process of the multi-legged robot, and is affected by the undulation of the road surface, the actual shock absorption effect of the above-mentioned shock absorption mechanism is limited. In addition, there is also cross interference between multiple foot joints, which further reduces the shock absorption effect of the shock absorption mechanism. Summary of the Invention

[0004] The purpose of this invention is to provide a shock-absorbing mechanism and its expansion dock equipment to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A shock-absorbing mechanism includes a shock-absorbing base, which is fixedly installed above an expansion dock platform. A shock-absorbing plate is disposed above the shock-absorbing base. The shock-absorbing plate includes a magnetic movable plate and an observation equipment mounting base fixedly connected thereto. One end of the magnetic movable plate is movably inserted into two torsion shaft seats on both sides via a torsion shaft. A translation groove is provided below the shock-absorbing base. A magnetic sliding plate is slidably disposed in the translation groove via a translation mechanism. The magnetic sliding plate and the magnetic movable plate are arranged opposite each other with the same pole. Under the action of the magnetic repulsion force between the magnetic sliding plate and the magnetic movable plate, the magnetic movable plate rotates around the torsion shaft seat at a certain angle, causing the observation equipment mounting base to be suspended in the air. The suspension height of the observation equipment mounting base changes with the sliding position of the magnetic sliding plate.

[0007] The torque shaft seat is equipped with a viscous damping chamber, which is filled with viscous damping fluid. Damping blades are fixedly installed at both ends of the torque shaft extending into the viscous damping chamber. During the travel and bumping of the expansion dock platform, the damping blades rotate around the shaft in the viscous damping fluid to reduce the sway amplitude of the shock absorber.

[0008] The magnetic sliding plate slides left and right under the action of the translation mechanism during the up-and-down movement of the docking platform. By sliding the magnetic sliding plate left and right, the mutual repulsion between it and the magnetic movable plate is adjusted. In turn, by changing the angle between the magnetic movable plate and the shock-absorbing base, the up-and-down vibration of the docking platform is balanced, so that the amplitude of the observation equipment mounting base is smaller than the amplitude of the docking platform.

[0009] Preferably, a damping spring is also installed on one side of the damping blade. The end of the damping spring away from the damping blade is fixedly connected to the spring seat. The spring seat is fixedly installed in the viscous damping chamber opened in the torsion shaft seat. The damping spring is used to push the damping plate towards the side closer to the damping base without the action of external force.

[0010] Preferably, the torque shaft seat is also fixedly installed with a viscous liquid baffle inside the viscous damping chamber.

[0011] Preferably, the damping blades are movably inserted into the telescopic grooves opened on both sides of the torque shaft. The damping blades are also fixedly connected to the telescopic connecting rod. The end of the telescopic connecting rod away from the damping blades is fixedly connected to the adjusting lever. By moving the adjusting lever, the telescopic amount of the damping blades is controlled, thereby changing the flow distance L between the damping blades and the damping fluid on the side wall of the viscous damping chamber. By changing the flow distance L of the damping fluid, the viscous resistance experienced by the torque shaft during its rotation around the shaft is adjusted. The adjusting levers are located at both ends of the torque shaft, and the torque shaft at both ends extends to the outside of the viscous damping chamber.

[0012] Preferably, the torque shaft extends to the outside of the viscous damping chamber and is fixedly equipped with a limit rod. The limit rod is movably engaged with a limit block installed outside the viscous damping chamber. The excessive overturning of the damping plate is prevented by the abutment between the limit rod and the limit block.

[0013] Preferably, the translation mechanism that drives the magnetic sliding plate to move is a lead screw translation motor. The magnetic sliding plate is fixedly installed on the translation slider of the lead screw translation motor. The lead screw translation motor is connected to a PLC control module, and the PLC control module sends reciprocating translation and sliding commands to the lead screw translation motor.

[0014] Preferably, the magnetic sliding plate includes a plate body and its upper part fixedly mounted on an electromagnet. The electromagnet adjusts the magnetic force of the magnetic sliding plate by changing the magnitude of the input current. When the electromagnet is de-energized, the repulsive force between the magnetic sliding plate and the magnetic movable plate disappears. At this time, the shock-absorbing plate rotates around the torsion axis under its own gravity. Finally, the shock-absorbing plate is set parallel to the expansion dock platform. At this time, the observation equipment mounting base is stored in the translation slide groove.

