Vibration suppression structure and leveling robot based on damping buffer

Abstract

The present invention discloses a vibration suppression structure and a leveling robot based on a damping buffer, comprising an x-axis anti-deviation mechanism and a y-axis anti-deviation mechanism arranged in a double layer; a dynamic compensation mechanism is formed by the dynamic cooperation of a rotating table and a limiting hole; in the pitch direction, the pitch vibration of the actuator terminal around the y-axis caused by the chassis bump is converted into a linear displacement of the dynamic connecting shaft through the coordinated design of the fixed connecting shaft and the dynamic connecting shaft combined with the y-axis damping buffer, and the reaction force is dynamically adjusted by the y-axis damping buffer to forcibly restore the horizontal posture of the actuator terminal; at the same time, in the left and right directions, the symmetrically arranged x-axis damping buffers form a force couple balance structure to achieve symmetrical damping suppression of the x-axis rotation, directly offsetting the interference of the left and right vibrations of the chassis on the horizontal state of the actuator terminal.

Description

Technical Field

[0001] The present invention relates to the technical field of road construction, and in particular to a vibration suppression structure based on a damping buffer and a leveling robot. Background Art

[0002] Concrete leveling robots are used in construction projects. Their core function is to ensure that the end effector (such as a scraper or vibrator) maintains a horizontal position during dynamic movement. However, when the robot travels on uneven surfaces, chassis vibrations are directly transmitted to the end effector, resulting in reduced leveling accuracy, substandard surface flatness, and even impacted concrete curing quality. Specifically, existing technologies have the following drawbacks:

[0003] 1. Rigid connection problem: Traditional robot chassis and actuators use rigid connections or single-degree-of-freedom suspension systems, which cannot effectively isolate multi-directional bumps. The shock absorption effect of the body (or chassis) directly affects the anti-tilt effect of the actuator.

[0004] 2. Insufficient compensation for multiple degrees of freedom: Existing damping systems are mostly designed for a single direction (such as the vertical direction), making it difficult to simultaneously compensate for the pitch (such as Figure 1 Rotation around the y-axis as shown) and left and right (as shown Figure 1 The offset during the swing rotation (as shown) is shown. Summary of the Invention

[0005] In order to overcome the defects of the prior art, the technical problem to be solved by the present invention is to propose a vibration suppression structure and a leveling robot based on a damping buffer, which can effectively suppress the vibration transmitted from the car body through the damping buffer when the leveling robot is moving, so that the leveling mechanism always maintains a horizontal posture during dynamic movement, thereby ensuring the leveling effect on the road surface.

[0006] To achieve this object, the present invention adopts the following technical solutions:

[0007] The y-axis anti-drift mechanism according to the present invention comprises an x-axis anti-drift mechanism and a y-axis anti-drift mechanism arranged in a double layer; the y-axis anti-drift mechanism comprises a rotating platform and an upper connecting piece cooperating with the rotating platform, one end of the upper connecting piece is fixedly provided with a U-shaped ear cooperating with both sides of the rotating platform, and further comprises a fixed connecting shaft arranged near the vehicle body and a dynamic connecting shaft arranged away from the vehicle body, the axial directions of the fixed connecting shaft and the dynamic connecting shaft are perpendicular to the traveling direction of the vehicle body, the fixed connecting shaft and the dynamic connecting shaft are rotatably connected to the rotating platform, the U-shaped ear is provided with an arc-shaped limiting hole cooperating with the dynamic connecting shaft, and when swinging around the y-axis, the dynamic connecting shaft moves along the limiting hole; the rotating platform is provided with two y-axis damping buffers symmetrically along the traveling direction of the vehicle body, the extension and contraction direction of the y-axis damping buffer is perpendicular to the top of the rotating platform, the bottom of the y-axis damping buffer is movably connected to the rotating platform, and the fixed end of the y-axis damping buffer is fixedly connected to the top of the upper connecting piece;

[0008] The x-axis anti-deviating mechanism includes a lower connecting member, on which two x-axis supports cooperating with the rotating table are fixedly provided along the direction of travel of the vehicle body, the x-axis supports and the rotating table are fixedly provided with cooperating rotating ears, the x-axis supports and the rotating table are rotatably connected via the rotating ears, and the lower connecting member is provided with two x-axis damping buffers symmetrical along the direction of travel of the vehicle body, and the two x-axis damping buffers are arranged between the fixed connecting shaft and the dynamic connecting shaft.

