Mechanical equipment and torque buffering assembly

Abstract

The invention relates to the technical field of torque buffering, and discloses mechanical equipment and a torque buffering assembly, the torque buffering assembly comprises a base body, a rotating part and a buffering structure, the base body is provided with a first connecting structure, and the first connecting structure is used for being detachably connected with the outer side of a rack of a mechanical transmission assembly; the base body is fixed relative to a rack of the mechanical transmission assembly; the rotating part is rotationally arranged on the base body, a second connecting structure is arranged on the rotating part, and the second connecting structure is used for being detachably connected with a transmission structure of the mechanical transmission assembly and used for enabling the transmission structure to drive the rotating part to rotate; the buffer structure is arranged between the base body and the rotating part, and under the condition that the rotating speed of the rotating part is in the target state, the buffer structure applies resistance to the rotating part so as to reduce the rotating speed of the rotating part.

Description

Technical Field

[0001] This application relates to, but is not limited to, the field of torque buffering technology, and particularly relates to a mechanical device and a torque buffering component. Background Art

[0002] As the core part of a mechanical device, the mechanical transmission component functions in power transmission, conversion of motion forms, torque and rotational speed adjustment, and energy management. Therefore, the reliability of the mechanical transmission component is crucial for the accuracy and lifespan of the mechanical device. However, during operation, the mechanical transmission component may be subjected to excessive torque impacts for various reasons, and these excessive torque impacts will exacerbate the wear of the mechanical transmission component, thereby affecting the accuracy and lifespan of the mechanical device. Summary of the Invention

[0003] This application provides a torque buffering component, which includes a base body, a rotating member, and a buffering structure. The base body has a first connection structure for detachably connecting to the outer side of the frame of the mechanical transmission component to fix the base body relative to the frame of the mechanical transmission component; the rotating member is rotatably arranged on the base body, and the rotating member has a second connection structure for detachably connecting to the transmission structure of the mechanical transmission component to drive the rotating member to rotate; the buffering structure is arranged between the base body and the rotating member, and when the rotational speed of the rotating member is in a target state, the buffering structure applies a resistance force to the rotating member to reduce the rotational speed of the rotating member.

[0004] In an implementable manner provided by this application, the base body has an accommodation cavity inside, and at least one side of the accommodation cavity is formed with an opening; the buffering structure includes a shear thickening liquid, and the shear thickening liquid is arranged in the accommodation cavity; the rotating member is rotatably arranged at the opening, the rotating member includes a first part and a second part, the first part is immersed in the shear thickening liquid, the second part is exposed outside the accommodation cavity, and the second connection structure is located on the second part.

[0005] In an implementable manner provided by this application, the torque buffering component further includes a first adjustment component, and at least part of the first adjustment component is arranged on the base body for adjusting the volume of the first part immersed in the shear thickening liquid.

[0006] In an implementable manner provided by this application, the torque buffering component further includes a second adjustment component, and at least part of the second adjustment component is arranged in the accommodation cavity for adjusting the concentration of the shear thickening liquid.

[0007] In an implementable manner provided by the present application, the second adjustment assembly includes a filtering structure and a position adjustment structure. The filtering structure is used to filter the shear thickening liquid, and the filtering structure is movably arranged in the accommodation cavity along the first direction, and is used to divide the accommodation cavity into a first cavity and a second cavity. Wherein, the first cavity is communicated with the opening; the position adjustment structure is used to drive the filtering structure to move in the accommodation cavity, and is used to adjust the concentration of the shear thickening liquid in the first cavity; the first part of the rotating member is immersed in the shear thickening liquid in the first cavity.

[0008] In an implementable manner provided by the present application, the position adjustment structure includes a limiting member, a driving member and an elastic member. The limiting member is movably arranged in the first cavity along the first direction. The driving member is used to drive the limiting member to move in the first cavity. Along the first direction, the elastic member is arranged on the side of the filtering structure facing away from the limiting member, and is used to push the filtering structure to abut against the limiting member.

[0009] In an implementable manner provided by the present application, the extending direction of the rotation axis of the rotating member is parallel to the first direction. Along the circumferential direction of the first cavity, the outer peripheral surface of the limiting member is fitted with the inner wall surface of the first cavity, and the limiting member has a hollow part for the shear thickening liquid to flow through.

[0010] In an implementable manner provided by the present application, one side of the first part facing the filtering structure has a plurality of first protrusions, and the first protrusions are used to stir the shear thickening liquid in the first cavity.

[0011] In an implementable manner provided by the present application, the base body includes a shell and a cover body that are detachably connected. The shell and the cover body enclose to form an accommodation cavity, the opening is located on the cover body, and the rotating member is rotatably connected to the cover body.

[0012] The present application also provides a mechanical device, which includes a mechanical transmission assembly and a torque buffer assembly. Wherein, the mechanical transmission assembly includes a frame and a transmission structure arranged on the frame; the torque buffer assembly includes a base body, a rotating member and a buffer structure. The base body has a first connection structure, and the first connection structure is used for detachably connecting to the outside of the frame of the mechanical transmission assembly, so as to fix the base body relative to the frame of the mechanical transmission assembly; the rotating member is rotatably arranged on the base body, and the rotating member has a second connection structure, and the second connection structure is used for detachably connecting to the transmission structure of the mechanical transmission assembly, so as to drive the rotating member to rotate by the transmission structure; the buffer structure is arranged between the base body and the rotating member. When the rotation speed of the rotating member is in a target state, the buffer structure applies a resistance force to the rotating member to reduce the rotation speed of the rotating member. Description of the Drawings

[0013] Figure 1 It is a schematic structural diagram of the torque buffer assembly provided by the embodiment of the present application;

[0014] Figure 2Exploded view of the torque buffer assembly provided by the embodiment of the present application;

[0015] Figure 3 One of the schematic diagrams of the internal structure of the torque buffer assembly provided by the embodiment of the present application;

[0016] Figure 4 Another schematic diagram of the internal structure of the torque buffer assembly provided by the embodiment of the present application;

[0017] Figure 5 One of the schematic diagrams of the structure of the rotating member;

[0018] Figure 6 Another schematic diagram of the structure of the rotating member;

[0019] Figure 7 Schematic diagram of the structure of the limiting member.