[0015] An expansion dock device that employs the aforementioned shock absorption mechanism.

[0016] Compared with the prior art, the beneficial effects of the present invention are:

[0017] This invention incorporates a shock-absorbing mechanism on the docking platform. Unlike conventional shock-absorbing mechanisms in the prior art, this mechanism uses magnetic repulsion to suspend the observation equipment mounting base. During the vertical vibration of the docking platform, the shock-absorbing mechanism reduces the amplitude transmitted to the observation equipment mounting base by rotating around its axis and controls the reciprocating oscillation of the shock-absorbing plate through liquid viscosity, ensuring the stability of the observation equipment mounting base and thus the stability of the transmitted images. Furthermore, the device can adjust the angle of the observation equipment mounting base according to the tilt of the docking platform, ensuring that the line of sight of the observation setup is always parallel to the ground, facilitating the observation of ground information even in extreme situations. Attached Figure Description

[0018] Figure 1 This is an enlarged schematic diagram of the overall structure and some parts of the present invention;

[0019] Figure 2 This is a schematic diagram illustrating the principle of adjusting the suspension angle of the shock-absorbing plate according to the present invention.

[0020] Figure 3 This is a schematic diagram of the torque shaft connection structure of the present invention;

[0021] Figure 4 This is a schematic diagram illustrating the leveling principle of the shock-absorbing plate of the present invention.

[0022] Figure 5 This is a cross-sectional schematic diagram of the internal structure of the torque shaft seat of the present invention;

[0023] Figure 6 This is a schematic diagram of the shock-absorbing plate in its stored state according to the present invention.

[0024] In the diagram: 1. Vibration damping base, 2. Expansion dock platform, 3. Vibration damping plate, 4. Magnetic movable plate, 5. Observation equipment mounting base, 6. Torque shaft, 7. Torque shaft seat, 8. Translation slide, 9. Magnetic sliding plate, 10. Viscous damping chamber, 11. Damping blade, 12. Vibration damping spring, 13. Spring seat, 14. Viscous liquid baffle, 15. Telescopic groove, 16. Telescopic connecting rod, 17. Adjustment lever, 18. Limiting rod, 19. Limiting block, 20. Translation slider, 21. Plate, 22. Electromagnet. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] Please see Figure 1-6 The present invention provides a technical solution:

[0027] Example 1:

[0028] A shock-absorbing mechanism includes a shock-absorbing base 1, which is fixedly installed above an expansion dock platform 2. A shock-absorbing plate 3 is provided above the shock-absorbing base 1. The shock-absorbing plate 3 includes a magnetic movable plate 4 and an observation equipment mounting seat 5 fixedly connected thereto. One end of the magnetic movable plate 4 is movably inserted into the torsion shaft seats 7 on both sides via a torsion shaft 6. A translation groove 8 is provided below the shock-absorbing plate 3 on the shock-absorbing base 1. A magnetic sliding plate 9 is slidably arranged in the translation groove 8 via a translation mechanism. The magnetic sliding plate 9 and the magnetic movable plate 4 are arranged opposite each other with the same pole. Under the action of the magnetic repulsion force between the magnetic sliding plate 9 and the magnetic movable plate 4, the magnetic movable plate 4 rotates around the torsion shaft seat 7 at a certain angle, so that the observation equipment mounting seat 5 is suspended in the air. The suspension height of the observation equipment mounting seat 5 changes with the sliding position of the magnetic sliding plate 9.

[0029] The torque shaft seat 7 is equipped with a viscous damping chamber 10, which is filled with viscous damping fluid. Both ends of the torque shaft 6 are fixedly installed with damping blades 11 inside the viscous damping chamber 10. During the travel and bumping of the extension dock platform 2, the damping blades 11 rotate around the axis in the viscous damping fluid to reduce the swing amplitude of the shock absorber 3.

[0030] During the up-and-down shaking of the docking platform 2, the magnetic sliding plate 9 slides left and right under the action of the translation mechanism. By sliding the magnetic sliding plate 9 left and right, the mutual repulsion between it and the magnetic movable plate 4 is adjusted. In turn, by changing the angle between the magnetic movable plate 4 and the shock-absorbing base 1, the up-and-down shaking vibration of the docking platform 2 is balanced, so that the amplitude of the observation equipment mounting base 5 is smaller than the amplitude of the docking platform 2.

