Robot and rotary damping device thereof

Abstract

The utility model belongs to the technical field of robots, and provides a rotary damping device which comprises a base, a force bearing and a shell, the force bearing is provided with an inner ring and an outer ring which are oppositely arranged, and the base is sleeved with the inner ring; the damping piece comprises a first damping ring and a second damping ring, the first damping ring is connected with the base, and the second damping ring is arranged on the outer ring in a sleeving mode; the shell comprises a first limiting plate and a lantern ring, the lantern ring and the first limiting plate form a containing space used for being connected to the peripheral side of the force bearing in a sleeving mode, and the first limiting plate is arranged between the damping piece and the end face of the force bearing and extrudes the first damping ring and the second damping ring. The utility model further provides a robot adopting the rotary damping device. The technical problem that a robot body is unstable in the moving process of a robot in the prior art is solved, and the effect of damping or reducing redundant steering swing is achieved.

Description

Technical Field

[0001] The present application belongs to the technical field of robots, and in particular, relates to a robot and a rotation damping device thereof. Background Art

[0002] At present, robots are used in all walks of life in the market, and the types of robots are increasing. For example, there are food delivery robots in restaurants, transport robots in processing workshops, and navigation robots in hospitals and shopping malls. When the robot needs to move as a whole or rotate partially, there are often problems with over-movement or over-turning, which makes the main body of the robot unstable, thereby affecting the stability of the robot's movement or the safety of goods when transporting goods. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a slewing damping device and a robot to solve the technical problem of unstable body of the robot during movement in the prior art.

[0004] To achieve the above purpose, the technical solution adopted in this application is:

[0005] In the first aspect, the present application provides a rotary damping device, comprising a base, a bearing and a housing, the bearing bearing having an inner ring and an outer ring arranged opposite to each other, the inner ring being sleeved on the base; a damping member comprising a first damping ring and a second damping ring, the first damping ring being connected to the base, the first damping ring rotating with the inner ring; the second damping ring being sleeved on the outer ring, the second damping ring being pressed on the first damping ring, the second damping ring rotating with the outer ring; the first damping ring and the second damping ring generating relative motion, and a friction force being generated between the contact surfaces of the two, so that the damping member generates rotary damping around the rotating pair provided by the bearing bearing; a housing, comprising a first limiting plate and a collar, the collar and the first limiting plate forming a containing space for being sleeved on the outer peripheral side of the bearing bearing, the first limiting plate being placed between the damping member and the end face of the bearing bearing, for squeezing the first damping ring and the second damping ring, so as to increase the friction force between the contact surfaces of the two.

[0006] The technical solution provided by this embodiment has the following beneficial effects compared with the prior art: the axially sleeved rotary damping device is connected to the base through the first damping ring, that is, the first damping ring is connected to the inner ring of the load-bearing bearing, and the second damping ring is connected to the outer ring of the load-bearing bearing. Through the extrusion pressure of the shell, a tangential friction is formed between the second damping ring and the first damping ring, thereby providing stable friction damping, thereby achieving the effect of accurately reducing the rotation angle of the base relative to the outer ring of the load-bearing bearing. After the rotary damping device is applied to the using mechanism (such as a robot), it can achieve the effect of precise shock absorption in a more compact space or reduce unnecessary steering swing.

[0007] In an embodiment provided in the present application, the shell also includes an elastic member, which is fixed to one end of the first limiting plate facing the second damping ring, and the elastic member is sleeved on the outer ring, and is used to squeeze the first damping ring and the second damping ring after the elastic member is elastically deformed to increase the friction between the fitting surfaces of the two.

[0008] In an embodiment provided in the present application, the base includes a shaft body and a second limit plate and a third limit plate arranged on both sides of the shaft body, and the load-bearing bearing is constrained between the second limit plate and the third limit plate.