[0020] Explanation of reference numerals:

[0021] 1 - Substrate; 11 - Housing; 111 - Accommodating cavity; 1111 - First cavity; 1112 - Second cavity; 12 - Cover; 121 - Opening; 122 - First connection structure; 13 - First sealing ring; 14 - Second sealing ring; 15 - Third sealing ring; 16 - Fourth sealing ring; 17 - Positioning member; 18 - Bearing member; 19 - Fastening member; 2 - Rotating member; 21 - First part; 211 - First protrusion; 22 - Second part; 221 - Second connection structure; 3 - Buffer structure; 31 - Second adjustment assembly; 311 - Filter structure; 3111 - Membrane support; 3112 - Filter membrane; 3113 - Membrane retaining piece; 312 - Position adjustment structure; 3121 - Limiting member; 31211 - Hollow part; 31212 - Second protrusion; 31213 - Third protrusion; 3122 - Driving member; 3123 - Elastic member; 3124 - E - shaped circlip. Detailed implementation manners

[0022] It should be noted that, without conflict, the embodiments and technical features in the embodiments of the present application can be combined with each other. The detailed description in the specific implementation manners should be understood as an explanatory illustration of the purpose of the present application and should not be regarded as an improper limitation of the present application.

[0023] To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the following will further describe the specific technical solutions of the present application in detail with reference to the accompanying drawings in the embodiments of the present application. The following embodiments are used to illustrate the present application but are not used to limit the scope of the present application.

[0024] In the embodiments of the present application, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the embodiments of the present application, unless otherwise specified, the meaning of "a plurality" is two or more.

[0025] In addition, in the embodiments of the present application, orientation terms such as "upper", "lower", "left", and "right" are defined relative to the orientation in which the components in the drawings are schematically placed. It should be understood that these directional terms are relative concepts, which are used for relative description and clarification, and they may change correspondingly according to the change in the orientation in which the components in the drawings are placed.

[0026] In the embodiments of the present application, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or integrated; it can be directly connected or indirectly connected through an intermediate medium.

[0027] In the embodiments of the present application, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising one..." does not exclude the existence of additional identical elements in the process, method, article or device comprising such element.

[0028] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be construed as being more preferred or having more advantages than other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present relevant concepts in a specific manner.

[0029] In the embodiments of the present application, for the convenience of describing directions, Figure 3 and Figure 4 both are marked with a first direction, which is the height direction of the torque buffer assembly and also the moving direction of the filtering structure 311. It should be noted that the direction marking is only used to describe the present application and does not limit the scope of the present application.

[0030] As the core part of mechanical equipment, the functions of the mechanical transmission component include power transmission, conversion of motion forms, adjustment of torque and rotational speed, and energy management. Therefore, the reliability of the mechanical transmission component is crucial for the accuracy and lifespan of mechanical equipment. However, during operation, the mechanical transmission component will be subjected to excessive torque shocks due to various reasons, and the excessive torque shocks will exacerbate the wear of the mechanical transmission component, thereby affecting the accuracy and lifespan of mechanical equipment.

[0031] To solve the above problems, an embodiment of the present application provides a torque buffer component. Referring to Figure 1 、 Figure 2 、 Figure 3 and Figure 4 , the torque buffer component includes a base body 1, a rotating member 2, and a buffer structure 3. The base body 1 has a first connection structure 122, and the first connection structure 122 is used for detachable connection with the outer side of the frame of the mechanical transmission component to fix the base body 1 relative to the frame of the mechanical transmission component; the rotating member 2 is rotatably arranged on the base body 1, and the rotating member 2 has a second connection structure 221, and the second connection structure 221 is used for detachable connection with the transmission structure of the mechanical transmission component to drive the rotating member 2 to rotate by the transmission structure; the buffer structure 3 is arranged between the base body 1 and the rotating member 2, and when the rotational speed of the rotating member 2 is in a target state, the buffer structure 3 exerts a resistance force on the rotating member 2 to reduce the rotational speed of the rotating member 2.

[0032] In the embodiment of the present application, as the installation carrier of other structures on the torque buffer component, the structural form of the base body 1 has various possibilities. For example, the base body 1 can be a block structure, a frame structure, or a shell-like structure with a cavity inside. The embodiment of the present application does not limit this.

[0033] In the embodiment of the present application, the function of the first connection structure 122 is to connect the base body 1 and the frame of the mechanical transmission component. Therefore, the structural form of the first connection structure 122 has various possibilities. For example, the first connection structure 122 can include a connecting member and a connection hole. Among them, the connection hole is located on the base body 1, and a fixing hole adapted to the connecting member is provided on the outer side of the frame. The base body 1 and the frame are connected by the connecting member; or, the first connection structure 122 can include a buckle located on the base body 1, and a card slot adapted to the buckle is provided on the outer side of the frame. The base body 1 and the frame are connected by snap connection. The embodiment of the present application does not limit this.

[0034] In the embodiment of the present application, the structural form of the rotating member 2 has various possibilities. For example, the shape of the rotating member 2 can be a regular shape such as a circle or a square, or an irregular shape. The embodiment of the present application does not limit this.

[0035] In the embodiments of the present application, the function of the second connection structure 221 is to connect the rotating member 2 and the transmission structure of the mechanical transmission assembly. Therefore, there are various possible structural forms of the second connection structure 221. For example, the power output end of the transmission structure may have a connection protrusion, and the second connection structure 221 may include a connection hole for plugging with the connection protrusion, so as to realize the connection between the transmission structure and the second connection structure 221.