[0009] The y-axis damping buffer and the x-axis damping buffer are hydraulic buffers.

[0010] In order to facilitate the assembly of the vibration suppression structure of this case on the leveling vehicle, the upper connecting member is connected to the vehicle body near one end of the vehicle body, and the top of the upper connecting member is hingedly connected to the jacking structure of the vehicle body; the lower connecting member is connected to the leveling mechanism; at the same time, conical rubber shock absorbers are also provided at the bottom of the lower connecting member near the four top corners.

[0011] Two y-axis damping buffers are also arranged on the side of the rotating platform close to the vehicle body and are symmetrical along the moving direction of the vehicle body. The four y-axis damping buffers are arranged in a matrix.

[0012] A leveling robot comprises a body and a leveling mechanism, a mounting seat is fixedly provided on the front side of the body, a jacking structure is installed on the mounting seat, a vibration suppression structure as described above is arranged between the jacking structure and the leveling mechanism, the upper connecting member is hingedly connected to the mounting seat near one end of the body, and the lower connecting member is connected to the leveling mechanism through a conical rubber shock absorber; the leveling mechanism comprises a shock frame, a vibration plate is fixedly provided at the bottom of the shock frame, and a vibration motor for driving the vibration plate to vibrate is arranged inside the shock frame; it also includes a scraping plate, and lifting frames that cooperate with the scraping plate are fixed at both ends of the vibration plate, the lifting frame is L-shaped, a shock absorber is provided at the bottom of the lifting frame, and a lifting motor that drives the scraping plate to move perpendicular to the vibration plate is fixed on the top of the lifting frame; laser receivers are also provided at both ends of the scraping plate.

[0013] The beneficial effects of the present invention are as follows: by constructing an x-axis anti-deviation mechanism and a y-axis anti-deviation mechanism, and forming a dynamic compensation mechanism through dynamic cooperation of a rotating table and a limiting hole, in the pitch direction, through the coordinated design of a fixed connecting shaft and a dynamic connecting shaft combined with a y-axis damping buffer, the pitch vibration of the execution terminal around the y-axis caused by the chassis bump (that is, the pitch rotation of the vibrating mechanism around the y-axis) is converted into displacement compensation of the dynamic connecting shaft, and the y-axis damping buffer dynamically adjusts the reaction force to forcibly restore the horizontal posture of the execution terminal; at the same time, in the left and right directions (that is, the left and right rotation of the vibrating mechanism around the x-axis), the symmetrically arranged x-axis damping buffers form a couple balance structure to achieve symmetrical damping suppression of the x-axis rotation, directly offsetting the interference of the left and right vibrations of the chassis on the horizontal state of the execution terminal. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural schematic diagram of a leveling robot provided in a specific embodiment of the present invention;

[0015] Figure 2 This is a schematic structural diagram of a leveling robot from another perspective provided in a specific embodiment of the present invention;

[0016] Figure 3 1 is a schematic structural diagram of a vibration suppression structure based on a damping buffer provided in Example 1 of the present invention;

[0017] Figure 4 Another perspective structural diagram of the vibration suppression structure based on the damping buffer provided in Example 1 of the present invention;

[0018] Figure 5 2 is a schematic structural diagram of a vibration suppression structure based on a damping buffer provided in Example 2 of the present invention;

[0019] In the picture:

[0020] 1. X-axis anti-drift mechanism; 11. Lower connecting piece; 111. X-axis support; 112. Rotating ear; 12. X-axis damping buffer; 113. Conical rubber shock absorber;