[0031] In this embodiment, the shock-absorbing base 1 is fixedly installed above the docking station platform 2. Positions for installing mechanical feet are reserved around the docking station platform 2. The shock-absorbing base 1 has a translational sliding groove 8. A shock-absorbing plate 3 is mounted on one end of the shock-absorbing base 1 via a torsion shaft 6. The shock-absorbing plate 3 consists of a magnetic movable plate 4 and an observation equipment mounting base 5. The observation equipment mounting base 5 is used to mount a vision device. A magnetic sliding plate 9 is slidably mounted on the bottom of the shock-absorbing plate 3. Because the magnetic sliding plate 9 and the magnetic movable plate 4 are arranged with the same pole facing each other, the shock-absorbing plate 3 forms a certain angle and is suspended in the air under the action of mutual repulsion. The suspended end is the observation equipment. When the docking platform 2 vibrates up and down at the mounting end of the mounting base 5, the magnetic movable plate 4 vibrates synchronously. By adjusting the gravity distribution, the gravity distribution on the damping plate 3 is biased towards the side of the observation equipment mounting base 5. At this time, as the docking platform 2 vibrates, the damping plate 3 will reduce the amplitude. However, due to the magnetic repulsion between the magnetic sliding plate 9 and the magnetic movable plate 4, the magnetic movable plate 4 will generate a small vibration at a higher frequency. Therefore, in order to weaken this small vibration, a damping blade 11 is installed on the torsion shaft 6 of the magnetic movable plate 4. The damping blade 11 is located inside the viscous damping chamber 10. The interior is filled with viscous damping fluid, so the small vibrations generated by the magnetic movable plate 4 are counteracted by the viscous damping fluid blocking the damping blades 11, ultimately achieving a vibration reduction effect. By mounting the observation equipment mounting base 5 on the vibration-damping plate 3, the stability of the vision device can be ensured during the bumpy movement of the docking platform 2, thereby ensuring the stability of the transmitted images. Furthermore, since the movement of each foot of the docking platform 2 in different walking modes is regular, the bumpy vibrations generated by the docking platform 2 during walking are relatively stable. Therefore, in order to further improve the stability of the observation equipment mounting base 5, the magnetic sliding... The movable plate 9 is also mounted on the translation mechanism. During the movement and bumping of the docking platform 2, the reciprocating motion of the magnetic sliding plate 9 reduces the rotation angle of the shock-absorbing plate 3. When the docking platform 2 bumps upwards, the magnetic sliding plate 9 moves away from the shock-absorbing plate 3, causing the observation equipment mounting base 5 to move downwards. Conversely, when the docking platform 2 bumps downwards, the magnetic sliding plate 9 moves closer to the shock-absorbing plate 3, causing the observation equipment mounting base 5 to move upwards. This method counteracts the up-and-down bumps of the docking platform 2, further ensuring the stability of the observation equipment mounting base 5. In addition, during the movement of the docking platform 2, it will encounter uphill and downhill situations. Refer to the appendix of the instruction manual. Figure 4By controlling the position of the magnetic sliding plate 9, the angle between the damping plate 3 and the damping base 1 is changed, ultimately ensuring that the line of sight of the observation equipment mounting base 5 is always in front, thus enabling the observation equipment mounting base 5 to be in the optimal observation position. In summary, the advantage of using the magnetic sliding plate 9 and the damping plate 3, which are set far apart by the repulsion of the like poles of the magnets, in this embodiment is that the observation equipment mounting base 5 is suspended in the air, and the magnetic sliding plate 9, which adjusts the angle of the damping plate 3, is set in a direction parallel to the magnetic sliding plate 9. This causes the amplitude that should be in the vertical direction to be transferred to the horizontal direction, so that the device will not increase the vertical amplitude of the extension dock platform 2 due to its own vibration during operation, thereby ensuring the stability of the observation equipment mounting base 5. The torque shaft 6 extends to the outside of the viscous damping chamber 10 and is fixedly installed with limit rods 18. The limit rods 18 and the limit blocks 19 installed on the outside of the viscous damping chamber 10 are movably engaged. The abutment of the limit rods 18 and the limit blocks 19 prevents the damping plate 3 from overturning.