[0009] In an embodiment provided in the present application, the third limiting plate is provided with a first groove for placing the first damping ring; the third limiting plate is also provided with a second groove for fixing the first damping ring, the first damping ring is provided with a first protrusion, and the first protrusion is fitted with the second groove; or, the base is provided with a second protrusion for fixing the first damping ring, the first damping ring is provided with a third groove, and the second protrusion is fitted with the third groove.

[0010] In one embodiment provided in the present application, the depth of the first groove is not greater than the thickness of the first damping ring.

[0011] In an embodiment provided in the present application, the base further includes a retaining ring; a fourth groove for accommodating the retaining ring is provided on the shaft body, and the load-bearing bearing is limited between the retaining ring and the second limiting plate.

[0012] In an embodiment provided in the present application, the rotary damping device further includes a flange seat, and the flange seat is fixedly connected to the housing and the elastic member by bolts.

[0013] In an embodiment provided in the present application, the first damping ring and the second damping ring are both made of polyoxymethylene; and the elastic member is made of foamed silicone.

[0014] In a second aspect, the present application further provides a robot, wherein a universal wheel is provided on the chassis of the robot, and a rotation damping device as described in any one of the above embodiments is provided on the rotation axis of the universal wheel to reduce the vibration of the robot.

[0015] In a third aspect, the present application further provides a robot, comprising a tray and a robot body, wherein a hinge shaft is provided between the tray and the robot body, and the hinge shaft is provided with a rotational damping device as described in any one of the above embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0017] Figure 1 A three-dimensional diagram of the overall structure of the rotary damping device provided in this application;

[0018] Figure 2 A three-dimensional diagram of the internal structure of the rotary damping device provided in this application;

[0019] Figure 3 A three-dimensional diagram of the overall structure of the base provided for this application;

[0020] Figure 4 A schematic diagram of the overall structure of the first damping ring provided in this application;

[0021] Figure 5 A schematic diagram of the overall structure of the housing provided in this application;

[0022] Figure 6 A schematic diagram of the overall structure of the rotary damping device provided in this application with a flange seat;

[0023] Figure 7 for Figure 6 AA cross-section diagram.

[0024] Among them, the reference numerals in the figure are:

[0025] 100-base; 110-shaft body; 111-fourth groove; 120-second limit plate; 130-third limit plate; 131-first groove; 132-second groove; 133-first surface; 134-second surface; 140-snapping ring;

[0026] 200-bearing bearing; 210-inner ring; 220-outer ring; 230-end face;

[0027] 300-damping member; 310-first damping ring; 311-first protrusion; 320-second damping ring;

[0028] 400-housing; 410-ring; 420-first limiting plate; 421-through hole; 422-connecting hole; 430-elastic member;

[0029] 500-flange seat; 510-bolt; 520-through hole. DETAILED DESCRIPTION

[0030] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0031] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0032] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0033] The robot can be used in restaurants, canteens, supermarkets or other scenarios where item delivery is required to achieve the delivery of dishes or other items.

[0034] In one application scenario, a robot is provided with a chassis having universal wheels on the chassis to facilitate the movement of the robot. When the robot moves via the universal wheels, it is often accompanied by excess steering swings due to road conditions or consistency issues between various parts of the robot. The above-mentioned excess steering swings refer to excess vibrations generated between various mechanisms during the movement of the robot, which cause relative displacement between various components, and subsequently cause the robot's body to become unstable.

[0035] In another application scenario, the robot also includes a tray and a robot body. The movable tray structure is used to reduce the shock of the delivered items. A hinge shaft is provided between the tray and the robot body, and the angle between the tray and the robot body can be adjusted through the hinge shaft. However, when the robot moves autonomously or is moved by being carried, there is often unnecessary rotation in the swing amplitude. The above-mentioned unnecessary rotation refers to the unnecessary rotation angle between each tray and the robot body due to inertia during the movement of the robot, resulting in an unnecessary relative rotation between the tray and the robot body, which in turn affects the instability of the robot's tray. Due to the compact design space of the robot, the structural dimensions are usually more stringent.

