Damping system and robot

Abstract

The application discloses a damping system and a robot. The damping system comprises a first fixing base, a second fixing base and a buffer assembly. The buffer assembly is arranged between the first fixing base and the second fixing base, and the buffer assembly comprises an air bag, a first elastic member and a second elastic member. The air bag is connected between the first fixing base and the second fixing base, and the first elastic member and the second elastic member are respectively arranged outside and inside the air bag, and two ends of the first elastic member and the second elastic member are respectively connected with the first fixing base and the second fixing base. The damping system has good damping and anti-shaking effects.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent devices, and more particularly, to a damping system and a robot. BACKGROUND

[0002] With the development of technology, robots are increasingly widely used in life. Some functional designs based on the head of the robot, such as a camera, need to be provided with certain shockproof measures.

[0003] In the prior art, the functional devices of the head of the robot are usually connected to the torso of the robot through a holder, and the holder itself is driven by a motor to move each joint, so that active anti-shake of the joint can be adopted, but the single anti-shake effect is limited.

[0004] Therefore, there is an urgent need to design a damping system with better anti-shake effect. SUMMARY

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

[0006] According to a first aspect of the present application, a damping system applied to a robot is provided, comprising:

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

[0008] The buffer assembly is arranged between the first fixed seat and the second fixed seat, and the buffer assembly comprises an air bag, a first elastic member, and a second elastic member.

[0009] The air bag is connected between the first fixed seat and the second fixed seat, and the first elastic member and the second elastic member are respectively located outside and inside the air bag, and their two ends are respectively connected to the first fixed seat and the second fixed seat.

[0010] Optionally, the first elastic member is a steel wire rope, and at least two steel wire ropes are arranged.

[0011] Optionally, the air bag is a rubber ball, and an exhaust hole is arranged on the air bag, which is used to exhaust the gas inside the air bag when the air bag is compressed.

[0012] Optionally, the air bag comprises 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 fixed seat by the first fastener, the second hemisphere is connected to the second fixed seat by the second fastener, and the first hemisphere and the second hemisphere are sealingly connected by the sealing ring.

[0014] Optionally, the inner side of the first half sphere extends with a first connecting column, and the inner side of the second half sphere extends with a second connecting column.

[0015] The second elastic member is a compression spring, and both ends of the compression spring 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, a robot is provided, comprising:

[0017] a head body, a trunk body, and a plurality of damping systems according to the first aspect;

[0018] The head body is connected with each first fixing seat, and the trunk body is connected with each second fixing seat, so that the plurality of damping systems can damp the head body relative to the trunk body.

[0019] Optionally, the head body comprises a support assembly, a driving assembly, and a functional assembly.

[0020] The functional assembly is arranged on the support assembly, and the driving assembly can drive the support assembly to make the functional assembly have three degrees of freedom.

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

[0022] Optionally, the driving assembly comprises a roll motor, a pitch motor, and a yaw motor, and the support assembly comprises a housing part and a connecting part.

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

[0024] Optionally, a sealing assembly and a protective cover are further included, the protective cover has an assembly hole, and the sealing assembly is elastic.

[0025] The motor end of the yaw motor is arranged in the assembly hole, so that the protective cover is connected with the motor end of the yaw motor through the sealing assembly, and the head body and the damping system are respectively arranged on the upper and lower sides of the protective cover.

[0026] The peripheral side of the protective cover is connected with the trunk body, and each first fixing seat of the damping system is connected with the protective cover.

[0027] Optionally, the sealing assembly comprises a ring-shaped sealing gasket, a compression ring and an O-shaped spring.

[0028] The inner side of the ring-shaped sealing gasket is sleeved on the motor end of the yaw motor through the O-shaped spring, and the outer side is press-connected to the protective cover through the compression ring, and the cross section of the ring-shaped sealing gasket in the connecting direction thereof is wave-shaped.

[0029] According to one 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 arranging the buffer assembly between the first fixing seat and the second fixing seat. Further, the buffer assembly is arranged with the air bag, the first elastic member and the second elastic member, so that the structure connected between the first fixing seat and the second fixing seat has better shock absorption effect, and when applied to a robot, the anti-shake effect of the head of the robot can be improved.