[0032] Example 2:

[0033] A damping spring 12 is also installed on one side of the damping blade 11. The end of the damping spring 12 away from the damping blade 11 is fixedly connected to the spring seat 13. The spring seat 13 is fixedly installed in the viscous damping chamber 10 opened in the torsion shaft seat 7. The damping spring 12 is used to push the damping plate 3 towards the side closer to the damping base 1 without the action of external force.

[0034] The torque shaft seat 7 is located inside the viscous damping chamber 10 and is also fixedly installed with a viscous liquid baffle 14.

[0035] In this embodiment, the damping spring 12 is provided so that the damping plate 3 deflects towards the side closer to the damping base 1 when no external force is applied. At this time, the damping plate 3 is in a stable state due to the vertical repulsive force below and the elastic force of the damping spring 12. Furthermore, by adding the viscous liquid baffle 14, the damping blade 11 faces greater resistance during rotation, which further ensures the stability of the damping plate 3 during the bumpy process of the extension dock platform 2.

[0036] Example 3:

[0037] The damping blades 11 are movably inserted into the telescopic grooves 15 opened on both sides of the torsion shaft 6. The damping blades 11 are also fixedly connected to the telescopic connecting rod 16. The end of the telescopic connecting rod 16 away from the damping blades 11 is fixedly connected to the adjusting lever 17. By moving the adjusting lever 17, the telescopic amount of the damping blades 11 is controlled, thereby changing the flow distance L between the damping blades 11 and the side wall of the viscous damping chamber 10. By changing the flow distance L of the damping fluid, the viscous resistance experienced by the torsion shaft 6 during its rotation around the shaft is adjusted. The adjusting lever 17 is set at both ends of the torsion shaft 6, and the torsion shaft 6 at both ends extends to the outside of the viscous damping chamber 10.

[0038] In this embodiment, the length of the extension groove 15 of the damping blade 11 is adjustable. By changing the flow distance L between the damping blade 11 and the side wall of the viscous damping chamber 10, the unit flow rate of the viscous damping fluid through the flow distance L is changed, thereby adjusting the viscous resistance of the damping blade 11 during the flipping process. By adjusting the viscous resistance, the shock absorber 3 can fully offset small vibrations during the bumping of the extension dock platform 2.

[0039] Example 4:

[0040] The translation mechanism that drives the magnetic sliding plate 9 to move is a lead screw translation motor. The magnetic sliding plate 9 is fixedly installed on the translation slider 20 of the lead screw translation motor. The lead screw translation motor is connected to the PLC control module, and the PLC control module sends reciprocating translation and sliding commands to the lead screw translation motor.

[0041] The magnetic sliding plate 9 includes a plate body 21 and its upper part is fixedly installed on an electromagnet 22. The electromagnet 22 adjusts the magnetic force of the magnetic sliding plate 9 by changing the magnitude of the input current. When the electromagnet 22 is de-energized, the repulsive force between the magnetic sliding plate 9 and the magnetic movable plate 4 disappears. At this time, the shock-absorbing plate 3 rotates around the torsion shaft 6 under its own gravity. Finally, the shock-absorbing plate 3 is set parallel to the expansion dock platform 2. At this time, the observation equipment mounting base 5 is stored in the translation slide 8.

[0042] In this embodiment, the mechanism driving the magnetic sliding plate 9 is a lead screw translation motor. A translation lead screw is fixedly installed on the drive shaft of the lead screw translation motor. The translation slider 20 has an internal threaded hole for the translation lead screw to pass through. During the reciprocating rotation of the translation lead screw, the translation slider 20 is driven to reciprocate. The magnetic sliding plate 9 includes a plate body 21 and its upper part is fixedly installed on an electromagnet 22. The electromagnet 22 is powered by a power supply provided on the expansion dock platform 2. When the device is idle, the electromagnet 22 is de-energized. At this time, the shock-absorbing plate 3 is in a retracted state parallel to the expansion dock platform 2 under its own gravity.

[0043] An expansion dock device that employs the aforementioned shock absorption mechanism.

