Hybrid damper and robot

Abstract

The invention relates to a hybrid damper and a robot, relates to the technical field of robot vibration reduction, and aims to provide a damping device capable of multi-angle vibration reduction and buffering so as to solve the problem that a collaborative robot is easy to vibrate. The hybrid damper comprises a main body piece, a first damper, a positioning rod and a second damper. The first damper is assembled with the main body piece in the first direction. The two opposite ends of the body piece in the second direction are connected with positioning rods, an included angle is formed between the first direction and the second direction, and the second dampers are installed on the positioning rods.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot damping technology, and in particular to a hybrid damper and a robot. BACKGROUND

[0002] With the development and popularization of robot technology, collaborative robots are widely used in various fields such as industry, scientific research, education, and consumption, to assist in completing one or more of repetitive, tedious, high-precision, and high-risk tasks. Unlike industrial robots, collaborative robots have low rigidity and are prone to vibration during operation. Especially when encountering sudden turns, sudden stops, or large impacts, high acceleration and vibration can occur.

[0003] The vibration of the collaborative robot not only seriously affects the working precision of the robot, but also reduces the service life of the robot, and in severe cases can cause safety accidents. To solve the above problems, the present application provides a hybrid damper, aiming to provide a damping device capable of multi-angle damping and buffering. SUMMARY

[0004] The present application provides a hybrid damper and a robot, aiming to provide a damping device capable of multi-angle damping and buffering, to solve the problem of easy vibration of collaborative robots.

[0005] In one aspect, the present application provides a hybrid damper, comprising a main body, a first damper, a positioning rod, and a second damper. The first damper is assembled and arranged with the main body along a first direction. The main body has a positioning rod connected to the opposite ends along a second direction, the first direction and the second direction have an included angle, and the second damper is installed at the positioning rod.

[0006] In some embodiments, the main body includes a box body and a partition plate, the partition plate is located in the box body, and the partition plate divides the box body into two first chambers along the first direction; along the first direction, the opposite sides of the box body are provided with first through holes, and one first through hole is in communication with one first chamber. The number of first dampers is two, the first damper includes a first positioning plate and a first connecting rod, each first connecting rod is inserted into one first through hole, and each first positioning plate is arranged in one first chamber and connected with the first connecting rod. Along the first direction, the side of the first positioning plate away from the partition plate is filled with a first damping medium.

[0007] In some embodiments, the first damper further includes an electromagnetic coil, the electromagnetic coil is installed at the first connecting rod or the first positioning plate, the first damping medium is a magnetorheological damping fluid, and the electromagnetic coil is used to independently adjust the viscosity of the first damping medium.

[0008] In some embodiments, the hybrid damper further comprises an acceleration sensor and a controller. The acceleration sensor is configured to detect acceleration of the hybrid damper along the first direction. The controller is electrically connected with the acceleration sensor and the electromagnetic coil, and configured to adjust the viscosity of the first damping medium.

[0009] In some embodiments, the main body further comprises two heat-conducting plates, each of which is provided with a second through hole corresponding to the first through hole, and the second through hole is configured to be connected with the first connecting rod. In the first direction, one of the heat-conducting plates is arranged between one of the first positioning plates and the side wall of the box main body, and a first damping cavity is formed between the heat-conducting plate and the first positioning plate and filled with the first damping medium. The side of the heat-conducting plate away from the first positioning plate is a cooling cavity for filling cooling liquid. In addition, a flow guide channel is arranged in the box main body and communicates with the two cooling cavities.

[0010] In some embodiments, in the second direction, the flow guide channel is arranged in at least one side wall of the box main body.

[0011] In some embodiments, in the first direction, the box main body is provided with two third through holes on opposite sides thereof. In one side of the box main body, the two third through holes are located on opposite sides of the first through hole in the second direction. The heat-conducting plate is connected with two guide rods, and each of the guide rods is inserted into one of the third through holes.

[0012] In some embodiments, the second damper comprises two clamping members, which are detachably arranged on the outer side of the positioning rod. The clamping member is further provided with a second damping cavity filled with a second damping medium.

[0013] In some embodiments, the second damping medium is a granular damping material, and the two clamping members are arc-shaped damping structures.

[0014] In a second aspect, the embodiments of the present application further provide a robot comprising the hybrid damper, the mechanical arm and the elastic member of the first aspect. The hybrid damper is arranged in the interior of the mechanical arm. The two positioning rods are connected with the mechanical arm through the elastic member in the second direction, and the first damper is connected with the mechanical arm through the elastic member in the first direction.