[0036] Therefore, in order to reduce the unnecessary vibration between multiple components or mechanisms in various robots, the present application provides a rotation damping device to reduce the vibration.

[0037] Please refer to Figures 1 to 3 The present application provides a rotary damping device, which includes a base 100, a bearing 200, a damping member 300 and a shell 400. The bearing 200 has an inner ring 210 and an outer ring 220 that are relatively arranged, and the inner ring 210 is sleeved on the base 100; the damping member 300 includes a first damping ring 310 and a second damping ring 320, the first damping ring 310 is connected to the base 100, and the second damping ring 320 is sleeved on the outer ring 220; the shell 400 includes a first limit plate 420 and a collar 410, the collar 410 and the first limit plate 420 form a receiving space, and the receiving space is used to be sleeved on the outer peripheral side of the bearing 200, the first limit plate 420 is placed between the damping member 300 and the end face 230 of the bearing 200, and is used to squeeze the first damping ring 310 and the second damping ring 320 to increase the friction between the fitting surfaces of the two.

[0038] Generally, the damping mechanism has a radial structural layout, which requires a larger design space. If the damping mechanism with a radial structural layout is placed on the chassis of a robot or other parts for use, it is very difficult to accommodate the conventional damping mechanism due to the very compact structure of the robot. Based on this, the two damping rings (the first damping ring 310 and the second damping ring 320) in the mid-slewing damping device in this embodiment are arranged in the axial direction perpendicular to the rotating surface. The rotation directions of the first damping ring 310 and the second damping ring 320 are both circumferential, and the two are in contact with each other to form a fitting surface, and the axial friction force is provided through the relative movement of the two.

[0039] Reference Figure 2 and Figure 3 The base 100 refers to a workpiece having a length in the thickness direction of the rotary damping device. The above length is used to install and place other components in the rotary damping device. Therefore, the base 100 is the basic structure of the rotary damping device. In order to facilitate the installation of the rotary damping device to various robots or other mechanical structures that need to reduce vibration during use, a plurality of threaded holes and positioning holes can be set on the base 100. Furthermore, in order to improve the adaptability of the base 100 to various installation structures, the positioning holes can be set to a circular structure.

[0040] Reference Figure 1 and Figure 2The load-bearing bearing 200 is sleeved on the base 100, which can be both a bearing and a load-bearing workpiece. The load-bearing bearing 200 can be replaced with different types of load-bearing bearings according to different application scenarios. For example, the load-bearing bearing 200 in the rotary damping device of the mounting shaft needs to bear radial loads, and the load-bearing bearing 200 can adopt a radial bearing; the load-bearing bearing 200 in the rotary damping device of the mounting shaft needs to bear axial loads, and the load-bearing bearing 200 can adopt a radial bearing; the load-bearing bearing 200 in the rotary damping device of the mounting shaft needs to bear both radial and axial loads, and the load-bearing bearing 200 can adopt a radial thrust bearing.

[0041] It should be noted that the load-bearing bearing 200 is sleeved on the base 100. Buckles can be set at both ends of the base 100 to prevent the load-bearing bearing 200 from falling off the base 100. Baffles can also be set at both ends of the base 100 to prevent the load-bearing bearing 200 from falling off the base 100. Other feasible methods may also be used.

[0042] Reference Figure 2 and Figure 7 The load-bearing bearing 200 includes an inner ring 210, an outer ring 220 and an end face 230, and the inner ring 210 and the outer ring 220 can rotate relatively independently.

[0043] The inner ring 210 refers to the connecting shaft of the bearing 200 used to sleeve two different parts, and one of the two connecting shafts is relative to the connecting shaft enclosed inside. The bearing 200 is sleeved on the base 100 through the inner ring 210, and the inner ring 210 can be interference fitted on the base 100, so that when the base 100 rotates, the inner ring of the bearing 200 will rotate accordingly.