[0021] 2. Y-axis anti-deviation mechanism; 21. Rotating table; 22. Upper connecting piece; 221. U-shaped ear; 23. Fixed connecting shaft; 24. Moving connecting shaft; 2211. Limiting hole; 25. Y-axis damping buffer;

[0022] 3. Car body; 31. Mounting seat;

[0023] 4. Jacking structure;

[0024] 5. Vibration leveling mechanism; 51. Vibration frame; 52. Vibration plate; 53. Vibration motor;

[0025] 6. Scraping plate; 61. Laser receiver;

[0026] 7. Lifting frame; 71. Lifting motor. DETAILED DESCRIPTION

[0027] The technical solution of the present invention will be further described below with reference to the accompanying drawings and through specific implementation methods.

[0028] In order to solve the problem that when the robot is traveling on uneven ground, the rigid connection and multi-degree-of-freedom compensation between the body 3 and the leveling mechanism 5 are insufficient, resulting in reduced leveling accuracy, substandard surface flatness, and affected concrete curing quality, the present invention provides a vibration suppression structure and a leveling robot based on a damping buffer. The main purpose is to filter the vibration from the body 3 and ensure that the execution end (such as the vibrating plate and the scraping plate) always maintains a horizontal posture during dynamic movement. The main idea is to provide degree-of-freedom compensation in the forward direction (i.e., rotation in the pitch direction) and the rotation direction (i.e., rotation in the left and right directions) through the vibration suppression structure.

[0029] Example 1: Figure 4 As shown, the present invention provides a vibration suppression structure based on a damping buffer, including an x-axis anti-drift mechanism 1 and a y-axis anti-drift mechanism 2 arranged in a double layer; that is, the x-axis anti-drift mechanism 1 is arranged on the first layer, so that the x-axis anti-drift mechanism 1 can suppress vibrations from the left and right directions of the vehicle body 3 (i.e., around Figure 1 The rotation of the x-axis shown in the figure suppresses and compensates the swing of the leveling mechanism 5 in the left and right directions. A y-axis anti-drift mechanism 2 is set on top of the x-axis anti-drift mechanism 1. In this way, the y-axis anti-drift mechanism 2 is used to suppress the vibration from the pitch direction of the vehicle body 3 (i.e., around Figure 1 The rotation of the y-axis shown in the figure suppresses and compensates the swing of the leveling mechanism 5 in the pitch direction; in order to achieve further dynamic adjustment compensation, the following is done:

[0030] The y-axis anti-deviation mechanism 2 includes a rotating table 21 and an upper connecting member 22 that cooperates with the rotating table 21. One end of the upper connecting member 22 is fixedly provided with a U-shaped ear 221 that cooperates with both sides of the rotating table 21. It also includes a fixed connecting shaft 23 arranged close to the vehicle body 3 and a dynamic connecting shaft 24 arranged away from the vehicle body 3. The axial directions of the fixed connecting shaft 23 and the dynamic connecting shaft 24 are perpendicular to the moving direction of the vehicle body 3. The fixed connecting shaft 23 and the dynamic connecting shaft 24 are rotatably connected to the rotating table 21, and the fixed connecting shaft 23 is rotatably connected to the U-shaped ear 221. The U-shaped ear 221 is provided with an arc-shaped limiting hole 2211 that cooperates with the dynamic connecting shaft 24. When rotating and swinging around the y-axis, the dynamic connecting shaft 24 rotates around the fixed connecting shaft 23 along the limiting hole 2211; in this way, when the vehicle body 3 is bumpy in the pitch direction (that is, when the vibrating mechanism 5 swings and rotates around the y-axis), the dynamic connecting shaft 24 will drive the outer end of the rotating table 21 to rotate along the limiting hole 2211 around the fixed connecting shaft 23 to compensate for the pitch displacement (similar to a lever structure). During the reset process, in order to prevent the vibration leveling mechanism 5 from deflecting in the pitch direction and perform damping and buffering to complete rapid reset, it is necessary to pull and lift the rotating table 21 to prevent it from deflecting and assist it in rapid reset, and absorb and filter the vibration during the pitch displacement compensation process. Specifically, two y-axis damping buffers 25 symmetrically along the traveling direction of the body 3 are provided on the rotating table 21 away from the body 3. The extension direction of the y-axis damping buffer 25 is perpendicular to the top of the rotating table 21, and the bottom of the y-axis damping buffer 25 is movably connected to the rotating table 21 (that is, to ensure that the bottom of the y-axis damping buffer 25 can be adjusted accordingly when the y-axis damping buffer 25 is extended and retracted, such as Figure 4 The connection shown is a spherical one; or a groove can be provided on the rotating table 21 to match the bottom of the y-axis damping buffer 25, so that when the y-axis damping buffer 25 is extended or retracted, the bottom of the y-axis damping buffer 25 can be translated back and forth along the groove in the forward direction to match the extension and retraction of the y-axis damping buffer 25. This solution does not match the attached drawings). The fixed end of the y-axis damping buffer 25 is fixedly connected to the top of the upper connecting member 22; in this way, when the vehicle body 3 is about to deviate, the y-axis damping buffer 25 can timely damp and buffer the rotating table 21 and assist it in completing rapid reset, buffering and filtering the bumps transmitted by the vehicle body 3, thereby completing the self-balancing adjustment in the y-axis pitch direction.