[0030] Other features and advantages of the present application will become apparent from the following detailed description of exemplary embodiments thereof, taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

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

[0032] Figure 1 is a shock absorption system provided by the present application.

[0033] Figure 2 is Figure 1 is a sectional view of the shock absorption system provided by the present application.

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

[0035] Figure 4 is a schematic view of a head body and a plurality of shock absorption systems provided by the present application.

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

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

[0038] Figure 7 is an installation schematic view of a sealing assembly provided by the present application.

[0039] Figure 8 is a schematic view of a sealing assembly provided by the present application.

[0040] Figure 9 is Figure 8A cross-sectional view of the sealing assembly is provided.

[0041] Reference Signs List:

[0042] 100, damping system; 101, first fixing base; 102, second fixing base; 103, compression spring; 104, steel wire rope; 105, air bag; 51, first half ball; 52, second half ball; 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 main 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 assembly; 300, trunk main body; 400, sealing assembly; 401, protective cover; 402, annular sealing gasket; 403, compression ring; 404, O-shaped spring; 405, third fastener. DETAILED DESCRIPTION

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

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

[0045] Techniques, methods, and devices known to those of ordinary skill in the relevant art can not be discussed in detail herein. However, the techniques, methods, and devices should be considered part of the specification.

[0046] In all of the examples shown and discussed herein, any specific values should be interpreted as merely exemplary and not as a limitation. Thus, other examples of the exemplary embodiments can have different values.

[0047] It should be noted that like numbers and letters refer to like items throughout the drawings, and that, as such, no further discussion on these items is required.

[0048] According to a first aspect of the present application, as Figures 1-2As shown, a damping system 100 is provided, which is applied to a robot and comprises a first fixing base 101, a second fixing base 102 and a buffer assembly; the buffer assembly is arranged between the first fixing base 101 and the second fixing base 102, and the buffer assembly comprises an air bag 105, a first elastic member and a second elastic member; the air bag 105 is connected between the first fixing base 101 and the second fixing base 102, and the first elastic member and the second elastic member are respectively located outside and inside the air bag 105, and the two ends thereof are respectively connected with the first fixing base 101 and the second fixing base 102.

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

[0050] In actual application, when the vibration generated outside is transmitted to the robot, the air bag 105 on the buffer assembly will be elastically deformed due to the vibration, so as to reduce the vibration acceleration. At the same time, the internal volume of the air bag 105 changes, the internal air is compressible, and the gas elastic force formed reduces the vibration acceleration.

[0051] Further, when the air bag 105 is compressed, the second elastic member arranged inside the air bag 105 will also be compressed to generate elastic force, so as to reduce the vibration acceleration. At the same time, the first elastic member connected with the first fixing base 101 and the second fixing base 102 outside the air bag 105 will also be deformed due to displacement, so as to reduce the vibration acceleration. The elastic directions of the first elastic member and the second elastic member are the compression directions of the air bag 105.

[0052] Through the arrangement of the air bag 105, the first elastic member and the second elastic member, the buffer effect can be realized through multiple structural members between the first fixing base 101 and the second fixing base 102, so as to improve the damping effect of the vibration system. When it is 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 can adopt the same structure or different structures, and the connection of the first elastic member and the second elastic member with the first fixing base 101 and the second fixing base 102 can be direct connection or indirect connection. At the same time, the first elastic member and the second elastic member can be provided in multiple numbers, so as to further improve the damping effect. In addition, the air bag 105 can be made of a material with elasticity, such as silica gel.

[0054] Optionally, as Figures 1-2As shown, the first elastic member is a steel wire rope 104, and the steel wire rope 104 is provided with at least two, and the at least two steel wire ropes 104 are distributed on the circumferential side of the first fixed seat 101 and the second fixed seat 102.

[0055] Specifically, in the embodiment, the first elastic member is a steel wire rope 104, and the steel wire rope 104 has a certain elasticity and a certain rigidity. When the at least two steel wire ropes 104 are uniformly distributed on the circumferential side of the first fixed seat 101 and the second fixed seat 102, the damping effect and the vibration amplitude in each direction can be greatly improved.

[0056] Further, the steel wire rope 104 is usually twisted by a plurality of single ropes, so that in the vibration process, the steel wire rope 104 generates friction damping in deformation due to the friction between the internal plurality of single ropes, so that the damping force attenuates the energy of vibration, further improving the damping effect.