[0044] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A shock-absorbing mechanism, comprising a shock-absorbing base, wherein the shock-absorbing base is fixedly installed above an expansion dock platform, characterized in that: A shock-absorbing plate is provided above the shock-absorbing base. The shock-absorbing plate includes a magnetic movable plate and an observation equipment mounting base fixedly connected to it. One end of the magnetic movable plate is movably inserted into the torsion shaft seats on both sides via a torsion shaft. The shock-absorbing base is provided with a translation groove below the shock-absorbing plate. A magnetic sliding plate is slidably arranged in the translation groove via a translation mechanism. The magnetic sliding plate and the magnetic movable plate are arranged opposite each other with the same pole. Under the action of the magnetic repulsion force between the magnetic sliding plate and the magnetic movable plate, the magnetic movable plate rotates around the torsion shaft seat at a certain angle, so that the observation equipment mounting base is suspended in the air. The suspension height of the observation equipment mounting base changes with the sliding position of the magnetic sliding plate. The torque shaft seat is equipped with a viscous damping chamber, which is filled with viscous damping fluid. Damping blades are fixedly installed at both ends of the torque shaft extending into the viscous damping chamber. During the travel and bumping of the expansion dock platform, the damping blades rotate around the shaft in the viscous damping fluid to reduce the sway amplitude of the shock absorber. The magnetic sliding plate slides left and right under the action of the translation mechanism during the up-and-down movement of the docking platform. By sliding the magnetic sliding plate left and right, the mutual repulsion between it and the magnetic movable plate is adjusted. In turn, by changing the angle between the magnetic movable plate and the shock-absorbing base, the up-and-down vibration of the docking platform is balanced, so that the amplitude of the observation equipment mounting base is smaller than the amplitude of the docking platform.

2. The shock absorption mechanism according to claim 1, characterized in that: A damping spring is also installed on one side of the damping blade. The end of the damping spring away from the damping blade is fixedly connected to the spring seat. The spring seat is fixedly installed in the viscous damping chamber opened in the torsion shaft seat. The damping spring is used to push the damping plate towards the side closer to the damping base without the action of external force.

3. The shock absorption mechanism according to claim 2, characterized in that: The torque shaft seat is located inside the viscous damping chamber and is also fixedly installed with a viscous liquid baffle.

4. A shock-absorbing mechanism according to claim 3, characterized in that: The damping blades are movably inserted into the telescopic grooves on both sides of the torsion shaft. The damping blades are also fixedly connected to the telescopic connecting rod. The end of the telescopic connecting rod away from the damping blade is fixedly connected to the adjusting lever. By moving the adjusting lever, the telescopic amount of the damping blades is controlled, thereby changing the flow distance L between the damping blades and the damping fluid on the side wall of the viscous damping chamber. By changing the flow distance L of the damping fluid, the viscous resistance experienced by the torsion shaft during its rotation around the shaft is adjusted. The adjusting levers are located at both ends of the torsion shaft, and the torsion shaft at both ends extends to the outside of the viscous damping chamber.

5. A shock-absorbing mechanism according to claim 1, characterized in that: Each of the torsion shafts extending to the outside of the viscous damping chamber is fixedly equipped with a limiting rod. The limiting rod and the limiting block installed outside the viscous damping chamber are in movable cooperation. The excessive overturning of the damping plate is prevented by the abutment between the limiting rod and the limiting block.

6. A shock-absorbing mechanism according to claim 1 or 4, characterized in that: The translation mechanism that drives the magnetic sliding plate to move is a lead screw translation motor. The magnetic sliding plate is fixedly installed on the translation slider of the lead screw translation motor. The lead screw translation motor is connected to a PLC control module, and the PLC control module sends reciprocating translation and sliding commands to the lead screw translation motor.

7. A shock-absorbing mechanism according to claim 6, characterized in that: The magnetic sliding plate includes a plate body and its upper part fixedly mounted on an electromagnet. The electromagnet adjusts the magnetic force of the magnetic sliding plate by changing the magnitude of the input current. When the electromagnet is de-energized, the repulsive force between the magnetic sliding plate and the magnetic movable plate disappears. At this time, the shock-absorbing plate rotates around the torsion axis under its own gravity. Finally, the shock-absorbing plate is set parallel to the expansion dock platform. At this time, the observation equipment mounting base is stored in the translation slide groove.

8. A docking station device, characterized in that: The docking station uses the shock absorption mechanism described in any one of claims 1-7.

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