[0036] In the embodiments of the present application, when the transmission structure of the mechanical transmission assembly is subjected to an impact load, the rotational speed of the rotating member 2 driven by the transmission structure is in a target state. Here, the target state may refer to that the rotational speed of the rotating member 2 is greater than a set value, and the value of the set value can be determined according to the actual situation. For example, the set value can be 0.28 revolutions per second, or 0.32 revolutions per second, or 0.32 revolutions per second. The embodiments of the present application do not limit this. Or, the target state may also refer to that the rotational speed of the rotating member 2 is within a set range, and the value of the set range can be determined according to the actual situation. For example, the set range can be 0.2 - 0.35 (revolutions per second), or 0.3 - 0.4 (revolutions per second). The embodiments of the present application also do not limit this.

[0037] In the embodiments of the present application, the function of the buffer structure 3 is to apply a resistance force to the rotating member 2 to reduce the rotational speed of the rotating member 2. Therefore, there are various possible structural forms of the buffer structure 3. For example, the buffer structure 3 may include a torque sensor, a friction plate and a driving structure. Among them, the torque sensor is used to detect the torque impact received by the transmission structure on the mechanical transmission assembly, and the driving structure is used to drive the friction plate to move. When the torque sensor detects an excessive torque impact, the driving structure drives the friction plate to abut against the rotating member 2, and the friction plate applies a resistance force to the rotating member 2. The resistance force is transmitted to the transmission structure of the mechanical transmission assembly through the rotating member 2 to offset the torque impact received by the transmission structure. Or, the buffer structure 3 may also include magnetorheological fluid, a torque sensor and a controller, and at least part of the rotating member 2 is immersed in the magnetorheological fluid. When the torque sensor detects an excessive torque impact, the controller controls the magnetorheological fluid to thicken, so that the magnetorheological fluid applies a resistance force to the rotating member 2. The resistance force is transmitted to the transmission structure of the mechanical transmission assembly through the rotating member 2 to offset the torque impact received by the transmission structure.

[0038] It should be noted that the magnetorheological fluid includes micron-sized magnetic particles (such as carbonyl iron powder), a carrier liquid (such as silicone oil, mineral oil) and additives (stabilizers, anti-settling agents), etc. Under the action of an external magnetic field, the magnetorheological fluid can change from a liquid state to a quasi-solid state (viscosity significantly increases) within milliseconds, and this change is reversible, continuously controllable.

[0039] In the technical solution provided by the embodiment of the present application, the torque buffer assembly includes a base body 1, a rotating member 2, and a buffer structure 3. Among them, the base body 1 serves as the installation carrier for the rotating member 2 and the buffer structure 3, enabling the rotating member 2 to be rotatably arranged on the base body 1, and the buffer structure 3 can be arranged between the base body 1 and the rotating member 2. When the mechanical equipment has a need for torque buffering, the first connection structure 122 on the base body 1 can be connected to the outer side of the frame of the mechanical transmission assembly, and the second connection structure 221 on the rotating member 2 can be connected to the transmission structure of the mechanical transmission assembly. In this way, when the transmission structure of the mechanical transmission assembly is subjected to an excessive torque impact, the rotating member 2 enters the target state under the drive of the transmission structure, and the buffer structure 3 exerts a resistance force on the rotating member 2 to reduce the rotational speed of the rotating member 2. The resistance force is transmitted to the transmission structure of the mechanical transmission assembly through the rotating member 2 to offset the torque impact received by the transmission structure, thereby reducing the wear of the mechanical transmission assembly caused by the excessive torque impact, and further improving the accuracy and service life of the mechanical equipment. When the torque impact received by the transmission structure of the mechanical transmission assembly disappears, the rotating member 2 disengages from the target state under the drive of the transmission structure, and the buffer structure 3 cancels the resistance force exerted on the rotating member 2, enabling the transmission structure of the mechanical transmission assembly to move normally. In addition, the first connection structure 122 on the base body 1 is detachably connected to the outer side of the frame of the mechanical transmission assembly, and the second connection structure 221 on the rotating member 2 is detachably connected to the transmission structure of the mechanical transmission assembly. In this way, when the mechanical equipment has a need for torque buffering, the torque buffer assembly can be installed on the mechanical equipment; when the mechanical equipment does not require torque buffering, the torque buffer assembly can be removed from the mechanical equipment, improving the flexibility of use of the torque buffer assembly.

[0040] Referring to Figure 2 , Figure 3 , Figure 4 and Figure 5 , in a possible embodiment of the present application, the base body 1 has an accommodation cavity 111 inside, and an opening 121 is formed on at least one side of the accommodation cavity 111; the buffer structure 3 includes a shear thickening liquid (not shown in the figure), and the shear thickening liquid is arranged in the accommodation cavity 111; the rotating member 2 is rotatably arranged at the opening 121, the rotating member 2 includes a first part 21 and a second part 22, the first part 21 is immersed in the shear thickening liquid, the second part 22 is exposed outside the accommodation cavity 111, and the second connection structure 221 is located on the second part 22.

[0041] In the embodiment of the present application, the shape of the accommodation cavity 111 can be a regular shape such as a cylindrical shape or a spherical shape, or an irregular shape, and the embodiment of the present application does not limit this. In addition, the shape of the opening 121 can be a regular shape such as a circular shape or a square shape, or an irregular shape, and the embodiment of the present application also does not limit this.