[0031] Preferably, the x-axis anti-deviation mechanism 1 includes a lower connecting member 11, and the lower connecting member 11 is fixedly provided with two x-axis supports 111 that cooperate with the rotating table 21 along the direction of travel of the vehicle body 3, and the x-axis support 111 and the rotating table 21 are fixedly provided with matching rotating ears 112, and the x-axis support 111 and the rotating table 21 are rotatably connected through the rotating ears 112. When rotating and swinging around the x-axis, the dynamic connecting shaft 24 rotates and swings around the rotating ears 112 along the limiting holes 2211. Specifically, an intermediate shaft is further provided between the two rotating ears 112, so that the rotating table 21 can rotate and swing left and right around the intermediate shaft (that is, causing the vibrating mechanism 5 to rotate and swing around the x-axis), which is equivalent to the dynamic connecting shaft 24 rotating and swinging left and right around the rotating ears 112. Symmetrical x-axis damping buffers 12, the x-axis damping buffers 12 act on the rotating table 21, and the two x-axis damping buffers 12 are arranged between the fixed connecting shaft 23 and the dynamic connecting shaft 24. In this way, when the vehicle body 3 is bumped in the left and right directions (that is, causing the vibrating mechanism 5 to rotate and swing around the x-axis), the dynamic connecting shaft 24 will drive the left and right sides of the rotating table 21 to rotate around the middle axis along the limiting hole 2211 to perform left and right swing displacement compensation (similar to a seesaw). During the reset process, in order to prevent the vibrating mechanism 5 from offsetting in the left and right directions and perform damping and buffering to complete rapid reset, the x-axis damping buffer 12 can damp and buffer the rotating table 21 and assist it in completing rapid reset, buffering and filtering the bumps transmitted by the vehicle body 3, thereby realizing self-balancing adjustment in the left and right directions of the x-axis.

[0032] It should be further explained that the y-axis damping buffer 25 and the x-axis damping buffer 12 are hydraulic buffers, and the upper connecting member 22 is connected to the vehicle body 3 at one end near the vehicle body 3, and the top of the upper connecting member 22 is hingedly connected to the jacking structure 4 of the vehicle body 3; in this way, the vibration suppression structure of the present application can complete the connection with the vehicle body 3, and the lower connecting member 11 is connected to the leveling mechanism 5. A conical rubber shock absorber 113 is also provided at the bottom of the lower connecting member 11 near the four top corners, so that the vibration suppression structure can complete the connection with the leveling mechanism 5. In this way, the vibration suppression structure of the present application can be flexibly assembled in a road leveling vehicle (especially for a road leveling vehicle with a general suspension of the vehicle body 3 itself), which can effectively solve the rigid connection problem of the original leveling vehicle. The x-axis anti-deviation mechanism 1 and the y-axis anti-deviation mechanism 2 can provide the leveling mechanism 5 with multi-degree-of-freedom compensation from left and right (x-axis) and pitch (y-axis) swing, prevent the leveling mechanism 5 from offset, and ensure that the leveling mechanism 5 always maintains a horizontal posture during dynamic movement, reducing the requirements for the suspension of the vehicle body 3 itself.