[0057] Optionally, as shown in the figure, Figures 1-2 As shown, the air bag 105 is a rubber ball, and the air bag 105 is provided with an exhaust hole 53 for exhausting the gas inside the air bag 105 when the air bag 105 is compressed.

[0058] Specifically, in the embodiment, when the air bag is compressed or deformed, first, the rubber material will convert a part of the vibration energy into heat through deformation damping when deformed, and the vibration is attenuated. Further, when the volume inside the air bag 105 changes, the air pressure also changes, 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 generates flow resistance in the process, which further attenuates the vibration energy and improves the damping effect.

[0059] In the above structure, the air bag 105 can be provided with one or more exhaust holes 53 at one end close to the first fixed seat 101 and the second fixed seat 102, so that the damping amplitude is more balanced.

[0060] Optionally, as shown in the figure, Figures 1-2 As shown, the air bag 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 fixed seat 101 by the first fastener 54, the second hemisphere 52 is connected to the second fixed seat 102 by the second fastener 55, and the first hemisphere 51 and the second hemisphere 52 are sealed and connected by the sealing ring 56.

[0061] Optionally, as shown in the figure, Figures 1-2As shown, the inner side of the first hemisphere 51 extends with a first connecting column 57, and the inner side of the second hemisphere 52 extends with a second connecting column 58; the second elastic member is a compression spring 103, both ends of which are respectively sleeved and fixed on the first connecting column 57 and the second connecting column 58.

[0062] Specifically, in the embodiment, the air bag 105 is sealed and assembled together by 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 air bag 105. At the same time, the first connecting column 57 in the first hemisphere 51 and the second connecting column 58 in the second hemisphere 52 are more convenient for the fixation of the compression spring 103 and the air bag 105, so that the compression spring 103 can be connected with the first fixed seat 101 and the second fixed seat 102 through the air bag 105, realizing the shock absorption performance of the compression spring 103. That is, when there is a vibration acceleration in the compression direction of the compression spring 103, the compression spring 103 is compressed to generate elastic force, which can reduce the acceleration of vibration to realize shock absorption. In addition, the first fastener 54 and the second fastener 55 can adopt connecting members such as screws, so as to facilitate the disassembly, replacement and maintenance of the air bag 105.

[0063] In the above embodiment, through the arrangement of the steel wire rope 104, the compression spring 103, the air bag 105 and the exhaust hole 53, a large amount of acceleration attenuation and energy attenuation of vibration can be achieved, realizing displacement shock absorption in three-dimensional direction.

[0064] According to the second aspect of the present application, as Figures 3-7 As shown, a robot is provided, comprising: a head body 200, a trunk body 300 and a plurality of shock absorption systems 100 according to the first aspect; wherein the head body 200 is connected with each first fixed seat 101, and the trunk body 300 is connected with each second fixed seat 102, so that the plurality of shock absorption systems 100 can shock absorb the head body 200 relative to the trunk body 300.

[0065] Specifically, in the embodiment, by connecting a plurality of shock absorption 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 is shock absorbed by the plurality of shock absorption systems 100, realizing a good anti-shake effect. Especially when the head is provided with a camera or other functional device, the function thereof can be better realized, and the use experience of the robot is improved.

[0066] Further, in order to facilitate the connection between the plurality of damping systems 100 and the head body 200 and the trunk body 300, the upper connecting bracket 106 and the lower connecting bracket 107 can be provided, and each first fixing seat 101 of the plurality of damping systems 100 is connected and fixed on the upper connecting bracket 106, and each second fixing seat 102 is connected and fixed on the lower connecting bracket 107, forming an integrated damping structure, so that the head body 200 and the trunk body 300 are connected with the upper connecting bracket and the lower connecting bracket respectively.

[0067] Optionally, as shown in Figures 4-6 The head body 200 includes a support assembly, a driving assembly and a functional assembly 206; the functional assembly 206 is arranged on the support assembly, and the driving assembly can drive the support assembly to make the functional assembly 206 have three degrees of freedom; the three degrees of freedom include a pitch action in the front-rear direction of the robot, a roll action in the left-right direction of the robot and a yaw action around the vertical direction.

