Damping system and robot

Abstract

The invention discloses a damping system and a robot. The damping system comprises a first fixing base, a second fixing base and a buffering assembly. The buffering assembly is arranged between the first fixing base and the second fixing base and comprises an air bag, a first elastic piece and a second elastic piece. The air bag is connected between the first fixing seat and the second fixing seat, the first elastic piece and the second elastic piece are located outside and inside the air bag respectively, and the two ends of the first elastic piece and the two ends of the second elastic piece are connected with the first fixing seat and the second fixing seat respectively. The damping system provided by the invention has good damping and anti-shake effects.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent devices, and more specifically, to a shock absorption system and a robot. Background Art

[0002] With the development of science and technology, robots are used more and more widely in life. Based on some functional designs of the robot head, such as the camera, certain shock-proof measures are needed.

[0003] In the prior art, the functional components of the robot head are usually connected to the robot's trunk through a gimbal, and the gimbal itself is driven by a motor to move the joints, so active joint anti-shake can be used, but the effect of single anti-shake is limited.

[0004] Therefore, it is urgent to design a shock absorption system with better anti-shake effect. Summary of the invention

[0005] An object of the present application is to provide a new technical solution for a shock absorbing system and a robot.

[0006] According to a first aspect of the present application, a shock absorbing system is provided, which is applied to a robot and includes:

[0007] A first fixing seat, a second fixing seat and a buffer assembly;

[0008] The buffer assembly is disposed between the first fixing seat and the second fixing seat, and the buffer assembly includes an airbag, a first elastic member and a second elastic member;

[0009] The airbag is connected between the first fixing seat and the second fixing seat. The first elastic member and the second elastic member are respectively located outside and inside the airbag, and both ends thereof are respectively connected to the first fixing seat and the second fixing seat.

[0010] Optionally, the first elastic member is a steel wire rope, and at least two of the steel wire ropes are provided, and the at least two steel wire ropes are distributed around the first fixing seat and the second fixing seat.

[0011] Optionally, the airbag is a rubber ball, and an exhaust hole is provided on the airbag, and the exhaust hole is used to exhaust the gas inside the airbag when the airbag is compressed.

[0012] Optionally, the airbag includes a first hemisphere, a second hemisphere, a first fastener, a second fastener and a sealing ring;

[0013] The first hemisphere is connected to the first fixing seat via the first fastener, the second hemisphere is connected to the second fixing seat via the second fastener, and the first hemisphere and the second hemisphere are sealed and connected via the sealing ring.

[0014] Optionally, a first connecting column extends from the inner side of the first hemisphere, and a second connecting column extends from the inner side of the second hemisphere;

[0015] The second elastic member is a compression spring, and two ends of the second elastic member are respectively sleeved and fixed on the first connecting column and the second connecting column.

[0016] According to a second aspect of the present application, there is provided a robot, comprising:

[0017] A head body, a torso body and a plurality of shock absorbing systems according to the first aspect;

[0018] The head body is connected to each of the first fixing seats, and the trunk body is connected to each of the second fixing seats, so that the multiple shock absorbing systems can reduce the shock of the head body relative to the trunk body.

[0019] Optionally, the head body includes a support component, a drive component and a functional component;

[0020] The functional component is arranged on the supporting component, and the driving component can enable the functional component to have three degrees of freedom by driving the supporting component;

[0021] The three degrees of freedom include a pitch motion along the front-rear direction of the robot, a roll motion along the left-right direction of the robot, and a yaw motion around the vertical direction.

[0022] Optionally, the driving assembly includes a roll motor, a pitch motor and a yaw motor, and the supporting assembly includes a shell portion and a connecting portion;

[0023] The functional components are arranged on the shell part, the output ends of the roll motor and the pitch motor are respectively connected to the shell part, the motor ends are respectively connected to the output ends of the yaw motor through the connecting parts, and the damping system is connected to the motor end of the yaw motor.