[0042] In the embodiments of the present application, the shear thickening liquid is a non-Newtonian fluid, which is usually composed of nano- or micron-sized hard particles (such as silica, hereinafter simply referred to as hard particles) dispersed in a carrier liquid (such as polyethylene glycol, etc.). In a static or low shear rate state, the hard particles remain uniformly dispersed in the carrier liquid through Brownian motion, and at this time the shear thickening liquid exhibits a low viscosity state; when the shear rate received by the shear thickening liquid exceeds the critical threshold, the lubricating layer between the hard particles is destroyed, and the hard particles undergo strong collisions and frictions, resulting in the overcoming of the repulsive force between the hard particles, and the hard particles form tight "hydroclusters", which hinder the flow of the carrier liquid and cause the viscosity of the shear thickening liquid to instantaneously increase (even become a solid-like state). It should be noted that when the rotational speed of the rotating member 2 is in the target state, the shear rate of the rotating member 2 on the shear thickening liquid exceeds the critical threshold.

[0043] In addition, it is worth emphasizing that the critical threshold marks the turning point of the dynamic reorganization of the internal microstructure of the shear thickening liquid (such as the interaction between hard particles). When the shear rate received by the shear thickening liquid exceeds the critical threshold, the shear thickening liquid changes from a shear thinning state with a lower viscosity to a shear thickening state with a sharp increase in viscosity.

[0044] In the technical solution provided by the embodiment of the present application, the matrix 1 has an accommodation cavity 111 inside, and an opening 121 is formed on at least one side of the accommodation cavity 111. The buffer structure 3 includes a shear thickening liquid disposed in the accommodation cavity 111. The rotating member 2 is rotatably disposed at the opening 121, and a first part 21 of the rotating member 2 is immersed in the shear thickening liquid, and a second part 22 of the rotating member 2 is exposed outside the accommodation cavity 111. The second connection structure 221 is located on the second part 22. When the transmission structure of the mechanical transmission assembly is subjected to an excessive torque impact, the rotating member 2 enters a target state under the drive of the transmission structure, so that the shear rate of the rotating member 2 on the shear thickening liquid exceeds the critical threshold, and the viscosity of the shear thickening liquid increases sharply. The shear thickening liquid exerts a resistance force on the rotating member 2 to reduce the rotation speed of the rotating member 2, that is, the rotational resistance. The resistance force is transmitted to the transmission structure of the mechanical transmission assembly through the rotating member 2 to offset the torque impact received by the transmission structure. When the transmission structure of the mechanical transmission assembly is not subjected to an excessive torque impact, the rotating member 2 is driven by the transmission structure to deviate from the target state, so that the shear rate of the rotating member 2 on the shear thickening liquid is less than the critical threshold, and the shear thickening liquid exhibits a low-viscosity state. The rotational resistance of the shear thickening liquid to the rotating member 2 is small and will not affect the normal operation of the transmission structure of the mechanical transmission assembly. Here, the buffer structure 3 includes a shear thickening liquid, and the shear thickening effect (Shear Thickening Effect, STF) of the shear thickening liquid is used to offset the torque impact received by the transmission structure. On the one hand, when the transmission structure is subjected to an excessive torque impact, the shear thickening liquid in the accommodation cavity 111 will instantaneously thicken under the shear action of the rotating member 2. The thickened shear thickening liquid will exert a resistance force on the rotating member 2, thereby preventing the transmission structure from continuing to move to offset the torque impact received by the transmission structure. On the other hand, the thickening of the shear thickening liquid does not require power supply or access to other signals, but relies on its own shear thickening effect, with a higher response speed (microsecond level) and a wider applicable scenario.

[0045] It should be noted that in the embodiment of the present application, in the torque buffer assembly, the sensitivity of the torque buffer assembly can be adjusted by changing the critical threshold of the shear thickening liquid. Specifically, when the critical threshold of the shear thickening liquid increases, the shear rate required to trigger the shear thickening effect will also increase; when the critical threshold of the shear thickening liquid decreases, the shear rate required to trigger the shear thickening effect will also decrease.

[0046] In the embodiments of the present application, there are various possibilities for changing the critical threshold of the shear thickening liquid. For example, the size and concentration of the hard particles in the shear thickening liquid can be changed. Hard particles with small particle size and high concentration are more likely to form dense agglomeration clusters, which helps to reduce the critical threshold of the shear thickening liquid; alternatively, the viscosity of the carrier liquid can also be changed. A carrier liquid with low viscosity is more conducive to the hard particles responding to shear, which helps to reduce the critical threshold of the shear thickening liquid; or, the temperature of the shear thickening liquid can also be changed. A decrease in temperature can enhance the shear thickening effect of the shear thickening liquid, which helps to reduce the critical threshold of the shear thickening liquid.

[0047] In a possible embodiment of the present application, the torque buffer assembly further includes a first adjustment assembly. At least a part of the first adjustment assembly is disposed on the base body 1 and is used to adjust the volume of the first part 21 immersed in the shear thickening liquid. Here, the torque buffer assembly adjusts the volume of the first part 21 immersed in the shear thickening liquid through the first adjustment assembly, so as to change the shear rate of the shear thickening liquid by the rotating member 2 at the same rotational speed, thereby realizing the adjustment of the sensitivity of the torque buffer assembly. Specifically, if the volume of the first part 21 of the rotating member 2 immersed in the shear thickening liquid increases, the contact area between the rotating member 2 and the shear thickening liquid increases, so that a greater shear stress can be generated at the same rotational speed, and the shear rate in a local area of the shear thickening liquid is increased; if the volume of the first part 21 of the rotating member 2 immersed in the shear thickening liquid decreases, the contact area between the rotating member 2 and the shear thickening liquid will also decrease, thereby reducing the action range of the shear stress at the same rotational speed, and reducing the shear rate in a local area of the shear thickening liquid.