[0015] Compared with the prior art, the above technical solutions provided by the embodiments of the present application have the following advantages: The main body component serves as the core support structure, providing a stable mounting base for the entire hybrid damper, enabling reliable integration into collaborative robots and other devices. The first damper 0 is assembled with the main body component along a first direction, reducing the collaborative robot's vibration response in that direction through its energy absorption capacity, particularly suitable for handling vibration energy dissipation issues in linear motion. Furthermore, a positioning rod connects to opposite ends of the main body component along a second direction, with an angle between the first and second directions. A second damper is installed at the positioning rod, forming a complementary mechanism with the first damper. Through the synergistic effect of the first and second dampers, multi-directional suppression and absorption of complex vibrations in the collaborative robot are achieved, effectively solving vibration problems during sharp turns, sudden stops, or large impacts, improving working accuracy, and extending service life.

[0016] Thus, by integrating a multi-directional damping mechanism, vibration suppression and absorption are achieved for collaborative robots or other vibration devices. Especially during sharp turns, sudden stops, or large impacts, this hybrid damper can cover vibration paths at different angles, thereby avoiding the limitations of single-directional damping. Compared to existing technologies, this solution, through the coordinated design of the main body, the first damper, the positioning rod, and the second damper, provides a simple and low-cost vibration control method, offering a feasible technical approach to the vibration suppression problem of collaborative robots. Attached Figure Description The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0019] Figure 1 A three-dimensional structural diagram of a hybrid damper provided in an embodiment of this application; Figure 2 for Figure 1 A front view of the hybrid damper shown; Figure 3 for Figure 1 A three-dimensional structural schematic diagram of the main component shown in the figure; Figure 4 An electrical connection diagram of a mixed damper provided by the embodiment of the present application includes an electromagnetic coil and a controller; Figure 5 An exploded structural diagram of the mixed damper shown in Figure 1 Figure 6 A perspective structural diagram of the second damper shown in Figure 1 A sectional view of the second damper shown in Figure 7 Figure 5 Figure 8 A first swinging structural diagram of a robot provided by the embodiment of the present application; Figure 9 A second swinging structural diagram of a robot provided by the embodiment of the present application.

[0020] Explanation of reference numerals: 100, mixed damper; 10, main body; 11, box main body; 111, bottom plate; 112, first side plate; 113, second side plate; 12, partition plate; 13, first cavity; 131, first damping cavity; 132, cooling cavity; 141, first through hole; 142, second through hole; 143, third through hole; 144, flow guide channel; 151, heat conduction plate; 152, guide rod; 20, first damper; 21, first positioning plate; 22, first connecting rod; 23, electromagnetic coil; 30, positioning rod; 40, second damper; 41, clamp; 42, second damping cavity; 51, acceleration sensor; 52, controller; 200, mechanical arm; 300, elastic member; X, first direction; Z, second direction; Y, third direction. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0022] ​​​The following disclosure provides numerous different embodiments or examples for implementing various structures of this application. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed.

[0023] For ease of description, spatial relative terms may be used in the text to describe the relative position or movement of one element or feature relative to another element or feature, as shown in the figure. These relative terms include, for example, "inside," "outside," "middle," "outer," "below," "below," "above," "front," "back," etc. Such spatial relative terms are intended to include different orientations of the device in use or operation, other than those depicted in the figure. For example, if the device in the figure undergoes a positional flip, orientation change, or change of motion, these directional indications will change accordingly. For instance, an element described as "below other elements or features" or "below other elements or features" will subsequently be oriented "above other elements or features" or "above other elements or features." Therefore, the example term "below" can include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions), and the spatial relative descriptors used in the text will be interpreted accordingly.

[0024] Please see Figures 1 to 9 This application provides a hybrid damper and a robot, aiming to provide a damping device capable of multi-angle vibration reduction and buffering to solve the problem of easy vibration in collaborative robots.

[0025] Firstly, such as Figure 1 and Figure 2 As shown in the figure, this application embodiment provides a hybrid damper 100, which includes a main body 10, a first damper 20, a positioning rod 30, and a second damper 40. The first damper 20 is assembled with the main body 10 along a first direction X. The positioning rod 30 is connected to opposite ends of the main body 10 along a second direction Z, and the second damper 40 is installed at the positioning rod 30. There is an included angle between the first direction X and the second direction Z.

[0026] For example, the main body 10 can be a frame structure or a shell structure. The main body 10 has high strength and rigidity to serve as the supporting foundation for the overall component. It is used to install the first damper 20 to achieve a better damping effect in the first direction, and to cooperate with the connection and installation of the positioning rod 30 and the second damper 40 to achieve a better damping and vibration reduction effect in the second direction. The main body 10 can be a metal frame or a metal shell, or it can be a shell or frame structure made of composite materials, such as an aluminum alloy frame or an engineering plastic shell, etc., without limitation.

[0027] The first damper 20 and the second damper 40 can be the same type of damping structure or different types of damping structures. For example, the first damper 20 and the second damper 40 can be at least one of viscous dampers, friction dampers, viscoelastic dampers, metal yield dampers, smart dampers, particle dampers, and composite dampers.