[0044] The outer ring 220 refers to the connecting shaft of the bearing 200 used to sleeve two different components, and one of the two connecting shafts is relative to the connecting shaft exposed to the outside. The outer ring 220 can rotate independently relative to the inner ring 210. For example, when the inner ring 210 rotates, the outer ring 220 will not rotate due to the rotation of the inner ring 210; correspondingly, when the outer ring 220 rotates, the inner ring 210 will not rotate due to the rotation of the outer ring 220.

[0045] The end surface 230 refers to the end surface 230 of the load-bearing bearing 200 that is away from the side end where the damping member 300 is placed along the height direction of the rotary damping device, and is used to limit the housing 400.

[0046] Reference Figure 2The damping member 300 refers to a workpiece that reduces the relative rotation between two components by increasing the friction between the two components. The above-mentioned two components in this embodiment refer to the first damping ring 310 and the second damping ring 320. The damping member 300 is used to reduce the rotation of the base 100 after it is connected to the use mechanism (such as a robot), so as to achieve the effect of shock absorption or reducing unnecessary steering swing.

[0047] The damping member 300 includes a first damping ring 310 and a second damping ring 320 .

[0048] The first damping ring 310 refers to a plate with a stable friction coefficient that does not change with the rotation speed and pressure. The first damping ring 310 is sleeved on the base 100 and connected to the base 100. The first damping ring 310 moves simultaneously with the base 100 in the same direction. The cross-section of the first damping ring 310 can be rectangular, circular, or any other shape. In this embodiment, the cross-section of the first damping ring 310 is illustrated in the accompanying drawings with a circular shape as an example. The thickness of the first damping ring 310 can be adjusted according to requirements and the height of the base 100 (the height refers to the length of the base 100 along the thickness direction of the rotary damping device), which is not specifically limited here, nor is it illustrated one by one. Among them, the connection between the first damping ring 310 and the base 100 can be a snap connection, can be bonded by glue, or can be other connection methods, which are not specifically limited here.

[0049] The second damping ring 320 refers to a plate with a stable friction coefficient that does not change with rotation speed and pressure. Optionally, the second damping ring is made of the same material as the first damping ring, and a tangential friction is formed between the second damping ring and the first damping ring, thereby providing stable friction damping. The second damping ring 320 is sleeved on the outer ring 220 of the load-bearing bearing 200, and the second damping ring 320 and the outer ring 220 of the load-bearing bearing 200 may be interference fit, so that the second damping ring 320 moves in the same direction as the outer ring 220 of the load-bearing bearing 200. It should be noted that along the thickness direction of the rotary damping device, the first damping ring 310 and the second damping ring 320 are adjacent to each other, and the adjacent surfaces of the two are in contact with each other. The load-bearing bearing 200 provides a rotating pair between the first damping ring 310 and the second damping ring 320 so that the two can rotate relative to each other. Through the contact surface between the first damping ring 310 and the second damping ring 320, when one of the two rotates relative to each other, relative friction is generated to reduce the relative rotation between the first damping ring 310 and the second damping ring 320, or reduce the amplitude of the relative rotation between the first damping ring 310 and the second damping ring 320, that is, motion damping is generated. The cross-section of the second damping ring 320 can be rectangular, circular, or any other shape. In this embodiment, the cross-section of the second damping ring 320 is circular as an example and is illustrated in the accompanying drawings. The thickness of the second damping ring 320 can be adjusted according to requirements and the height of the base 100 (the height refers to the length of the base 100 along the thickness direction of the rotary damping device), which is not specifically limited here, nor is it illustrated one by one.

[0050] Reference Figure 1 and Figure 7 The housing 400 refers to a workpiece placed on the outer peripheral side of the load-bearing bearing 200 and used to squeeze the fitting surface between the first damping ring 310 and the second damping ring 320 .

[0051] Reference Figure 5 The housing 400 includes a collar 410 and a first limiting plate 420 .

[0052] The collar 410 is a tube that is hollow inside and penetrates from front to back.