[0048] In the embodiments of the present application, the structural form of the first adjustment assembly has various possibilities. For example, the first adjustment assembly may include a driving structure, and the driving end of the driving structure is connected to the rotating member 2 to drive the rotating member 2 to move relative to the base body 1. In this way, by changing the relative position between the rotating member 2 and the base body 1, the volume of the first part 21 immersed in the shear thickening liquid can be adjusted; alternatively, the first adjustment assembly may further include a liquid level adjustment structure, which includes a liquid storage member and a liquid pumping member. Among them, the liquid storage member is communicated with the accommodating cavity 111, and the liquid pumping member is disposed in the liquid storage member. When it is necessary to reduce the volume of the first part 21 immersed in the shear thickening liquid, the shear thickening liquid in the accommodating cavity 111 can be pumped into the liquid storage member through the liquid pumping member to reduce the liquid level height of the shear thickening liquid in the accommodating cavity 111, thereby reducing the volume of the first part 21 immersed in the shear thickening liquid; when it is necessary to increase the volume of the first part 21 immersed in the shear thickening liquid, the shear thickening liquid in the liquid storage member can be pumped into the accommodating cavity 111 through the liquid pumping member to increase the liquid level height of the shear thickening liquid in the accommodating cavity 111, thereby increasing the volume of the first part 21 immersed in the shear thickening liquid.

[0049] Referring to Figure 3 and Figure 4 In another possible embodiment of the present application, the torque buffer assembly further includes a second adjustment assembly 31, at least a part of the second adjustment assembly 31 is disposed in the accommodation cavity 111 for adjusting the concentration of the shear thickening liquid. Here, the torque buffer assembly adjusts the concentration of the shear thickening liquid through the second adjustment assembly 31 to change the critical threshold of the shear thickening liquid, thereby realizing the adjustment of the sensitivity of the torque buffer assembly. Specifically, if the concentration of the shear thickening liquid increases, the volume fraction of the hard particles will approach the critical packing density, thereby reducing the critical threshold of the shear thickening liquid; if the concentration of the shear thickening liquid decreases, the distance between the hard particles will increase, thereby increasing the critical threshold of the shear thickening liquid.

[0050] In the embodiment of the present application, the structural form of the second adjustment assembly 31 has multiple possibilities. For example, the second adjustment assembly 31 may include a push-pull piston, a first liquid storage chamber, and a second liquid storage chamber. Among them, the push-pull piston is movably assembled in the accommodation cavity 111. The first liquid storage chamber stores a high-concentration shear thickening liquid, and the second liquid storage chamber contains a carrier liquid. The first liquid storage chamber and the second liquid storage chamber are connected to the accommodation cavity 111 through a rotary valve. When it is necessary to increase the concentration of the shear thickening liquid in the accommodation cavity 111, the first liquid storage chamber is selected to communicate with the accommodation cavity 111 through the rotary valve, and the high-concentration shear thickening liquid in the first liquid storage chamber is sucked into the accommodation cavity 111 by pulling the piston; when it is necessary to reduce the concentration of the shear thickening liquid in the accommodation cavity 111, the second liquid storage chamber is selected to communicate with the accommodation cavity 111 through the rotary valve, and the carrier liquid in the second liquid storage chamber is sucked into the accommodation cavity 111 by pulling the piston.

[0051] Referring to Figure 3 and Figure 4, in another possible embodiment of the present application, the second adjusting assembly 31 includes a filtering structure 311 and a position adjusting structure 312. The filtering structure 311 is used to filter the shear thickening liquid, and the filtering structure 311 is movably arranged in the accommodating cavity 111 along the first direction for dividing the accommodating cavity 111 into a first cavity 1111 and a second cavity 1112. Among them, the first cavity 1111 communicates with the opening 121; the position adjusting structure 312 is used to drive the filtering structure 311 to move in the accommodating cavity 111 for adjusting the concentration of the shear thickening liquid in the first cavity 1111; the first part 21 of the rotating member 2 is immersed in the shear thickening liquid in the first cavity 1111. In this way, when it is necessary to increase the concentration of the shear thickening liquid in the first cavity 1111, the position adjusting structure 312 can drive the filtering structure 311 to move towards the side away from the second cavity 1112, so that the carrier liquid of the shear thickening liquid in the first cavity 1111 passes through the filtering structure 311 and enters the second cavity 1112, thereby realizing the increase of the concentration of the shear thickening liquid in the first cavity 1111; when it is necessary to decrease the concentration of the shear thickening liquid in the first cavity 1111, the position adjusting structure 312 can drive the filtering structure 311 to move towards the side away from the first cavity 1111, so that the carrier liquid of the shear thickening liquid in the second cavity 1112 passes through the filtering structure 311 and enters the second cavity 1112, thereby realizing the decrease of the concentration of the shear thickening liquid in the first cavity 1111. It can be seen that the structure of the second adjusting assembly 31 is relatively simple, which is beneficial to improving the durability and maintainability of the torque buffer assembly. In addition, the operation of the second adjusting assembly 31 is also relatively simple, which is beneficial to improving the operation efficiency of the torque buffer assembly.

[0052] In the embodiment of the present application, the function of the filtering structure 311 is to realize solid-liquid separation, selectively block hard particles and allow the carrier liquid to pass through, so as to accurately control the concentration of the shear thickening liquid in the first cavity 1111. Therefore, there are various possible structural forms of the filtering structure 311. For example, the filtering structure 311 may include a filter cartridge, may also include multiple layers of laminated filter screens, or may also include a fiber filter element. The embodiment of the present application does not limit this.

[0053] Refer to Figure 2 , in another possible embodiment of the present application, the filtering structure 311 includes a filter membrane support 3111, a filter membrane 3112 and a filter membrane retaining piece 3113. The filter membrane 3112 is arranged between the filter membrane support 3111 and the filter membrane retaining piece 3113, and the filter membrane support 3111 and the filter membrane retaining piece 3113 are detachably connected to fix the filter membrane 3112. In this way, it is convenient for users to replace the filter membrane 3112, thereby improving the maintenance efficiency.