[0028] Viscous dampers utilize the flow resistance of viscous media (such as hydraulic oil or silicone oil) to absorb energy, are suitable for medium- and high-frequency vibrations, and have continuously adjustable damping force; examples include piston-type hydraulic dampers or rotating viscous dampers. Friction dampers absorb vibration energy through relative sliding between solid contact surfaces, such as disc brakes, friction energy-dissipating supports (in buildings), or brake pad structures. Viscoelastic dampers utilize the shear and tensile deformation of viscoelastic materials (such as rubber or damping sheets) to dissipate energy, have strong wide-band adaptability, and combine buffering and damping characteristics; they are widely used in applications such as building noise reduction, pipeline vibration reduction, and equipment housing vibration reduction.

[0029] Metal yield dampers absorb vibration energy through the elastoplastic deformation of metal components (such as steel or aluminum). They are characterized by high reliability, simple maintenance, and good high-temperature resistance, making them suitable for seismic resistance in buildings and vibration reduction in heavy machinery. Examples of metal yield dampers include curved steel dampers, shear plate dampers, and soft steel dampers. Intelligent dampers can be magnetorheological or electrorheological dampers, which adjust the viscosity of the medium through magnetic or electric fields to flexibly change the damping force. They are suitable for adaptive damping in automobiles or satellite attitude control. Alternatively, intelligent dampers can also be piezoelectric or electromagnetic dampers, converting vibration energy into electrical energy (or eddy current energy dissipation), suitable for precision equipment or aerospace equipment.

[0030] Particle dampers absorb vibrational energy through particle collisions, friction, and interaction with the inner wall of the cavity. Examples include metal particle dampers and ceramic particle dampers. They feature wide temperature adaptability (e.g., -200℃ to 800℃), wide frequency range adaptability, and corrosion resistance, and are often used in harsh conditions such as engines or aerospace applications. Composite dampers combine multiple energy dissipation principles, such as viscoelastic-friction composite dampers and metal-rubber dampers (e.g., braided metal wire, combining the properties of both metal and rubber), to adapt to complex application scenarios (e.g., high-temperature and large-displacement conditions).

[0031] Based on this, by assembling a first damper 20 on the main body 10 along the first direction X, some or all of the vibration energy acting on the first direction X can be absorbed by the first damper 20, so that the vibration energy can be absorbed and consumed through the internal action of the damping medium, thereby absorbing and suppressing the vibration along the first direction X.

[0032] Based on this, positioning rods 30 are provided at opposite ends of the main body 10 along the second direction Z. The positioning rods 30 are used for the installation and positioning of the hybrid damper 100 in the second direction Z.

[0033] The two positioning rods 30 can be understood as components used to connect and transmit vibration energy. They can be fixed to the main body 10 through threaded connections, welding, or snap-fit ​​structures. The specific material of the positioning rods 30 can be high-strength steel, carbon fiber composite materials, etc., to meet the mechanical performance requirements in different scenarios. A second damper 40 is installed at the two positioning rods 30. The angle between the first direction X and the second direction Z is adjusted according to the actual vibration path, thereby optimizing the synergistic suppression effect of multi-directional vibration.

[0034] The working principle of the hybrid damper 100 provided in this embodiment is as follows: The main body 10 serves as the core support structure, providing a stable mounting base for the entire hybrid damper 100, enabling reliable integration into devices such as collaborative robots. The first damper 20 is assembled with the main body 10 along a first direction X. Through its energy absorption capacity in a specific direction, it reduces the vibration response of the collaborative robot in that direction, making it particularly suitable for handling vibration energy dissipation problems in linear motion. Furthermore, the positioning rod 30 connects to opposite ends of the main body 10 along a second direction Z, with an angle between the first direction X and the second direction Z. A second damper 40 is installed at the positioning rod 30, forming a complementary mechanism with the first damper 20. Through the synergistic effect of the first damper 20 and the second damper 40, multi-directional suppression and absorption of complex vibrations in the collaborative robot are achieved, effectively solving vibration problems during sharp turns, sudden stops, or large impacts, improving working accuracy, and extending service life.

[0035] Thus, by integrating a multi-directional damping mechanism, vibration suppression and absorption are achieved for collaborative robots or other vibration devices. Especially during sharp turns, sudden stops, or large impacts, the hybrid damper 100 can cover vibration paths at different angles, thereby avoiding the limitations of single-directional damping. Compared to existing technologies, this solution, through the coordinated design of the main body 10, the first damper 20, the positioning rod 30, and the second damper 40, provides a simple and low-cost vibration control method, offering a feasible technical approach to the vibration suppression problem of collaborative robots.

[0036] In this embodiment of the application, the first direction X, the second direction Z and the third direction Y are angled to each other, and the angle is greater than 0° and less than or equal to 90°.

[0037] For example, taking the first direction X, the second direction Z, and the third direction Y as being perpendicular to each other, the first direction X can be the left-right direction of the main body 10, the second direction Z can be the up-down direction of the main body 10, and the third direction Y can be the front-back direction of the main body 10.