[0024] Optionally, it further comprises a sealing component and a protective cover, wherein the protective cover has a mounting hole, and the sealing component is elastic;

[0025] The motor end of the yaw motor is inserted into the assembly hole, so that the protective cover is connected to the motor end of the yaw motor through the sealing assembly, and the head body is respectively located on the upper and lower sides of the protective cover with the trunk body and the shock absorption system;

[0026] The peripheral side of the protective cover is connected to the trunk body, and each of the first fixing seats of the shock absorbing system is connected to the protective cover.

[0027] Optionally, the sealing assembly includes an annular sealing gasket, a pressure ring and an O-shaped spring;

[0028] The inner side of the annular sealing gasket is sleeved on the motor end of the yaw motor through the O-shaped spring, and the outer side is crimped on the protective cover through the pressure ring. The cross section of the annular sealing gasket along its connection direction is wavy.

[0029] According to an embodiment of the present application, the present application realizes shock absorption and anti-shake for the structure connected to the first fixing seat and the second fixing seat by setting a buffer assembly between the first fixing seat and the second fixing seat. Furthermore, the buffer assembly provides an airbag, a first elastic member and a second elastic member, so that the structure connected to the first fixing seat and the second fixing seat has a better shock absorption effect, and when it is applied to a robot, the anti-shake effect of its head can be improved.

[0030] Other features and advantages of the present application will become apparent from the following detailed description of exemplary embodiments of the present application with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the application and, together with the description, serve to explain the principles of the application.

[0032] Figure 1 The invention discloses a shock absorbing system provided by the present application.

[0033] Figure 2 yes Figure 1 A cross-sectional view of a shock absorbing system is provided.

[0034] Figure 3 It is a partial schematic diagram of a robot provided by the present application.

[0035] Figure 4 It is a schematic diagram of the connection between a head body and multiple shock absorbing systems provided by the present application.

[0036] Figure 5 It is a front side schematic diagram of a head body provided by the present application.

[0037] Figure 6 It is a schematic diagram of the rear side of a head body provided by the present application.

[0038] Figure 7 This is a schematic diagram of the assembly of a sealing assembly provided by the present application.

[0039] Figure 8 It is a schematic diagram of a sealing assembly provided in the present application.

[0040] Fig. 9 yes Figure 8A cross-sectional view of a seal assembly is provided.

[0041] Description of reference numerals:

[0042] 100. shock absorption system; 101. first fixing seat; 102. second fixing seat; 103. compression spring; 104. wire rope; 105. air bag; 51. first hemisphere; 52. second hemisphere; 53. exhaust hole; 54. first fastener; 55. second fastener; 56. sealing ring; 57. first connecting column; 58. second connecting column; 106. upper connecting bracket; 107. lower connecting bracket; 200. head body; 201. roll motor; 202. pitch motor; 203. yaw motor; 31. motor end of yaw motor; 32. output end of yaw motor; 204. shell part; 205. connecting part; 206. functional component; 300. trunk body; 400. sealing component; 401. protective cover; 402. annular sealing gasket; 403. pressure ring; 404. O-type spring; 405. third fastener. DETAILED DESCRIPTION

[0043] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present application.

[0044] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present application, its application, or uses.

[0045] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0046] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0047] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0048] According to the first aspect of the present application, Figure 1 to Figure 2As shown, a shock absorbing system 100 is provided, which is applied to a robot, and includes: a first fixed seat 101, a second fixed seat 102 and a buffer assembly; the buffer assembly is arranged between the first fixed seat 101 and the second fixed seat 102, and the buffer assembly includes an airbag 105, a first elastic member and a second elastic member; the airbag 105 is connected between the first fixed seat 101 and the second fixed seat 102, the first elastic member and the second elastic member are respectively located outside and inside the airbag 105, and the two ends of the airbag 105 are respectively connected to the first fixed seat 101 and the second fixed seat 102.

[0049] Specifically, when the shock absorption system 100 provided in the present application is applied to a robot, the first fixing seat 101 can be connected to the head of the robot, and the second fixing seat 102 can be connected to the body of the robot, so as to achieve the shock absorption and anti-shake effect on the head through the buffer assembly between the first fixing seat 101 and the second fixing seat 102, refer to Figure 3 and Figure 4 .