[0054] Refer to Figure 2 , Figure 3 and Figure 4, in the embodiments of the present application, in order to reduce the flow of the shear thickening liquid in the first cavity 1111 and the second cavity 1112 through the gap between the filter structure 311 and the inner wall surface of the accommodation cavity 111, a first sealing ring 13 may be provided on the outer peripheral surface of the filter structure 311.

[0055] In the embodiments of the present application, the function of the position adjustment structure 312 is to drive the filter structure 311 to move in the accommodation cavity 111. Therefore, there are various possible structural forms of the filter structure 311. For example, the position adjustment structure 312 may include an electric telescopic cylinder, and the telescopic end of the electric telescopic cylinder is connected to the filter structure 311 to drive the filter structure 311 to move in the accommodation cavity 111. Alternatively, the position adjustment structure 312 may include a hydraulic cylinder, and the telescopic end of the hydraulic cylinder is connected to the filter structure 311 to drive the filter structure 311 to move in the accommodation cavity 111. In this regard, the embodiments of the present application do not make any limitations.

[0056] Refer to Figure 2 , Figure 3 and Figure 4, in another possible embodiment of the present application, the position adjustment structure 312 includes a limiting member 3121, a driving member 3122, and an elastic member 3123. The limiting member 3121 is movably disposed in the first cavity 1111 along the first direction. The driving member 3122 is configured to drive the limiting member 3121 to move in the first cavity 1111. Along the first direction, the elastic member 3123 is disposed on the side of the filtering structure 311 facing away from the limiting member 3121 and is configured to push the filtering structure 311 into abutment with the limiting member 3121. In this way, when it is necessary to increase the concentration of the shear thickening liquid in the first cavity 1111, the driving member 3122 can be used to drive the limiting member 3121 to move away from the filtering structure 311, so that the limiting member 3121 releases the restriction on the filtering structure 311. The filtering structure 311 is driven by the elastic member 3123 to move toward the side close to the limiting member 3121 to reduce the volume of the first cavity 1111. During this process, the carrier liquid in the first cavity 1111 enters the second cavity 1112 through the filtering structure 311, so that the concentration of the shear thickening liquid in the first cavity 1111 increases. When the filtering structure 311 comes into contact with the limiting member 3121 again, the external forces on both sides of the filtering structure 311 are balanced, and the osmotic pressure between the shear thickening liquids in the first cavity 1111 and the second cavity 1112 reaches equilibrium, and the concentrations of the shear thickening liquids in the first cavity 1111 and the second cavity 1112 are relatively stable. When it is necessary to reduce the concentration of the shear thickening liquid in the first cavity 1111, the driving member 3122 can be used to drive the limiting member 3121 to move toward the side where the filtering structure 311 is located, so that the limiting member 3121 drives the filtering structure 311 to move toward the side close to the second cavity 1112 to reduce the volume of the second cavity 1112. During this process, the carrier liquid in the second cavity 1112 enters the first cavity 1111 through the filtering structure 311, so that the concentration of the shear thickening liquid in the first cavity 1111 decreases. At the same time, the elastic member 3123 is compressed and stores energy. During the process of adjusting the concentration of the shear thickening liquid in the first cavity 1111, when the carrier liquid passes quickly or the concentration of the hard particles suddenly increases, the elastic deformation of the elastic member 3123 can smooth the pressure change, prevent the filtering structure 311 from rupturing due to instantaneous overload, and improve the reliability of the torque buffer assembly.

[0057] It should be noted that when the limiting member 3121 drives the filtering structure 311 to move toward the side close to the second cavity 1112, the volume of the second cavity 1112 will gradually decrease, and the minimum volume of the second cavity 1112 depends on the minimum distance between the filtering structure 311 and the bottom wall of the accommodating cavity 111.

[0058] In the embodiments of the present application, the structural form of the elastic member 3123 has various possibilities. For example, the elastic member 3123 may include a compression spring, may also include a spring-rubber combination, or may further include a nitrogen spring. The embodiments of the present application do not limit this.

[0059] In the embodiments of the present application, the structural form of the driving member 3122 has various possibilities. For example, the driving member 3122 can be an electric telescopic rod or a cylinder, and the embodiments of the present application do not limit this. Refer to Figure 3 and Figure 4 , in a possible embodiment of the present application, the driving member 3122 is a lead screw rotatably arranged on the base body 1. The lead screw has a threaded portion located in the accommodation cavity 111. Along the circumferential direction of the lead screw, the limiting member 3121 is non-rotatably arranged in the first cavity 1111, and the limiting member 3121 has a threaded hole that cooperates with the threaded portion. In this way, a lead screw nut structure is formed by the cooperation between the lead screw and the limiting member 3121, and the position of the limiting member 3121 in the first cavity 1111 can be adjusted by rotating the lead screw. Here, the lead screw and the limiting member 3121 are in threaded cooperation. On the one hand, high-precision displacement control can be achieved, thereby improving the concentration adjustment accuracy of the shear thickening liquid in the first cavity 1111; on the other hand, self-locking can be formed between the lead screw and the limiting member 3121, and the position of the limiting member 3121 can be kept stable without an additional braking device.

[0060] Refer to Figure 2 , in the embodiments of the present application, the torque buffer assembly includes an E-shaped snap ring 3124. The E-shaped snap ring 3124 is sleeved on the lead screw to limit the axial position of the lead screw. In addition, refer to Figure 2 , Figure 3 and Figure 4 , in the embodiments of the present application, to improve the sealing performance between the lead screw and the base body 1, the torque buffer assembly further includes a second sealing ring 14. The second sealing ring 14 is arranged between the lead screw and the base body 1.