[0038] In some embodiments, such as Figure 2 and Figure 3 As shown, the main body 10 includes a box body 11 and a partition plate 12. The partition plate 12 is located inside the box body 11 and divides the interior of the box body 11 into two first chambers 13 along the first direction X. Along the first direction X, the box body 11 has first through holes 141 on opposite sides, each through hole 141 communicating with one of the first chambers 13. There are two first dampers 20, each including a first positioning plate 21 and a first connecting rod 22. Each first connecting rod 22 is inserted into a first through hole 141, and each first positioning plate 21 is disposed in a first chamber 13 and connected to the first connecting rod 22. Along the first direction X, the side of the first positioning plate 21 facing away from the partition plate 12 is filled with a first damping medium.

[0039] The box body 11 refers to the basic frame structure used to house and support the internal components. It can be made of metal or high-strength composite materials to provide sufficient mechanical strength to resist external vibration. For example, Figure 3 As shown, the box body 11 includes a base plate 111, two first side plates 112, and two second side plates 113. The two first side plates 112 are located on the same side of the base plate 111 and are connected to the opposite ends of the base plate 111 along a first direction X. The two second side plates 113 are spaced apart along a second direction Z and are connected to the first side plates 112 and the base plate 111 to form a box body 11 structure with an opening on one side. This opening can be sealed by a cover plate through bolt fixing, welding, or bonding.

[0040] The first side plate 112 has a first through hole 141 for inserting and installing the first connecting rod 22. Between the two first side plates 112, the interior of the box body 11 is divided into two first chambers 13 by a fixedly installed partition plate 12, so that first dampers 20 can be installed on the left and right sides of the partition plate 12 respectively. This physically isolates the damping medium in its respective chamber, avoiding response delay or uneven energy dissipation caused by cross-flow of the medium.

[0041] A sealing structure, such as a sealing ring, can be used between the first through hole 141 and the first connecting rod 22 to prevent coolant or liquid damping medium from leaking out through the gap between them. Based on this, a first damping medium can be filled between the first positioning plate 21 and the first side plate 112. This first damping medium can be a liquid, gel, or other substance with viscous properties, designed to generate a damping effect through compression. This allows the first connecting rod 22 to drive the first positioning plate 21 to compress the first damping medium, thereby absorbing and suppressing vibrations in the first direction X.

[0042] The first connecting rod 22 and the first through hole 141 are plugged into each other to facilitate connection to an external vibration structure. Furthermore, the plugging and limiting mechanism guides the compression movement of the first positioning plate 21. Thus, the first connecting rod 22 achieves high-precision motion transmission through a plugging method, ensuring that vibration energy can be directly introduced into the first chamber 13 from the outside, acting on the first damping medium through the first positioning plate 21, so that the first damping medium can fully absorb and suppress the externally introduced vibration energy.

[0043] The first damper 20 is configured as two independent units, left and right. Each damping unit consists of a first positioning plate 21, a first connecting rod 22, and a corresponding first damping medium. The first connecting rod 22 is linked to the external structure through the first through hole 141. The first positioning plate 21 is fixed in the cavity and rigidly connected to the connecting rod, forming a reliable damping working interface for the first damping medium. The dual-unit design makes full use of the space of the separated cavities, making the damping force distribution more balanced. The first damping medium is filled on the side of the first positioning plate 21 away from the partition plate 12. When the first connecting rod 22 moves outward along the first direction X (i.e. away from the partition plate 12), the first damping medium is compressed and generates damping force. The presence of the partition plate 12 ensures that the medium in each cavity responds to vibration independently, thereby dynamically adjusting the damping intensity according to the actual vibration direction, significantly improving the uniformity and adaptability of vibration suppression, and effectively coping with the multi-dimensional vibration challenges brought by sudden turns, sudden stops, or impacts.

[0044] like Figure 4 As shown, the first damper 20 also includes an electromagnetic coil 23, which is mounted on the first connecting rod 22 (e.g., Figure 2As shown in the figure, or at the first positioning plate 21, the first damping medium is a magnetorheological damping liquid, and the electromagnetic coil 23 is used to independently adjust the viscosity of the first damping medium.

[0045] The electromagnetic coil 23 can be made of metal wires such as copper or aluminum wire, to generate an electromagnetic field in its vicinity after current is applied. The magnetic field strength can be flexibly adjusted by regulating the current. The magnetorheological damping fluid initially has low viscosity and good fluidity, but the damping force can be increased by adjusting the magnetic field strength. For example, a suspension system containing micron-sized magnetic particles can be selected to flexibly adjust the damping force of the first damping medium by controlling the magnetic field strength, thus adapting to absorb vibration sources of different intensities.