[0033] In summary, the present application forms a dynamic self-balancing adjustment system that can adjust left and right and pitch swing by setting an x-axis anti-deviation mechanism 1 and a y-axis anti-deviation mechanism 2. The y-axis damping buffer 25 and the x-axis damping buffer 12 form a couple balance, so that no matter the vehicle body 3 is bumped left and right or pitched, it can be converted into displacement compensation by the dynamic connecting shaft 24 driving the rotating table 21 to move along the limiting hole 2211, and then a couple balance structure is formed by the y-axis damping buffer 25 and the x-axis damping buffer 12, thereby correspondingly offsetting the interference of the vibration of the vehicle body 3 on the horizontal state of the execution end (i.e., the leveling mechanism 5).

[0034] Example 2: Different from Example 1, two y-axis damping buffers 25 are provided on the side of the rotating table 21 close to the vehicle body 3 and are symmetrical along the moving direction of the vehicle body 3. The four y-axis damping buffers 25 are arranged in a matrix, thereby enhancing the coordination of the four y-axis damping buffers 25 when forming a couple balance structure.

[0035] Example 3: A leveling robot using the above structure includes a body 3 and a leveling mechanism 5, a mounting seat 31 is fixedly provided on the front side of the body 3, a jacking structure 4 is installed on the mounting seat 31, and a vibration suppression structure as described above is arranged between the jacking structure 4 and the leveling mechanism 5, the upper connecting member 22 is hingedly connected to the mounting seat 31 near one end of the body 3, and the lower connecting member 11 is connected to the leveling mechanism 5 through a conical rubber shock absorber 113; the leveling mechanism 5 includes a shock frame 51, a vibration plate 52 is fixedly provided at the bottom of the shock frame 51, and a vibration motor 53 is arranged inside the shock frame 51 to drive the vibration plate 52 to vibrate; it also includes a scraping plate 6, and lifting frames 7 that cooperate with the scraping plate 6 are fixed at both ends of the vibration plate 52, the lifting frame 7 is L-shaped, a shock absorber is provided at the bottom of the lifting frame 7, and a lifting motor 71 that drives the scraping plate 6 to move perpendicular to the vibration plate 52 is fixed on the top of the lifting frame 7; laser receivers 61 are also provided at both ends of the scraping plate 6 to provide accurate elevation and slope reference for the leveling robot.

[0036] The present invention is described through preferred embodiments. Those skilled in the art will appreciate that various modifications or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. The present invention is not limited to the specific embodiments disclosed herein; other embodiments falling within the scope of the claims of this application are intended to be protected by the present invention.