[0061] In the embodiments of the present application, the structural form of the limiting member 3121 has various possibilities. For example, the limiting member 3121 can be a plate-like structure, a block-like structure, or a frame structure, and the embodiments of the present application do not limit this. Refer to Figure 3 and Figure 4, in a possible embodiment of the present application, the extending direction of the rotation axis of the rotating member 2 is parallel to the first direction. Along the circumferential direction of the first cavity 1111, the outer peripheral surface of the limiting member 3121 is attached to the inner wall surface of the first cavity 1111, and the limiting member 3121 has a hollow portion 31211 for the shear thickening liquid to flow through. Here, the outer peripheral surface of the limiting member 3121 is attached to the inner wall surface of the first cavity 1111. When increasing the concentration of the shear thickening liquid in the first cavity 1111, the limiting member 3121 moves towards the side away from the filtering structure 311 under the drive of the driving member 3122 to squeeze the shear thickening liquid in the first cavity 1111 instead of the filtering structure 311, which can protect the filtering structure 311 from being damaged due to excessive pressure during the squeezing process. The extending direction of the rotation axis of the rotating member 2 is parallel to the first direction. In this way, when the limiting member 3121 moves towards the side away from the filtering structure 311, the gap between the limiting member 3121 and the rotating member 2 becomes narrower. According to the Couette flow model in fluid mechanics, the shear rate of the rotating member 2 on the shear thickening liquid is proportional to the linear velocity of the rotating member 2 and inversely proportional to the gap distance between the limiting member 3121 and the rotating member 2. That is, at the same rotational speed, the narrowing of the gap between the limiting member 3121 and the rotating member 2 can effectively increase the shear rate of the rotating member 2 on the shear thickening liquid, so that the shear thickening liquid can reach the critical threshold faster.

[0062] In the embodiment of the present application, the side of the first part 21 facing the filtering structure 311 can be a flat surface or an arc surface, and the embodiment of the present application does not limit this. Refer to Figure 3 , Figure 4 and Figure 6 , in a possible embodiment of the present application, the side of the first part 21 facing the filtering structure 311 has a plurality of first protrusions 211, and the first protrusions 211 are used for stirring the shear thickening liquid in the first cavity 1111. In this way, when the rotating member 2 rotates, the first protrusions 211 on the first part 21 will hinder the continuous flow of the shear thickening liquid, forcing the shear thickening liquid to accelerate around the first protrusions 211, so that the flow velocity of the shear thickening liquid can be rapidly increased within a short distance, thereby increasing the shear rate of the rotating member 2 on the shear thickening liquid.

[0063] In the embodiment of the present application, the side of the limiting member 3121 facing the rotating member 2 can be a flat surface or an arc surface, and the embodiment of the present application does not limit this. Refer to Figure 3 and Figure 4, in a possible embodiment of the present application, the side of the limiting member 3121 facing the rotating member 2 has a plurality of second protrusions 31212 to increase the contact area between the side of the limiting member 3121 facing the rotating member 2 and the shear thickening liquid. In this way, when the rotating member 2 rotates, the second protrusions 31212 on the limiting member 3121 will directly interfere with the flow of the shear thickening liquid, forcing the shear thickening liquid to accelerate around the second protrusions 31212, resulting in a rapid increase in the speed of the shear thickening liquid within a short distance, thereby increasing the shear rate of the rotating member 2 on the shear thickening liquid.

[0064] In the embodiment of the present application, the side of the limiting member 3121 facing the rotating member 2 can be a flat surface or an arc surface, and the embodiment of the present application does not limit this. Refer to Figure 3 and Figure 4 , in a possible embodiment of the present application, the side of the limiting member 3121 facing the filtering structure 311 has a plurality of third protrusions 31213, and the third protrusions 31213 are used to abut against the filtering structure 311 to reduce the contact area between the limiting member 3121 and the filtering structure 311 when the filtering structure 311 abuts against the limiting member 3121. In this way, the setting of the third protrusions 31213 can reduce the contact area between the limiting member 3121 and the filtering structure 311, thereby reducing the influence of the limiting member 3121 on the filtering area of the filtering structure 311 and improving the filtering efficiency of the filtering structure 311.

[0065] In the embodiment of the present application, the structural form of the base body 1 has multiple possibilities. For example, the base body 1 can be an integral structure. Refer to Figure 1 and Figure 2 , in a possible embodiment of the present application, the base body 1 includes a housing 11 and a cover 12 that are detachably connected. The housing 11 and the cover 12 enclose a receiving cavity 111, and an opening 121 is located on the cover 12. The rotating member 2 is rotatably connected to the cover 12. Here, the base body 1 adopts a split structure, which can reduce the processing difficulty of the base body 1 and improve the yield rate of the production of the base body 1.

[0066] Refer to Figure 1 and Figure 2 , in another possible embodiment of the present application, the housing 11 and the cover 12 can be connected by a fastener 19. In addition, to improve the sealing performance at the contact surface between the housing 11 and the cover 12, the base body 1 can further include a third sealing ring 15, and the third sealing ring 15 is arranged at the contact surface between the housing 11 and the cover 12.

[0067] Refer to Figure 1 and Figure 2, in the embodiments of the present application, the base body 1 further includes a limiting member 3121 and a bearing member 18. The rotating member 2 is rotationally assembled at the opening 121 of the cover body 12 through a positioning member 17 and a bearing member 18. In addition, to improve the sealing performance between the positioning member 17 and the rotating member 2, the base body 1 may further include a fourth sealing ring 16, and the fourth sealing ring 16 is disposed between the positioning member 17 and the rotating member 2.