[0050] In actual application, when the vibration generated externally is transmitted to the robot, the airbag 105 on the buffer assembly will produce elastic deformation due to the vibration, reducing the vibration acceleration. At the same time, the internal volume of the airbag 105 changes, the internal air is compressible, and the gas elastic force formed reduces the acceleration of the vibration.

[0051] Furthermore, when the airbag 105 is compressed, the second elastic member disposed inside it will also be compressed to generate elastic force, thereby reducing the acceleration of the vibration. At the same time, the first elastic member located outside the airbag 105 and connected to the first fixing seat 101 and the second fixing seat 102 will also be deformed due to displacement to reduce the acceleration of the vibration. The elastic direction of the first elastic member and the second elastic member is the compression direction of the airbag 105.

[0052] By configuring the airbag 105, the first elastic member and the second elastic member, a buffering effect can be achieved between the first fixing seat 101 and the second fixing seat 102 through multiple structural members, thereby improving the shock absorption effect of the vibration system. When applied to a robot, the anti-shake effect of the head can be greatly improved.

[0053] In the above embodiment, the first elastic member and the second elastic member may adopt the same structure or different structures, and the connection between the first and second fixing seats 101 and 102 may be direct or indirect. At the same time, multiple first and second elastic members may be provided to further enhance the shock absorption effect. In addition, the airbag 105 may be made of elastic material, such as silicone.

[0054] Alternatively, if Figure 1 to Figure 2As shown, the first elastic member is a steel wire rope 104 , and at least two steel wire ropes 104 are provided. The at least two steel wire ropes 104 are distributed around the first fixing seat 101 and the second fixing seat 102 .

[0055] Specifically, in this embodiment, the first elastic member adopts a steel wire rope 104, and the steel wire rope 104 has a certain elasticity and a certain rigidity. When at least two steel wire ropes 104 are evenly distributed around the first fixed seat 101 and the second fixed seat 102, the shock absorption effect can be greatly improved and the vibration amplitude in all directions can be balanced.

[0056] Furthermore, the steel wire rope 104 is usually formed by twisting multiple single ropes together, so that during vibration, the steel wire rope 104 generates friction damping during deformation due to the friction between the multiple single ropes inside, so that the damping force attenuates the energy of the vibration, further improving the shock absorption effect.

[0057] Alternatively, if Figure 1 to Figure 2 As shown, the airbag 105 is a rubber ball, and an exhaust hole 53 is provided on the airbag 105. The exhaust hole 53 is used to exhaust the gas inside the airbag 105 when the airbag 105 is compressed.

[0058] Specifically, in this embodiment, when the balloon is compressed or deformed, the rubber material will first convert part of the vibration energy into heat through deformation damping when deforming, thereby attenuating the vibration. Further, when the volume inside the airbag 105 changes, the air pressure will also change, causing air to flow from the exhaust hole 53. At the same time, because the exhaust hole 53 is a thin-walled hole with a small diameter, it can be regarded as a damping hole, and the gas flow process generates flow resistance. This damping further attenuates the vibration energy and improves the shock absorption effect.

[0059] In the above structure, the airbag 105 may be provided with one or more exhaust holes 53 at one end close to the first fixing seat 101 and the second fixing seat 102, respectively, so that the amplitude of shock absorption is more balanced.

[0060] Alternatively, if Figure 1 to Figure 2 As shown, the airbag 105 includes a first hemisphere 51, a second hemisphere 52, a first fastener 54, a second fastener 55 and a sealing ring 56; the first hemisphere 51 is connected to the first fixing seat 101 through the first fastener 54, the second hemisphere 52 is connected to the second fixing seat 102 through the second fastener 55, and the first hemisphere 51 and the second hemisphere 52 are sealed and connected by the sealing ring 56.

[0061] Alternatively, if Figure 1 to Figure 2As shown, a first connecting column 57 extends from the inner side of the first hemisphere 51, and a second connecting column 58 extends from the inner side of the second hemisphere 52; the second elastic member is a compression spring 103, and its two ends are respectively mounted and fixed on the first connecting column 57 and the second connecting column 58.