[0046] For example, electromagnetic coils 23 can be installed within the two first positioning plates 21. The partition plate 12 can be made of materials such as permalloy, pure iron, or silicon steel sheets to isolate the magnetic field influence of the two electromagnetic coils 23 on the left and right sides, so that the magnetic field generated by the electromagnetic coil 23 on the left can only adjust the viscosity of the first damping medium in the first chamber 13 on the left, and the magnetic field generated by the electromagnetic coil 23 on the right can only adjust the viscosity of the first damping medium in the first chamber 13 on the right, thereby achieving precise control of the damping force.

[0047] By employing magnetorheological damping fluid as the primary damping medium, and utilizing its reversible viscosity change under a magnetic field, the damping force can be dynamically adjusted according to the vibration intensity. When the robot encounters sudden turns, sudden stops, or large impacts, the electromagnetic coil can adjust the magnetic field strength in real time according to the vibration state, thereby changing the viscosity of the damping medium and providing a suitable damping effect. This further improves the absorption and suppression effect and range of vibrations in complex vibration scenarios, reduces vibrations during operation, and buffers sudden turns, sudden stops, and impact vibrations. Continue to refer to Figure 4 The hybrid damper 100 also includes an acceleration sensor 51 and a controller 52. The acceleration sensor 51, which can be flexibly mounted at the main body 10 and the first damper 20, is configured to detect at least the acceleration of the hybrid damper 100 in the first direction X. The controller 52 is electrically connected to the acceleration sensor 51 and the electromagnetic coil 23 to adjust the viscosity of the first damping medium.

[0048] Accelerometer 51 can sense or detect changes in the acceleration of an object and convert them into electrical signals for output. Examples of suitable accelerometers include MEMS accelerometers, piezoelectric accelerometers, and capacitive accelerometers. Accelerometer 51 can be used to monitor the vibration state of the hybrid damper 100 in the first direction X in real time, providing accurate data support for subsequent dynamic adjustment of the first damping medium.

[0049] The controller 52 can be understood as an electronic device with signal processing and execution functions. The controller can be configured as a microcontroller unit (MCU), digital signal processor (DSP), or programmable logic controller (PLC). According to a preset program, after receiving the acceleration signal collected by the accelerometer 51, it dynamically adjusts the current connected to the electromagnetic coil 23 to control the magnetic field strength, thereby precisely controlling the viscosity of the first damping medium and adjusting the damping force along the first direction X in real time.

[0050] For example, the accelerometer 51 monitors the acceleration change of the hybrid damper 100 along the first direction X, accurately capturing vibration intensity and frequency based on this acceleration parameter, and transmitting the collected data to the controller 52 in real time. Based on the acceleration signal acquired by the sensor, the controller 52 dynamically adjusts the current output and magnetic field strength of the electromagnetic coil 23, thereby changing the viscosity of the first damping medium to quickly absorb and suppress external vibrations. This mechanism of adjusting viscosity according to the actual vibration state fully utilizes the rapid response characteristics of the electromagnetic coil 23, enabling the damping force of the first damping medium to adapt to transient events such as sudden turns and stops, transforming passive adjustment into active control, effectively suppressing vibration transmission, and improving the robot's stability and working accuracy.

[0051] For example, when the collaborative robot encounters a sharp turn or sudden stop, the accelerometer 51 can quickly detect the vibration change in the first direction X and transmit the acceleration signal to the controller 52. The controller 52 then adjusts the current of the electromagnetic coil 23 according to a preset algorithm, thereby changing the viscosity of the first damping medium. This dynamic adjustment mechanism not only improves the adaptability of the damper but also significantly enhances the vibration suppression effect, especially improving the rapid absorption and suppression of vibration under complex working conditions.

[0052] like Figure 2 and Figure 5 As shown, the main body 10 also includes two heat-conducting plates 151 and a flow channel 144. The heat-conducting plate 151 has a second through hole 142 corresponding to the first through hole 141, and the second through hole 142 is used to insert and adapt the first connecting rod 22. Along the first direction X, one heat-conducting plate 151 is disposed between a first positioning plate 21 and the side wall (i.e., the first side plate 112) of the box body 11. The space between the heat-conducting plate 151 and the first positioning plate 21 forms a first damping cavity 131 filled with a first damping medium. The side of the heat-conducting plate 151 facing away from the first positioning plate 21 forms a cooling cavity 132, which is filled with coolant. The flow channel 144 is connected to both cooling cavities 132.

[0053] The heat-conducting plate 151 is a structural component with high thermal conductivity. It can be made of copper plate, aluminum plate or metal plate with built-in heat pipe structure. While isolating the first damping cavity 131 and the cooling cavity 132, it can quickly transfer heat between the two.