[0068] On this basis, the embodiments of the present application further provide a mechanical device, which includes a mechanical transmission assembly and a torque buffer assembly. Among them, the mechanical transmission assembly includes a frame and a transmission structure disposed on the frame; the torque buffer assembly includes a base body 1, a rotating member 2, and a buffer structure 3. The base body 1 has a first connection structure 122, and the first connection structure 122 is used for detachably connecting to the outside of the frame of the mechanical transmission assembly to fix the base body 1 relative to the frame of the mechanical transmission assembly; the rotating member 2 is rotatably disposed on the base body 1, and the rotating member 2 has a second connection structure 221, and the second connection structure 221 is used for detachably connecting to the transmission structure of the mechanical transmission assembly to drive the rotating member 2 to rotate by the transmission structure; the buffer structure 3 is disposed between the base body 1 and the rotating member 2. When the rotation speed of the rotating member 2 is in a target state, the buffer structure 3 applies a resistance force to the rotating member 2 to reduce the rotation speed of the rotating member 2.

[0069] In the embodiments of the present application, the mechanical device may be a robot, or may be an automotive transmission system, or may also be a machine tool. The embodiments of the present application do not limit this. In a possible embodiment of the present application, the mechanical device may be a robot.

[0070] In the embodiments of the present application, as the installation carrier of other structures on the mechanical transmission assembly, the frame may have various structural forms. For example, the frame may be a block structure, or may be a frame structure, or may also be a shell-like structure with a cavity inside. The embodiments of the present application do not limit this.

[0071] In the embodiments of the present application, as the structure for transmitting power from a power source (such as a motor, an engine, etc.) to an actuator, the transmission structure may have various structural forms. For example, the transmission structure may include a speed reducer, and the rotating member 2 on the torque buffer assembly may be in transmission connection with the output end of the speed reducer; or, the transmission structure may also include a gearbox. In this regard, the embodiments of the present application do not limit this.

[0072] Since the mechanical device provided by the embodiments of the present application includes the torque buffer assembly of the embodiments of the present application, the mechanical device also has the same technical effects. That is, the wear caused by the over-limit torque impact of the mechanical transmission assembly is reduced, thereby improving the accuracy and service life of the mechanical device.

[0073] The above are only the preferred embodiments of the present application and are not intended to limit the protection scope of the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. A torque buffer assembly, comprising: A base body, on which there is a first connection structure for detachably connecting to the outer side of the frame of the mechanical transmission assembly to fix the base body relative to the frame of the mechanical transmission assembly; A rotating member, which is rotatably arranged on the base body, and there is a second connection structure on the rotating member for detachably connecting to the transmission structure of the mechanical transmission assembly to drive the rotating member to rotate by the transmission structure; A buffer structure, which is arranged between the base body and the rotating member. When the rotational speed of the rotating member is in a target state, the buffer structure exerts a resistance force on the rotating member to reduce the rotational speed of the rotating member.

2. The torque buffer assembly according to claim 1, wherein the base body has an accommodation cavity inside, and an opening is formed on at least one side of the accommodation cavity; The buffer structure includes a shear thickening liquid, and the shear thickening liquid is arranged in the accommodation cavity; The rotating member is rotatably arranged at the opening. The rotating member includes a first part and a second part. The first part is immersed in the shear thickening liquid, and the second part is exposed outside the accommodation cavity. The second connection structure is located on the second part.

3. The torque buffer assembly according to claim 2, further comprising a first adjustment assembly, at least part of which is arranged on the base body for adjusting the volume of the first part immersed in the shear thickening liquid.

4. The torque buffer assembly according to claim 2, further comprising a second adjustment assembly, at least part of which is arranged in the accommodation cavity for adjusting the concentration of the shear thickening liquid.

5. The torque buffer assembly according to claim 4, wherein the second adjustment assembly includes a filtering structure and a position adjustment structure. The filtering structure is configured to filter the shear thickening liquid, and the filtering structure is movably disposed in the accommodation cavity along a first direction for partitioning the accommodation cavity into a first cavity and a second cavity, wherein, The first cavity is communicated with the opening; The position adjustment structure is used to drive the filtering structure to move in the accommodation cavity for adjusting the concentration of the shear thickening liquid in the first cavity; The first part of the rotating member is immersed in the shear thickening liquid in the first cavity.

6. The torque buffer assembly according to claim 5, wherein the position adjustment structure includes a limiting member, a driving member and an elastic member. The limiting member is movably arranged in the first cavity along the first direction. The driving member is used to drive the limiting member to move in the first cavity. Along the first direction, the elastic member is arranged on the side of the filtering structure facing away from the limiting member for pushing the filtering structure to abut against the limiting member.

7. The torque buffer assembly according to claim 6, wherein the extending direction of the rotation axis of the rotating member is parallel to the first direction. Along the circumferential direction of the first cavity, the outer peripheral surface of the limiting member is fitted with the inner wall surface of the first cavity, and the limiting member has a hollow part for the shear thickening liquid to flow through.

8. The torque buffer assembly according to any one of claims 2-7, wherein there are a plurality of first protrusions on the side of the first part facing the filtering structure, and the first protrusions are used for stirring the shear thickening liquid in the first cavity.

9. The torque buffer assembly according to any one of claims 2-7, wherein the base body comprises a housing and a cover body which are detachably connected, the housing and the cover body enclose to form the accommodating cavity, the opening is located on the cover body, and the rotating member is rotatably connected to the cover body.

10. A mechanical device, comprising: a mechanical transmission assembly, the mechanical transmission assembly comprising a frame and a transmission structure arranged on the frame; a torque buffer assembly, the torque buffer assembly comprising a base body, a rotating member and a buffer structure, the base body having a first connection structure which is detachably connected to the outside of the frame for fixing the base body relative to the frame; the rotating member is rotatably arranged on the base body, and the rotating member has a second connection structure which is detachably connected to the transmission structure for driving the rotating member to rotate by the transmission structure; the buffer structure is arranged between the base body and the rotating member, and when the rotating speed of the rotating member is in a target state, the buffer structure exerts a resistance force on the rotating member to reduce the rotating speed of the rotating member.

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