Robot leg damping spring device
By incorporating damping bases and hydraulic oil buffer systems into the robot's legs, combined with multi-level buffering and protective covers, the problem of poor shock absorption performance of existing shock absorption devices in complex vibration environments has been solved, achieving a smoother shock absorption effect and a longer service life.
Patent Information
- Application Number
- CN202520442238.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-14
- Publication Date
- 2026-02-13
- Estimated Expiration
- 2035-03-14
AI Technical Summary
Existing robot leg shock absorption devices have limited shock absorption effect when faced with complex and continuous vibrations, which can easily cause resonance, affect the stability of movement, and may lead to loosening or detachment of parts.
The system employs a first spring between the damping base and the connecting plate, combined with a hydraulic oil buffer system. The connecting rod drives the sealing plate to squeeze the hydraulic oil into the reservoir. Combined with the resistance of the second spring, multi-stage buffering is achieved, enhancing the shock absorption effect. The spring is protected by a protective cover to extend its service life.
It improves the shock absorption effect of the robot's legs, reduces swaying, extends the service life of the equipment, and facilitates maintenance.
Smart Images
Figure CN223905164U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to spring device technical field especially relates to a robot leg shock absorbing spring device. BACKGROUND
[0002] With the rapid development of robot technology, robots are more and more widely used in various complex environments. Among them, mobile robots play an important role in fields such as rescue, exploration, logistics, etc. The robot leg, as a key part to realize its mobile function, needs to have good shock absorbing performance to ensure the robot to walk stably on different terrains.
[0003] The existing shock absorbing device mostly uses spring and damping plate cooperation, the spring absorbs vibration energy through its elastic deformation, but when facing complex and continuous vibration, only using spring shock absorbing, its shock absorbing effect is easily limited, the vibration cannot be completely eliminated, the applicable scene is relatively limited, for example, when the robot walks in a certain section of the road, the vibration frequency generated by walking is close to the natural frequency of the spring, which will cause resonance phenomenon, such as when continuously passing through a section of small convex with uniform interval, the spring will continuously accumulate energy with vibration, and the amplitude increases sharply, at this time, the spring not only cannot play a good shock absorbing role, but also intensifies the vibration of the robot, seriously affects its walking stability, and even may cause parts loose and fall off, therefore, the present application provides a robot leg shock absorbing spring device. SUMMARY
[0004] The utility model aims at the problem of limited application range of spring shock absorbing effect in the background art, and provides a robot leg shock absorbing spring device.
[0005] The technical scheme of the utility model is as follows: a robot leg shock absorbing spring device, comprising a damping base, further comprising:
[0006] A damping column is detachably installed on the damping base, a connecting rod is slidably installed in the damping column, one end of the connecting rod is fixedly installed with a connecting plate, a first spring is fixedly installed between the connecting plate and the damping base, and an auxiliary mechanism for damping the damping base and the connecting plate is arranged on the damping base.
[0007] Optionally, the auxiliary mechanism comprises a buffer cavity formed in the damping column, the buffer cavity is filled with hydraulic oil, a first sealing plate is slidably arranged in the damping column, the top of the first sealing plate is fixedly connected with the connecting rod, the bottom of the damping column is fixedly provided with a first bolt, a through hole is formed in the first bolt, the first bolt is in threaded connection with the damping base, installation cavities are formed in the inner walls of the damping base, and telescopic rods are fixedly arranged in the installation cavities.
[0008] Optionally, the damping base and the connecting plate are fixedly provided with connecting frames, and a protective cover is fixedly arranged between the two connecting frames and covers the outer side of the first spring.
[0009] Optionally, the telescopic rods are covered with second springs, and one end of each second spring is fixedly connected with the second sealing plate.
[0010] Optionally, a sealing opening is formed in the damping column, and a liquid outlet valve is fixedly arranged on one side of the damping base and in communication with the liquid storage cavity.
[0011] Optionally, threaded holes are formed in the damping base, and a plurality of second bolts are fixedly arranged on the connecting frames and located in the threaded holes.
[0012] Optionally, the damping base is provided with an observation plate on one side, and the observation plate is made of transparent material.