[0054] It should be noted that during the process of absorbing and suppressing vibration, the first damping medium converts the mechanical energy of the vibration into its own internal energy. Specifically, this manifests as a rapidly heating first damping medium. Based on this, a heat-conducting plate 151 and a cooling cavity 132 are provided on the outside of the first damping cavity 131 (i.e., the side away from the partition plate 12) to quickly dissipate the heat of the first damping medium in the first damping cavity 131 and reduce its temperature, thereby preventing the performance of the first damping medium from being affected by the temperature rise.

[0055] The second through hole 142 is used to avoid the insertion hole of the first connecting rod 22. A sealing device is required between the two to prevent mutual leakage between the coolant and the first damping medium.

[0056] Based on this, by providing a flow channel 144 in the main body 10, the flow channel 144 can connect the two cooling chambers 132. Since the cooling chambers 132 are filled with water, oil or special coolant, they are used to absorb and transfer heat.

[0057] It should be noted that the first damping medium is partially filled in the first damping cavity 131 so that the first positioning plate 21 can reciprocate in the first direction X during the process of the hybrid damper 100 absorbing external vibrations, thereby converting the mechanical vibrations into the internal energy of the first damping medium. The partial filling avoids the influence of the incompressible characteristics of liquids and solids on the vibration transmission of the first positioning plate 21.

[0058] For example, when the first connecting rod 22 and the first positioning plate 21 on the left vibrate and compress the first damping cavity 131, the cooling cavity 132 on the left can draw in the cooling medium from the cooling cavity 132 on the right through the guide channel 144, so as to quickly cool the first damping medium on the left with more cooling medium, thereby promoting the circulation of coolant between the chambers and balancing the overall temperature distribution. This is beneficial to maintain a high degree of consistency in the damping effect on both sides of the hybrid damper 100, that is, the temperature and heat of the first damping medium on both sides are evenly distributed.

[0059] Thus, by constructing a heat conduction and cooling circulation system, the problem of heat accumulation and continuous temperature rise during the operation of the first damping medium is effectively solved. The heat-conducting plate 151 is placed between the first positioning plate 21 and the side wall of the box body 11 to directly contact the first damping medium, allowing the heat generated by the first damping medium to be quickly transferred to the heat-conducting plate 151 and the coolant in the cooling chamber 132. The heat capacity of the coolant is used to absorb and conduct heat, and the two cooling chambers 132 are connected through the flow channel 144 to achieve instant heat transfer. The flow path is designed based on the symmetrical layout of the two cooling chambers 132, allowing the coolant to circulate between the two chambers to balance the temperature distribution and avoid local overheating, thereby maintaining the stability of the physical properties of the first damping medium and ensuring that the vibration suppression effect is not affected by temperature fluctuations. In other words, by optimizing the overall heat dissipation capacity of the device, a reliable guarantee is provided for the vibration suppression of the collaborative robot.

[0060] like Figure 2 As shown, a flow channel 144 is provided in at least one side wall of the box body 11 along the second direction Z. That is, the flow channel 144 is opened at one or two second side plates 113, and a flow hole is provided on the inner side of the second side plate 113 to connect the left and right cooling chambers 132, thereby realizing the circulation of coolant in the two cooling chambers 132. Only the flow channel 144 needs to be opened in the upper and lower second side plates 113, without occupying additional internal space of the box body 11, which improves the internal space utilization of the hybrid damper 100 and is conducive to the miniaturization design of the whole machine.

[0061] In some embodiments, such as Figure 3 and Figure 5 As shown, along the first direction X, the box body 11 has third through holes 143 on opposite sides. That is, the first side plate 112 has third through holes 143. On one side of the box body 11, two third through holes 143 are located on opposite sides (such as the upper and lower sides) of the first through hole 141 along the second direction Z. The heat-conducting plate 151 is connected to two guide rods 152, and one guide rod 152 is inserted into one of the third through holes 143.

[0062] The guide rod 152 can be a rigid connector, with one end of the guide rod 152 fixedly connected to the heat-conducting plate 151 by welding or threading. The guide rod 152 can be made of metal and fixed in the third through hole 143 by plugging, so as to constrain the heat-conducting plate 151 in the degrees of freedom other than the first direction X, prevent it from shifting or twisting, and provide counterweight.

[0063] For example, third through holes 143 are provided on the left and right sides of the box body 11. Based on the symmetrical structure of the box body 11, the guide rod 152 can cooperate with the inserted third through holes 143 to uniformly apply support force to the heat-conducting plate 151, avoiding the heat-conducting plate 151 from shifting due to uneven force during vibration transmission, thereby affecting the vibration absorption and suppression effect of the first damping medium. The arrangement of the two third through holes 143 along the second direction Z on opposite sides of the first through hole 141 optimizes the spatial distribution, ensuring that the connection point between the guide rod 152 and the heat-conducting plate 151 is coordinated with the working axis of the first damper 20, thereby guiding the force flow to disperse along a predetermined path when vibration occurs, preventing the heat-conducting plate 151 from twisting or misaligning.