[0053] The first limiting plate 420 refers to a plate member disposed on one side of the collar 410, and a connecting hole 422 is provided on the first limiting plate 420, and the connecting hole 422 is used to be sleeved on the bearing 200. Preferably, the hole diameter of the connecting hole 422 is slightly larger than the outer diameter of the bearing 200, but smaller than the diameter of the end face 230 of the bearing 200, so that the first limiting plate 420 can be sleeved on the bearing 200 and can be limited by the end face 230.

[0054] The first limit plate 420 and the peripheral wall of the sleeve ring 410 form an area that can accommodate objects. The above-mentioned area is used to be mounted on the outer peripheral side of the load-bearing bearing 200. The first limit plate 420 is snapped between the damping member 300 and the end face 230 of the load-bearing bearing 200. The second damping ring 320 is squeezed by the first limit plate 420 to make the fitting surface between the first damping ring 310 and the second damping ring 320 tighter, thereby increasing the friction between the fitting surfaces of the two, thereby increasing the damping force and reducing the relative rotation angle between the first damping ring 310 and the second damping ring 320.

[0055] This embodiment provides a technical solution, which has the following beneficial effects compared to the prior art: the first damping ring 310 is connected to the base 100, that is, the first damping ring 310 is connected to the inner ring 210 of the load-bearing 200, and the second damping ring 320 is connected to the outer ring 220 of the load-bearing 200. The shell 400 is squeezed by the shell 400, so that the friction force of the fitting surface between the second damping ring 320 and the first damping ring 310 is increased, thereby increasing the damping force, thereby achieving the effect of reducing the rotation angle of the base 100 relative to the outer ring 220 of the load-bearing 200. After the rotary damping device is applied to the using mechanism (such as a robot), the effect of shock absorption or reducing unnecessary steering swing can be achieved.

[0056] Reference Figure 6 and Figure 7 In one embodiment provided in the present application, the shell 400 also includes an elastic member 430, which is fixed to one end of the first limiting plate 420 facing the second damping ring 320, and the elastic member 430 is sleeved on the outer ring 220, and is used for the elastic member 430 to squeeze the first damping ring 310 and the second damping ring 320 after elastic deformation, so as to increase the friction between the fitting surfaces of the two.

[0057] The elastic member 430 refers to a plate member with good softness, toughness and elasticity. The elastic member 430 is fixed on the first limit plate 420 and is arranged at one end of the first limit plate 420 facing the second damping ring 320. The elastic member 430 directly contacts the second damping ring 320 instead of the first limit plate 420. The elastic member 430 is pressed by squeezing the shell 400 to deform the elastic member 430. The deformed elastic member 430 squeezes the second damping ring 320 to make the fitting surface between the second damping ring 320 and the first damping ring 310 fit more closely, thereby increasing the friction between the second damping ring 320 and the first damping ring 310, thereby achieving the effect of reducing the rotation angle of the base 100 relative to the outer ring 220 of the load-bearing bearing 200.

[0058] In this embodiment, an elastic member 430 is provided at one end of the first limit plate 420 facing the second damping ring 320, and the second damping ring 320 is squeezed by the elastic member 430 to increase the friction between the second damping ring 320 and the first damping ring 310, thereby increasing the damping force between the two, protecting the first limit plate 420, and preventing the friction generated by the squeezing between the first limit plate 420 and the second damping ring 320 from damaging the first limit plate 420, thereby affecting the service life of the rotary damping device. At the same time, the second damping ring 320 is squeezed by the structure of the elastic member 430 and the first limit plate 420, which has both rigid pressure and flexible deformation force, so that the squeezing effect is better and the friction between the second damping ring 320 and the first damping ring 310 is greater.

[0059] Reference Figure 3 In one embodiment provided in the present application, the base 100 includes a shaft body 110 and a second limiting plate 120 and a third limiting plate 130 arranged on both sides of the shaft body 110, and the load-bearing bearing 200 is constrained between the second limiting plate 120 and the third limiting plate 130.

[0060] The base 100 includes a shaft 110 , a second limiting plate 120 and a third limiting plate 130 .