[0062] Specifically, in the present embodiment, the airbag 105 is assembled together by sealing the first hemisphere 51 and the second hemisphere 52 through the sealing ring 56, so that the compression spring 103 can be more conveniently assembled on the inner side of the airbag 105. At the same time, the arrangement of the first connecting column 57 in the first hemisphere 51 and the second connecting column 58 in the second hemisphere 52 is more convenient for fixing the compression spring 103 and the airbag 105, so that the compression spring 103 can be connected with the first fixing seat 101 and the second fixing seat 102 through the airbag 105, so as to achieve the shock absorption performance of the compression spring 103. That is, when there is a vibration acceleration along the compression direction of the compression spring 103, the compression spring 103 is compressed to generate elastic force, and the elastic force can reduce the acceleration of the vibration and achieve shock absorption. In addition, the first fastener 54 and the second fastener 55 can be connected by screws and other connecting pieces to facilitate the disassembly, replacement and maintenance of the airbag 105.

[0063] In the above embodiment, by providing the steel wire rope 104, the compression spring 103, the airbag 105 and the exhaust hole 53, a large amount of acceleration attenuation and energy attenuation of the vibration can be performed, thereby achieving displacement shock absorption in three-dimensional directions.

[0064] According to the second aspect of the present application, Figures 3 to 7 As shown, a robot is provided, comprising: a head body 200, a torso body 300 and a plurality of shock absorbing systems 100 as described in the first aspect; wherein the head body 200 is connected to each of the first fixing seats 101, and the torso body 300 is connected to each of the second fixing seats 102, so that the plurality of shock absorbing systems 100 can reduce the shock of the head body 200 relative to the torso body 300.

[0065] Specifically, in this embodiment, by connecting multiple shock absorbing systems 100 between the head body 200 and the trunk body 300, when the robot is subjected to a large vibration, the head body 200 can achieve a better anti-shake effect through the shock absorption of the multiple shock absorbing systems 100. In particular, when the head is provided with functional devices such as a camera, its function can be better realized, and the use experience of the robot can be improved.

[0066] Furthermore, in order to facilitate the connection between multiple shock absorbing systems 100 and the head body 200 and the torso body 300, an upper connecting bracket 106 and a lower connecting bracket 107 can be set, and each first fixing seat 101 of the multiple shock absorbing systems 100 is connected and fixed to the upper connecting bracket 106, and each second fixing seat 102 is connected and fixed to the lower connecting bracket 107 to form an integrated shock absorbing structure, so that the head body 200 and the torso body 300 are respectively connected to the upper connecting support and the lower connecting support.

[0067] Alternatively, if Figures 4 to 6 As shown, the head body 200 includes a supporting component, a driving component and a functional component 206; the functional component 206 is arranged on the supporting component, and the driving component can drive the supporting component to enable the functional component 206 to have three degrees of freedom; the three degrees of freedom include a pitching motion along the front-to-back direction of the robot, a rolling motion along the left-to-right direction of the robot, and a yaw motion around the vertical direction.

[0068] Specifically, in this embodiment, the support assembly is used to support and connect the drive assembly and the functional assembly 206. The drive assembly drives the support assembly to enable the functional assembly 206 to have three degrees of freedom. In practical applications, the three degrees of freedom are the pitch, roll and yaw movements of the head body 200, respectively, so that the functional assembly 206 can realize the position rotation in three degrees of freedom accordingly, thereby improving the flexibility of the robot head body 200 to better meet the requirements of the functional assembly 206. Among them, the functional assembly 206 can include a thermal imaging device, a wide-angle camera, a laser ranging device, a zoom camera, etc., which can be specifically set according to the actual purpose of the robot.