[0064] Through the above technical solution, the heat-conducting plate 151 can remain stable in a vibration environment, avoiding problems such as damping medium leakage, coolant flow obstruction, and reduced heat dissipation efficiency caused by displacement or tilting, thereby improving the overall stability and vibration suppression effect of the hybrid damper. At the same time, this solution is compatible with the structure of the box body 11, the heat-conducting plate 151, and the first damper 20, forming a close functional relationship, further enhancing the reliability and performance of the hybrid damper 100 under complex working conditions.

[0065] like Figure 6 and Figure 7 As shown, the second damper 40 includes two clamping members 41, which are detachably mounted on the outside of the positioning rod 30. The clamping members 41 are also provided with a second damping cavity 42, which is filled with a second damping medium.

[0066] The second damping medium is a particulate damping material, and the two clamps 41 are arc-shaped damping structures.

[0067] The clamp 41 is a semi-circular mechanical component that can be quickly assembled and disassembled through elastic deformation. For example, the clamp 41 can be a split clamp structure made of metal to simplify installation and disassembly and improve maintenance efficiency. The second damping cavity 42 is a closed space inside the clamp 41, used to contain the damping medium to absorb and suppress vibration energy. The second damping medium refers to a functional material used to absorb and convert vibration energy. It can be made of viscoelastic materials, granular solids, or other substances with energy dissipation characteristics, with the aim of flexibly adjusting the damping characteristics according to specific working conditions.

[0068] For example, by detachably mounting two clamping members 41 on the outside of the positioning rod 30, the elastic deformation characteristics of the clamping members 41 themselves enable a quick connection and disconnection without special tools, thus significantly improving operational convenience. Furthermore, the two clamping members 41 can also act as an arc-shaped damping structure to absorb and suppress vibrations at the positioning rod 30.

[0069] Based on this, a second damping cavity 42 is provided inside the clamp 41 to accommodate a second damping medium. This second damping medium can be a particulate damping material, which is an aggregate of solid particles with high density and good wear resistance, such as ceramic particles, metal particles, or special engineering plastic particles, to facilitate rapid dissipation of vibrational energy through the interaction between the particles. This design not only avoids the cumbersome disassembly problems caused by traditional fixed connections but also enhances the system's adaptability to different working environments by integrating the damping function with the detachable component.

[0070] For example, when the robotic arm encounters a sudden turn, a sudden stop, or a large impact, the particulate damping material filling the chamber will undergo relative motion due to inertia. Frequent collisions and friction occur between the particles and between the particles and the chamber walls, rapidly converting mechanical vibration energy into heat energy for dissipation. This mechanism is particularly suitable for high-frequency vibration scenarios, compensating for the hysteresis problem of traditional fluid damping media. Due to the inherent physical properties of the particulate damping material, rapid energy dissipation can be achieved without additional energy supply, thereby improving the reliability and adaptability of overall vibration suppression. At the same time, the particulate damping material and the magnetorheological damping fluid in the first damper 20 complement each other, effectively suppressing vibrations of different directions, frequencies, and intensities, enabling the hybrid damper 100 to provide a stable buffering effect under various operating conditions.

[0071] Secondly, such as Figure 8 and Figure 9 As shown in the figure, this application embodiment also provides a robot, including a hybrid damper 100, a robotic arm 200, and an elastic element 300. The hybrid damper 100 is disposed inside the robotic arm 200, two positioning rods 30 are connected to the robotic arm 200 along the second direction Z through the elastic element 300, and the first damper 20 is connected to the robotic arm 200 along the first direction X through the elastic element 300.

[0072] The elastic element 300 can be a spring, a rubber rod, or a rubber column, etc., to avoid a rigid connection between the hybrid damper 100 and the robotic arm 200. This allows the vibration of the robotic arm 200 to be transmitted through the elastic element 300 to the hybrid damper 100 for absorption and dissipation, thus solving the vibration problem of the robotic arm 200 during sudden turns, sudden stops, or large impacts.

[0073] For example, when the robotic arm 200... Figure 8 As shown, during rotation, the robot's large arm will swing back and forth, combined with... Figure 8During this movement or upon reaching the endpoint, the robot arm may vibrate. When the robot stops moving or stops after movement, the particle damping material in the second damper 40 will roll, slide, or frequently collide with the second damping cavity 42. At this time, damping force can be generated through the friction effect between the particle damping material and the cavity or between the particles, thereby suppressing the vibration of the robot arm in the direction shown in the figure.