Claims

1. A vibration suppression structure based on a damping buffer, characterized in that: It comprises an x-axis anti-drift mechanism (1) and a y-axis anti-drift mechanism (2) arranged in a double layer; The y-axis anti-deviating mechanism (2) comprises a rotating platform (21) and an upper connecting member (22) matched with the rotating platform (21), one end of the upper connecting member (22) is fixedly provided with a U-shaped ear (221) matched with both sides of the rotating platform (21), and further comprises a fixed connecting shaft (23) arranged close to the vehicle body (3) and a movable connecting shaft (24) arranged away from the vehicle body (3), the axial directions of the fixed connecting shaft (23) and the movable connecting shaft (24) are perpendicular to the moving direction of the vehicle body (3), the fixed connecting shaft (23) and the movable connecting shaft (24) are rotatably connected to the rotating platform (21), the U-shaped ear (221) is provided with an arc-shaped limiting hole (2211) matched with the movable connecting shaft (24), and when the movable connecting shaft (24) rotates around the fixed connecting shaft (23) along the limiting hole (2211); Two y-axis damping buffers (25) are provided on the rotating platform (21) away from the vehicle body (3) and are symmetrical along the travel direction of the vehicle body (3); the telescopic direction of the y-axis damping buffers (25) is perpendicular to the top of the rotating platform (21); the bottom of the y-axis damping buffer (25) is movably connected to the rotating platform (21); and the fixed end of the y-axis damping buffer (25) is fixedly connected to the top of the upper connecting member (22); The x-axis anti-deviating mechanism (1) comprises a lower connecting member (11), wherein the lower connecting member (11) is fixedly provided with two x-axis supports (111) cooperating with the rotating platform (21) along the traveling direction of the vehicle body (3), the x-axis supports (111) and the rotating platform (21) are fixedly provided with rotating ears (112) cooperating with each other, the x-axis supports (111) and the rotating platform (21) are rotatably connected via the rotating ears (112), and when rotating and swinging around the x-axis, the dynamic connecting shaft (24) rotates and swings around the rotating ears (112) along the limiting hole (2211), and the lower connecting member (11) is provided with two x-axis damping buffers (12) symmetrically along the traveling direction of the vehicle body (3), and the two x-axis damping buffers (12) are arranged between the fixed connecting shaft (23) and the dynamic connecting shaft (24).

2. The vibration suppression structure based on the damping buffer according to claim 1, characterized in that: The upper connecting member (22) is connected to the vehicle body (3) at one end close to the vehicle body (3), and the top of the upper connecting member (22) is hingedly connected to the jacking structure (4) of the vehicle body (3); the lower connecting member (11) is connected to the vibrating mechanism (5).

3. The vibration suppression structure based on the damping buffer according to claim 2, characterized in that: Conical rubber shock absorbers (113) are also provided at the bottom of the lower connecting member (11) near the four top corners.

4. The vibration suppression structure based on a damping buffer according to claim 1, characterized in that: The y-axis damping buffer (25) and the x-axis damping buffer (12) are hydraulic buffers.

5. The vibration suppression structure based on a damping buffer according to claim 1, characterized in that: Two y-axis damping buffers (25) symmetrical along the traveling direction of the vehicle body (3) are further provided on the rotating platform (21) on a side close to the vehicle body (3), and the four y-axis damping buffers (25) are arranged in a matrix.

6. A leveling robot, comprising a body (3) and a leveling mechanism (5), wherein a mounting seat (31) is fixedly provided on the front side of the body (3), and characterized in that: A lifting structure (4) is installed on the mounting seat (31), and a vibration suppression structure as described in any one of claims 1 to 5 is provided between the lifting structure (4) and the vibrating mechanism (5). The upper connecting member (22) is hingedly connected to the mounting seat (31) at one end close to the vehicle body (3), and the lower connecting member (11) is connected to the vibrating mechanism (5) via a conical rubber shock absorber (113).

7. The leveling robot according to claim 6, characterized in that: The vibration leveling mechanism (5) comprises a vibration frame (51), a vibration plate (52) is fixedly provided at the bottom of the vibration frame (51), and a vibration motor (53) is provided inside the vibration frame (51) for driving the vibration plate (52) to vibrate.

8. The leveling robot according to claim 7, characterized in that: The vibrating plate (52) further comprises a scraping plate (6), and both ends of the vibrating plate (52) are fixedly provided with a lifting frame (7) that cooperates with the scraping plate (6). The lifting frame (7) is L-shaped, and a shock absorber is provided at the bottom of the lifting frame (7). A lifting motor (71) is fixedly provided at the top of the lifting frame (7) for driving the scraping plate (6) to move perpendicular to the vibrating plate (52).

9. The leveling robot according to claim 8, characterized in that: Laser receivers (61) are also provided at both ends of the scraping plate (6).

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