[0069] Alternatively, if Figures 4 to 6 As shown, the driving assembly includes a roll motor 201, a pitch motor 202 and a yaw motor 203, and the supporting assembly includes a shell portion 204 and a connecting portion 205; the functional assembly 206 is arranged on the shell portion 204, the output ends of the roll motor 201 and the pitch motor 202 are respectively connected to the shell portion 204, and the motor ends are respectively connected to the output end 32 of the yaw motor through the connecting portion 205, and the shock absorbing system 100 is connected to the motor end 31 of the yaw motor.

[0070] Specifically, in this embodiment, the three degrees of freedom of the head body 200 are realized by three motors respectively, and the three motors can be direct brushless torque motors for direct drive, and there are no reducers and other components between the motor end and the output end, which reduces the weight of the head body 200 and improves the integration. Among them, a slip ring can be built into the yaw motor 203 to achieve 360° infinite rotation around the vertical direction, further improving the flexibility of the head body 200.

[0071] In addition, a limiting structure may be provided so that the pitch motor 202 and the roll motor 201 have limited rotation ranges in their rotation directions, respectively, to achieve rotation within a certain range. Figure 4 As shown, the pitch motor 202 can be set on the left or right side of the head body 200, the side opposite to the pitch motor 202 can be set at the over-the-line position, and the roll motor 201 can be set on the rear side of the head body 200 to improve the aesthetics of the head body 200.

[0072] Alternatively, if Figures 5 to 7 As shown, the robot also includes a sealing component 400 and a protective cover 401, the protective cover 401 has an assembly hole, and the sealing component 400 is elastic; the motor end 31 of the yaw motor is inserted into the assembly hole, so that the protective cover 401 is connected to the motor end 31 of the yaw motor through the sealing component 400, and the head body 200 is respectively located on the upper and lower sides of the protective cover 401 with the trunk body 300 and the shock absorption system 100; the peripheral side of the protective cover 401 is connected to the trunk body 300, and each of the first fixing seats 101 of the shock absorption system 100 is connected to the protective cover 401.

[0073] Specifically, in this embodiment, the setting of the protective cover 401 can protect the structures below the head body 200, especially the electronic devices in the chest cavity, etc. Further, the sealing component 400 is connected between the motor end 31 of the yaw motor and the protective cover 401, and has elasticity, so that the position of the sealing component 400 is waterproof and dustproof, and can also allow a certain degree of displacement for anti-shake of the head body 200.

[0074] Alternatively, if Figures 7 to 9 As shown, the sealing assembly 400 includes an annular sealing gasket 402, a pressure ring 403 and an O-type spring 404; the inner side of the annular sealing gasket 402 is sleeved on the motor end 31 of the yaw motor through the O-type spring 404, and the outer side is crimped on the protective cover 401 through the pressure ring 403, and the cross-section of the annular sealing gasket 402 along its connection direction is wavy.

[0075] Specifically, in this embodiment, the annular seal 402 is sleeved on the motor end 31 of the yaw motor, and its sealing can rely on the radial pressure of the annular seal 402 itself, that is, the diameter of the sealing part of the annular seal 402 is designed to be smaller than the diameter of the end of the yaw motor 203, so that it has a certain expansion force, and a certain degree of crimping sealing effect is achieved. On the other hand, the circle of the annular seal 402 close to the end of the yaw motor 203 can be provided with a flange along its axial direction, so that the O-type spring 404 is sleeved on the annular seal 402, and then through the internal contraction pressure of the O-type spring 404, the effective waterproof and dustproof seal at the motor end 31 of the yaw motor is ensured.

[0076] Furthermore, at the outer ring of the annular seal 402, the outer side of the annular seal 402 is pressed against the protective cover 401 by a pressure ring 403, and then fixed by a third fastener 405, and the sealing pressure is provided by the third fastener 405 that fixes the pressure ring 403. In addition, in order to allow the sealing part to allow a certain degree of displacement for anti-shake, the annular seal 402 has a wavy shape. When displaced, the wavy shape will produce elastic deformation, so that a certain degree of displacement of the three axes of X (roll axis), Y (pitch axis), and Z (yaw axis) can be allowed at the same time and a stable seal can be maintained.