[0061] The shaft body 110 refers to a pipe having a positioning hole therein, and is used to assemble the load-bearing bearing 200. The cross section of the shaft body 110 may be circular or rectangular, and no specific limitation is made here. In this embodiment, the cross section of the shaft body 110 is circular for exemplary description below and in the accompanying drawings, but it is not limited to this.

[0062] The second limiting plate 120 refers to a component disposed at one end of the shaft body 110 in the direction of the thickness of the rotary damping device. The shape of the second limiting plate 120 can be circular, rectangular, or other shapes. The second limiting plate 120 protrudes from the outside of the shaft body 110 and is used to limit the components installed on the shaft body 110. For example, when the shape of the second limiting plate 120 is circular, the diameter of the second limiting plate 120 is greater than the diameter of the shaft body 110.

[0063] The third limiting plate 130 refers to a component disposed at one end of the shaft body 110 in the direction of the thickness of the rotary damping device, that is, disposed opposite to the second limiting plate 120. The shape of the third limiting plate 130 can be circular, rectangular, or other shapes. The third limiting plate 130 protrudes from the outside of the shaft body 110 and is used to limit the components installed on the shaft body 110. For example, when the shape of the third limiting plate 130 is circular, the diameter of the third limiting plate 130 is greater than the diameter of the shaft body 110.

[0064] In this embodiment, the load-bearing bearing 200 installed on the shaft body 110 is limited by the second limit plate 120 and the third limit plate 130 of the base 100 to prevent the load-bearing bearing 200 from falling from the shaft body 110, while making the structure of the rotary damping device simpler and using fewer parts.

[0065] Reference Figure 3 and Figure 4 In an embodiment provided in the present application, a first groove 131 for placing the first damping ring 310 is provided on the third limiting plate 130; the third limiting plate 130 is also provided with a second groove 132 for fixing the first damping ring 310, and the first damping ring 310 is provided with a first protrusion 311, and the first protrusion 311 cooperates with the second groove 132.

[0066] Reference Figure 3 The third limiting plate 130 is provided with a first groove 131 and a second groove 132 .

[0067] The third limiting plate 130 has a first surface 133 and a second surface 134 that are arranged opposite to each other. The first surface 133 is recessed a distance toward the second surface 134 to form a first groove 131. The first groove 131 is used to place the first damping ring 310, so that the first damping ring 310 can be embedded in the third limiting plate 130 and interference fit on the third limiting plate 130, so that the third limiting plate 130 can move simultaneously and in the same direction as the first damping ring 310.

[0068] The second groove 132 refers to a groove formed after the first groove 131 is recessed by one end in the radial direction, and is used to stabilize the relative position between the third limiting plate 130 and the first damping ring 310. Figure 4 The first damping ring 310 is provided with a first protrusion 311. After the first damping ring 310 is placed in the first groove 131, the first protrusion 311 cooperates with the second groove 132 to further ensure that the third limiting plate 130 can move simultaneously with the first damping ring 310 in the same direction.

[0069] Alternatively, in some embodiments, the base 100 is provided with a second protrusion (not shown in the figure) for fixing the first damping ring 310, the first damping ring 310 is provided with a third groove (not shown in the figure), and the second protrusion cooperates with the third groove. This embodiment is similar to the above embodiment and will not be described one by one.

[0070] In this embodiment, a first groove 131 for placing the first damping ring 310 is provided on the third limiting plate 130 to improve the effect of the third limiting plate 130 and the first damping ring 310 being able to move in the same direction at the same time, and further, a second groove 132 provided in the first groove 131 cooperates with a first protrusion 311 provided on the first damping ring 310, or a second protrusion provided in the first groove 131 cooperates with a third groove provided on the first damping ring 310, thereby further constraining the relative positions of the first damping ring 310 and the third limiting plate 130.