[0068] Specifically, in the embodiment, the support assembly is used to support and connect the driving assembly and the functional assembly 206, and the driving assembly drives the support assembly to make the functional assembly 206 have three degrees of freedom. In actual application, the three degrees of freedom are respectively the pitch action, the roll action and the yaw action of the head body 200, so that the functional assembly 206 can realize the position rotation in the three degrees of freedom, and the flexibility of the head body 200 of the robot is improved, so as to better realize the demand of the functional assembly 206. The functional assembly 206 can include thermal imaging devices, wide-angle cameras, laser ranging devices, zoom cameras, etc., and can be set according to the actual use of the robot.

[0069] Optionally, as shown in Figures 4-6 The driving assembly includes a roll motor 201, a pitch motor 202 and a yaw motor 203, and the support assembly includes a housing portion 204 and a connecting portion 205; the functional assembly 206 is arranged on the housing portion 204, the output ends of the roll motor 201 and the pitch motor 202 are connected with the housing portion 204 respectively, the motor ends are connected with the output end 32 of the yaw motor through the connecting portion 205 respectively, and the damping system 100 is connected with the motor end 31 of the yaw motor.

[0070] Specifically, in the embodiment, the three degrees of freedom of the head body 200 are realized by three motors respectively, and the three motors can all be direct-current brushless torque motors for direct driving, and there is no speed reducer or other components between the motor end and the output end, so that the weight of the head body 200 is reduced and the integration is improved. The inside of the yaw motor 203 can be internally provided with a slip ring to realize 360° unlimited rotation around the vertical direction, and the flexibility of the head body 200 is further improved.

[0071] In addition, a limiting structure can also be provided, so that the pitch motor 202 and the roll motor 201 have a limited rotation range in their rotation directions, and the rotation thereof in a certain range is realized. As shown in Figure 4 The pitch motor 202 can be provided on the left side or the right side of the head body 200, and a wire passing position can be provided on the side opposite to the pitch motor 202, and the roll motor 201 can be provided on the rear side of the head body 200, so as to improve the aesthetics of the head body 200.

[0072] Optionally, as shown in Figures 5-7 The robot further comprises a sealing assembly 400 and a protective cover 401, the protective cover 401 is provided with an assembly hole, the sealing assembly 400 is elastic; the motor end 31 of the yaw motor passes through the assembly hole, so that the protective cover 401 is connected to the motor end 31 of the yaw motor through the sealing assembly 400, and the head body 200 is located on the upper and lower sides of the protective cover 401 respectively; the peripheral side of the protective cover 401 is connected to the trunk body 300, and each first fixed seat 101 of the damping system 100 is connected to the protective cover 401.

[0073] Specifically, in the embodiment, the protective cover 401 can realize the protection of the structure below the head body 200, especially the electronic devices in the chest cavity. Further, the sealing assembly 400 is connected between the motor end 31 of the yaw motor and the protective cover 401, and is elastic, so that the position of the sealing assembly 400 is waterproof and dustproof, and can also allow a certain degree of displacement for the anti-shake of the head body 200.

[0074] Optionally, as shown in Figures 7-9 The sealing assembly 400 comprises a ring-shaped sealing gasket 402, a compression ring 403 and an O-shaped spring 404; the inner side of the ring-shaped sealing gasket 402 is sleeved on the motor end 31 of the yaw motor through the O-shaped spring 404, and the outer side is press-bonded on the protective cover 401 through the compression ring 403, and the cross section of the ring-shaped sealing gasket 402 in the connection direction thereof is wave-shaped.

[0075] Specifically, in the present embodiment, the annular sealing gasket 402 is sleeved on the motor end 31 of the yaw motor, and the sealing can rely on the radial pressure of the annular sealing gasket 402 itself, that is, the diameter of the sealing part of the annular sealing gasket 402 is designed to be smaller than the diameter of the end of the yaw motor 203, so that the annular sealing gasket 402 has a certain expansion force to achieve a certain degree of press sealing effect. On the other hand, a flange along the axial direction can be arranged on a circle of the annular sealing gasket 402 close to the end of the yaw motor 203, so that the O-shaped spring 404 is sleeved on the annular sealing gasket 402, and then the effective waterproof and dustproof sealing of the motor end 31 of the yaw motor is ensured through the inward pressure of the O-shaped spring 404.