[0077] The above embodiments focus on the differences between the various embodiments. As long as the different optimization features between the various embodiments are not contradictory, they can be combined to form a better embodiment. Considering the simplicity of the text, they will not be repeated here.

[0078] Although some specific embodiments of the present application have been described in detail by way of example, it should be understood by those skilled in the art that the above examples are only for illustration, not for limiting the scope of the present application. It should be understood by those skilled in the art that the above embodiments may be modified without departing from the scope and spirit of the present application. The scope of the present application is defined by the appended claims.

Claims

1. A shock absorption system, applied to a robot, characterized in that: include: A first fixing seat, a second fixing seat and a buffer assembly; The buffer assembly is disposed between the first fixing seat and the second fixing seat, and the buffer assembly includes an airbag, a first elastic member and a second elastic member; The airbag is connected between the first fixing seat and the second fixing seat. The first elastic member and the second elastic member are respectively located outside and inside the airbag, and both ends thereof are respectively connected to the first fixing seat and the second fixing seat.

2. The shock absorption system according to claim 1, characterized in that: The first elastic member is a steel wire rope, and at least two of the steel wire ropes are provided. The at least two steel wire ropes are distributed around the first fixing seat and the second fixing seat.

3. The shock absorption system according to claim 1, characterized in that: The airbag is a rubber ball and is provided with an exhaust hole, which is used to exhaust the gas inside the airbag when the airbag is compressed.

4. The shock absorption system according to any one of claims 1 to 3, characterized in that: The airbag includes a first hemisphere, a second hemisphere, a first fastener, a second fastener and a sealing ring; The first hemisphere is connected to the first fixing seat via the first fastener, the second hemisphere is connected to the second fixing seat via the second fastener, and the first hemisphere and the second hemisphere are sealed and connected via the sealing ring.

5. The shock absorbing system according to claim 4, characterized in that: A first connecting column extends from the inner side of the first hemisphere, and a second connecting column extends from the inner side of the second hemisphere; The second elastic member is a compression spring, and two ends of the second elastic member are respectively sleeved and fixed on the first connecting column and the second connecting column.

6. A robot, characterized in that: include: A head body, a torso body and a plurality of shock absorbing systems according to any one of claims 1 to 5; The head body is connected to each of the first fixing seats, and the trunk body is connected to each of the second fixing seats, so that the multiple shock absorbing systems can reduce the shock of the head body relative to the trunk body.

7. The robot according to claim 6, characterized in that: The head body includes a support component, a drive component and a functional component; The functional component is arranged on the supporting component, and the driving component can enable the functional component to have three degrees of freedom by driving the supporting component; The three degrees of freedom include a pitch motion along the front-rear direction of the robot, a roll motion along the left-right direction of the robot, and a yaw motion around the vertical direction.

8. The robot according to claim 7, characterized in that: The driving assembly includes a roll motor, a pitch motor and a yaw motor, and the supporting assembly includes a housing portion and a connecting portion; The functional components are arranged on the shell part, the output ends of the roll motor and the pitch motor are respectively connected to the shell part, the motor ends are respectively connected to the output ends of the yaw motor through the connecting parts, and the damping system is connected to the motor end of the yaw motor.

9. The robot according to claim 8, characterized in that: It also includes a sealing component and a protective cover, wherein the protective cover has a mounting hole, and the sealing component is elastic; The motor end of the yaw motor is inserted into the assembly hole, so that the protective cover is connected to the motor end of the yaw motor through the sealing assembly, and the head body is respectively located on the upper and lower sides of the protective cover with the trunk body and the shock absorption system; The peripheral side of the protective cover is connected to the trunk body, and each of the first fixing seats of the shock absorbing system is connected to the protective cover.

10. The robot according to claim 9, characterized in that: The sealing assembly comprises an annular sealing gasket, a pressure ring and an O-shaped spring; The inner side of the annular sealing gasket is sleeved on the motor end of the yaw motor through the O-shaped spring, and the outer side is crimped on the protective cover through the pressure ring. The cross section of the annular sealing gasket along its connection direction is wavy.

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