[0071] In some embodiments, the depth of the first surface 133 recessed in the direction of the second surface 134 (the depth of the first groove 131) may be equal to the thickness of the first damping ring 310, and may be slightly smaller than the thickness of the first damping ring 310, but not greater than the thickness of the first damping ring 310, so as to ensure that there is a contact surface between the first damping ring 310 and the second damping ring 320.

[0072] Reference Figure 3 In one embodiment provided in the present application, a fourth groove 111 is provided on the shaft body 110 , and the fourth groove 111 is used to place a retaining ring 140 , so as to limit the load-bearing bearing 200 between the retaining ring 140 and the second limiting plate 120 .

[0073] In this embodiment, by setting the fourth groove 111 and the retaining ring 140, the axial distance between the damping member 300 and the first limiting plate 420 or the damping member 300, the first limiting plate 420 and the elastic member 430 can be further reduced to increase the friction between the shell 400 and the second damping ring 320, thereby increasing the damping.

[0074] Reference Figure 6 and Figure 7 In one embodiment provided in the present application, the rotary damping device further includes a flange seat 500 , and the flange seat 500 is fixedly connected to the housing 400 and the elastic member 430 by bolts 510 .

[0075] The flange seat 500 refers to a workpiece for fixing the relative position between the housing 400 and the base 100 .

[0076] In this embodiment, a through hole 520 is provided on the flange seat 500, and a through hole 421 is provided on the first limiting plate 420. The bolt 510 passes through the through hole 520 and the through hole 421 in sequence to fix the flange seat 500 and the first limiting plate 420. At the same time, the part of the bolt 510 passing through the through hole 421 contacts the surface of the elastic member 430, compressing the elastic member 430, and then compressing the second damping ring 320, so as to increase the friction between the second damping ring 320 and the first damping ring 310, thereby increasing the damping force.

[0077] In an embodiment provided in the present application, the first damping ring 310 and the second damping ring 320 are both made of polyoxymethylene; and the elastic member 430 is made of foamed silicone.

[0078] Polyaldehyde (POM), a thermoplastic crystalline polymer, is known as "super steel" or "saigang". It is usually a polymer obtained by polymerization of formaldehyde, with a low degree of polymerization and easy to depolymerize under heat. POM has high strength and stiffness, good elasticity, and good wear resistance. Its mechanical properties are excellent, with a specific strength of up to 50.5MPa and a specific stiffness of up to 2650MPa, which are very close to metals. The mechanical properties of POM change little with temperature, and the change of polyformaldehyde copolymer (POM-K) is slightly larger than that of polyformaldehyde homopolymer (POM-H). The polyformaldehyde material used in the first damping ring 310 and the second damping ring 320 has a stable friction coefficient, which basically does not change with the pressure and rotation speed received, and is extremely wear-resistant.

[0079] The elastic part 430 is made of foamed silicone, and the hardness of the foamed silicone can be selected between 5-40 according to the needs. It can be soft, tough and elastic, and has the characteristics of high temperature resistance and low temperature resistance. Therefore, the operating temperature range of the elastic part 430 is -100℃ to 350℃, and the aging resistance is relatively excellent. During processing and molding, when the elastic part 430 (foamed silicone) is controlled at a certain thickness and a relatively small hardness, the compression tolerance and hardness tolerance of the foamed silicone caused by the dimensional tolerance of the overall structure can have a small impact on the target elastic force, ensuring the batch consistency of the elastic force.

[0080] In this embodiment, the first damping ring 310 and the second damping ring 320 are made of polyoxymethylene with a stable friction coefficient and wear resistance, and the elastic member 430 is made of foamed silicone with a long-lasting elastic force and selectable hardness, so that the damping in the rotary damping device is long-lasting and stable, the damping accuracy is high, the anti-interference ability is strong, and the damping adjustable range is large.

[0081] The present application provides a robot, wherein a universal wheel is provided on the chassis of the robot, and a rotation damping device according to any one of the above-mentioned embodiments is provided on the rotation shaft of the universal wheel, and the rotation damping device is used to reduce the vibration of the robot.