[0076] Further, on the outer circle of the annular sealing gasket 402, the outer side of the annular sealing gasket 402 is press-sealed on the protective cover 401 through the press ring 403, and then fixed through the third fastener 405, and the sealing pressure is provided by the third fastener 405 fixing the press ring 403. In addition, in order to allow the sealing part to allow a certain degree of displacement for anti-shake, the outer shape of the annular sealing gasket 402 is wave-shaped, and when the displacement occurs, the wave-shaped outer shape will be elastically deformed, so that a certain degree of displacement of the X (horizontal roll axis), Y (pitch axis) and Z (yaw axis) three axes can be allowed and stable sealing can be maintained.

[0077] The above embodiment focuses on the differences between the various embodiments, and the different optimization features between the various embodiments can be combined to form a more optimal embodiment as long as they are not contradictory. Considering the brevity of the writing, it will not be repeated here.

[0078] Although some specific embodiments of the present application have been described in detail through examples, those skilled in the art should understand that the above examples are only for illustration, but not for limiting the scope of the present application. Those skilled in the art should understand that the above embodiments can 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: First fixed seat, second fixed seat, and buffer assembly; The buffer assembly is disposed between the first fixed seat and the second fixed seat, and the buffer assembly includes an airbag, a first elastic element and a second elastic element; The airbag is connected between the first fixed base and the second fixed base. The first elastic element and the second elastic element are located outside and inside the airbag, respectively, and their two ends are connected to the first fixed base and the second fixed base, respectively. The first fixed base is used to connect the head body of the robot, and the second fixed base is used to connect the torso body of the robot. The robot includes a sealing assembly and a protective cover. The head body includes a yaw motor. The protective cover is connected to the motor end of the yaw motor through the sealing assembly. The periphery of the protective cover is connected to the torso body. The sealing assembly includes an annular sealing gasket, a pressure ring, and an O-ring spring. The inner side of the annular sealing gasket can be sleeved onto the motor end of the yaw motor by the O-ring spring, and the outer side can be pressed onto the protective cover by the pressure ring.

2. The shock absorption system according to claim 1, characterized in that, The first elastic element is a steel wire rope, and at least two steel wire ropes are provided, which are distributed around the first fixed base and the second fixed base.

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

4. The shock absorption system according to any one of claims 1-3, 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 fixed base by the first fastener, and the second hemisphere is connected to the second fixed base by the second fastener. The first hemisphere and the second hemisphere are sealed together by the sealing ring.

5. The shock absorption system according to claim 4, characterized in that, A first connecting post extends from the inner side of the first hemisphere, and a second connecting post extends from the inner side of the second hemisphere; The second elastic element is a compression spring, with its two ends respectively sleeved and fixed on the first connecting post and the second connecting post.

6. A robot, characterized in that, include: The head body, the torso body, and the shock absorption system according to any one of claims 1-5; The head body is connected to each of the first fixed seats, and the torso body is connected to each of the second fixed seats, so that the multiple shock absorption systems can absorb shock from the head body relative to the torso 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 mounted on the support component, and the driving component can give the functional component three degrees of freedom by driving the support component. The three degrees of freedom include pitch motion along the robot's forward and backward direction, roll motion along the robot's left and right direction, and yaw motion around the vertical direction.

8. The robot according to claim 7, characterized in that, The drive assembly includes a roll motor, a pitch motor, and the yaw motor; the support assembly includes a housing portion and a connecting portion. The functional components are disposed on the housing portion. The output ends of the roll motor and the pitch motor are respectively connected to the housing portion. The motor ends are respectively connected to the output end of the yaw motor through the connecting portion. The shock absorption system is connected to the motor end of the yaw motor.

9. The robot according to claim 8, characterized in that, The protective cover has mounting holes, and the sealing assembly is elastic; The motor end of the yaw motor passes through the mounting hole, so that the protective cover is connected to the motor end of the yaw motor through the sealing assembly. The head body, the torso body and the shock absorption system are located on the upper and lower sides of the protective cover, respectively. Each of the first fixed seats of the shock absorption system is connected to the protective cover.

10. The robot according to claim 9, characterized in that, The annular sealing gasket has a wavy cross-section along its connection direction.

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