[0074] like Figure 9 As shown, when the robot joints rotate, the robot arm will swing left and right in the horizontal plane. During this movement or upon reaching the endpoint, the robot arm may vibrate. If a large instantaneous vibration displacement occurs on the left side of the robot arm, the spring in the first link 22 on the right side of the hybrid damper will be stretched, and the first positioning plate 21 on the right side will move to the right under the spring tension. At this time, the magnetorheological damping fluid in the first damping cavity 131 on the right side will be squeezed by the first positioning plate 21. Simultaneously, energizing the electromagnetic coil 23 on the right side will generate a magnetic field between the magnetorheological damping fluids, thereby causing the magnetorheological damping fluid to change from a liquid state to a plastic solid state, thus generating a large damping force to absorb and suppress the vibration of the structural components. During this process, the coolant in the cooling cavities 132 on both sides can flow back and forth through the guide channel 144 to exchange heat with the first damping medium on both sides, thereby avoiding local overheating that would affect the damping performance and effect.

[0075] By employing different dampers in different directions, vibration suppression of the structure can be achieved in multiple directions based on its actual motion. Secondly, magnetorheological dampers have a faster response rate to high-frequency vibrations, while granular dampers are more efficient at suppressing low-frequency vibrations. Therefore, this method can effectively broaden the vibration suppression frequency range of the hybrid damper 100. Furthermore, since granular damping media are relatively inexpensive, the hybrid damper 100 proposed in this application better ensures that this passive control method has a significant low-cost advantage.

[0076] Furthermore, since the robot employs the hybrid damper 100 described in the first aspect, it possesses at least all the beneficial effects of the technical solution shown in the first aspect, which will not be elaborated upon here.

[0077] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” as used herein may also include the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a particular order described or illustrated unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

[0078] Although terms such as first, second, third, etc., may be used in this document to describe multiple elements, components, regions, layers, and / or segments, these elements, components, regions, layers, and / or segments should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or segment from another. Unless the context clearly indicates otherwise, terms such as "first," "second," and other numerical terms used herein do not imply order or sequence. Therefore, the first element, component, region, layer, or segment discussed below may be referred to as the second element, component, region, layer, or segment without departing from the teachings of the exemplary embodiments.

[0079] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A hybrid damper, characterized in that, include: Main components; A first damper is assembled with the main body along a first direction; Positioning rods are provided at opposite ends of the main body along the second direction, and there is an angle between the first direction and the second direction. And a second damper, installed at the positioning rod.

2. The hybrid damper according to claim 1, characterized in that, The main component includes a box body and a partition plate. The partition plate is located inside the box body and divides the interior of the box body into two first chambers along the first direction. Along the first direction, the box body has first through holes on opposite sides, and one first through hole communicates with one of the first chambers. The number of the first dampers is two. The first damper includes a first positioning plate and a first connecting rod. Each first connecting rod is inserted into a first through hole. Each first positioning plate is disposed in a first cavity and connected to the first connecting rod. Along the first direction, the side of the first positioning plate opposite to the partition plate is filled with a first damping medium.

3. The hybrid damper according to claim 2, characterized in that, The first damper further includes an electromagnetic coil, which is installed on the first connecting rod or the first positioning plate. The first damping medium is a magnetorheological damping fluid, and the electromagnetic coil is used to independently adjust the viscosity of the first damping medium.

4. The hybrid damper according to claim 3, characterized in that, The hybrid damper also includes: An acceleration sensor, at least for detecting the acceleration of the hybrid damper along the first direction; And a controller, electrically connected to the acceleration sensor and the electromagnetic coil, to adjust the viscosity of the first damping medium.

5. The hybrid damper according to claim 2, characterized in that, The main component also includes: Two heat-conducting plates are provided, and the heat-conducting plates are provided with a second through hole corresponding to the first through hole. The second through hole is used to insert and adapt the first connecting rod. Along the first direction, one of the heat-conducting plates is disposed between a first positioning plate and the side wall of the box body. The space between the heat-conducting plate and the first positioning plate is a first damping cavity and filled with the first damping medium. The side of the heat-conducting plate opposite to the first positioning plate is a cooling cavity and is used to fill with coolant. And a flow channel, which is connected to the two cooling chambers.

6. The hybrid damper according to claim 5, characterized in that, Along the second direction, the flow channel is provided in at least one side wall of the box body.

7. The hybrid damper according to claim 5, characterized in that, Along the first direction, the box body has a third through hole on each of its opposite sides. On one side of the box body, two of the third through holes are located on opposite sides of the first through hole along the second direction. The heat-conducting plate is connected to two guide rods, and one of the guide rods is inserted into one of the third through holes.

8. The hybrid damper according to any one of claims 1-6, characterized in that, The second damper includes two clamps, which are detachably mounted on the outside of the positioning rod; The clamp is also provided with a second damping cavity, which is filled with a second damping medium.

9. The hybrid damper according to claim 7, characterized in that... The chamber contains a second damping medium that is a particulate damping material and two clamping members that are arc-shaped damping structures.

10. A robot, characterized in that, include: The hybrid damper as described in any one of claims 1-9; A robotic arm, wherein the hybrid damper is disposed inside the robotic arm; And an elastic element, wherein the two positioning rods are connected to the robotic arm along the second direction via the elastic element, and the first damper is connected to the robotic arm along the first direction via the elastic element.

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