[0082] In some embodiments, the swivel neck of the universal wheel of a general robot can be replaced with the swivel damping device in this embodiment, and the load-bearing bearing 200 is selected according to the load of the universal wheel, and then the corresponding elastic member 430, the first damping ring 310 and the second damping ring 320 are matched, and finally the shape of the base 100 and the shell 400 is changed to adapt to the universal wheel.

[0083] The present application provides a robot, which also includes a pallet and a robot body. The pallet and the robot body are connected via a hinge shaft, and a rotation damping device is provided on the hinge shaft to buffer the swing amplitude of the pallet.

[0084] In some embodiments, the robot may be provided with a slewing damping device on the slewing shaft of the universal wheel on the chassis, and a slewing damping device may be provided on the hinge shaft where the tray and the robot body are hinged.

[0085] Since the control method of the embodiment of the present application adopts all the technical solutions of the rotary damping device in the above embodiment, it also has all the beneficial effects brought by the technical solutions of the above embodiment, which will not be described one by one here.

[0086] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A slewing damping device, characterized in that: include; Pedestal; A load-bearing bearing, comprising an inner ring and an outer ring arranged opposite to each other, wherein the inner ring is sleeved on the base; The damping member comprises a first damping ring and a second damping ring, wherein the first damping ring is connected to the base and rotates with the inner ring; the second damping ring is sleeved on the outer ring and pressed on the first damping ring and rotates with the outer ring; the first damping ring and the second damping ring generate relative motion, and friction is generated between the contacting surfaces of the two, so that the damping member generates rotational damping around the rotating pair provided by the load-bearing bearing; as well as, The shell includes a first limit plate and a collar, wherein the collar and the first limit plate form a receiving space for being sleeved on the outer peripheral side of the load-bearing bearing, and the first limit plate is placed between the damping member and the end face of the load-bearing bearing, and squeezes the first damping ring and the second damping ring.

2. The slewing damping device according to claim 1, characterized in that: The housing further comprises an elastic member for squeezing the first damping ring and the second damping ring. The elastic member is fixed to one end of the first limiting plate facing the second damping ring and is sleeved on the outer ring.

3. The slewing damping device according to claim 2, characterized in that: The base includes a shaft body and a second limit plate and a third limit plate arranged on both sides of the shaft body, and the load-bearing bearing is arranged between the second limit plate and the third limit plate.

4. The slewing damping device according to claim 3, characterized in that: The third limiting plate is provided with a first groove for accommodating the first damping ring; The third limiting plate is further provided with a second groove for fixing the first damping ring, the first damping ring is provided with a first protrusion, and the first protrusion is fitted in cooperation with the second groove; Alternatively, the base is provided with a second protrusion for fixing the first damping ring, the first damping ring is provided with a third groove, and the second protrusion is fitted in the third groove.

5. The slewing damping device according to claim 4, characterized in that: The depth of the first groove is no greater than the thickness of the first damping ring.

6. The slewing damping device according to claim 3, characterized in that: The base also includes a snap ring; The shaft body is provided with a fourth groove for accommodating the clamping ring, and the load-bearing bearing is limited between the clamping ring and the second limiting plate.

7. The slewing damping device according to any one of claims 2 to 6, characterized in that: The slewing damping device also includes a flange seat, and the flange seat is fixedly connected to the housing and the elastic member through bolts.

8. The slewing damping device according to any one of claims 2 to 6, characterized in that: The first damping ring and the second damping ring are both made of polyoxymethylene; and the elastic member is made of foamed silicone.

9. A robot, characterized in that: The invention comprises a chassis, wherein the chassis is provided with a universal wheel and a rotary shaft arranged on the universal wheel, and the rotary shaft is provided with a rotary damping device as claimed in any one of claims 1 to 8.

10. A robot, characterized in that: It comprises a tray and a robot body, wherein a hinge shaft is arranged between the tray and the robot body, and a rotation damping device as claimed in any one of claims 1 to 8 is arranged on the hinge shaft.

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