[0013] Compared with the prior art, the damping device has the following beneficial technical effects:
[0014] The first spring arranged between the damping base and the connecting plate preliminarily buffers the pressure, the connecting rod drives the first sealing plate to extrude the hydraulic oil in the buffer cavity, the hydraulic oil enters the liquid storage cavity through the through hole, the second spring and the second sealing plate resist the hydraulic oil, the pressure is further reduced, the damping effect is improved, and the shaking is reduced.
[0015] Further, the sealing opening in the damping column and the liquid outlet valve in the damping base are opened to replace the internal hydraulic oil, the equipment maintains high damping performance, the protective cover covering the first spring is used to reduce the corrosion rate of the first spring and prolong the service life of the equipment.
[0016] The damping device improves the damping effect, effectively reduces the shaking of objects, and has a more gentle damping curve and is convenient to maintain. BRIEF DESCRIPTION OF DRAWINGS
[0017] Figure 1It is a schematic view of a cross section structure of a robot leg shock absorbing spring device;
[0018] Figure 2 It is a schematic view of a robot leg shock absorbing spring device structure Figure 1 ;
[0019] Figure 3 It is a schematic view of a robot leg shock absorbing spring device structure Figure 2 ;
[0020] Figure 4 It is a schematic view of a damping column structure.
[0021] The figure mark: 1, damping base; 2, connecting plate; 3, protective cover; 4, connecting frame; 5, second bolt; 6, observation plate; 7, installation cavity; 8, liquid storage cavity; 9, second sealing plate; 10, telescopic rod; 11, first spring; 12, connecting rod; 13, first sealing plate; 14, buffer cavity; 15, sealing port; 16, second spring; 17, first bolt; 18, damping column; 19, through hole; 20, liquid outlet valve. DETAILED DESCRIPTION
[0022] The technical scheme of the present application will be described clearly and completely below in conjunction with the drawings, obviously, the described embodiments are part of the embodiments of the present application, not all the embodiments.
[0023] The components of the embodiments of the present application generally described and shown in the drawings herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application.
[0024] Based on the embodiments in the present application, all other embodiments obtained by the ordinary skilled in the art without making creative labor belong to the scope of protection of the present application.
[0025] In the description of the present application, it should be explained that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.
[0026] It is to be understood that the terms "including", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Exemplary expressions of the above terms in the specification are not necessarily referring to the same embodiment or example. Moreover, specific features, structures, materials, or characteristics described can be combined in any suitable manner in one or more embodiments or examples.
[0027] In the description of the utility model, it is to be explained that, unless there is explicit stipulation and limitation, the term "installation", "connection", "connect" should be broad sense understanding, for example, can be fixed connection, also can be detachable connection, or integrally connected, can be mechanical connection, also can be electrical connection, can be direct connection, also can be indirectly connected through intermediate medium, can be the communication of two elements inside. For the ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to specific circumstances.
[0028] Embodiment
[0029] As Figure 1 , Figure 2 The utility model discloses a robot leg shock absorbing spring device, including damping base 1, still including shock column 18, shock column 18 detachable installation is in damping base 1, the sliding installation of shock column 18 has connecting rod 12, and one end of connecting rod 12 is fixedly installed with connecting plate 2, and the fixed installation of connecting plate 2 and damping base 1 has first spring 11, and the auxiliary mechanism of damping base 1 is provided with the shock absorption of damping base 1 and connecting plate 2.
[0030] As Figure 2 , Figure 3As shown, the auxiliary mechanism includes a buffer cavity 14 opened in the damping column 18, the buffer cavity 14 is filled with hydraulic oil, the first sealing plate 13 is slidingly installed in the damping column 18, the top of the first sealing plate 13 is fixedly connected with the connecting rod 12, the bottom of the damping column 18 is fixedly installed with the first bolt 17, the through hole 19 is opened in the first bolt 17, the first bolt 17 is threadedly connected with the damping base 1, so that the damping column 18 can be removed on the damping base 1, and the maintenance is facilitated. The two sides of the inner wall of the damping base 1 are provided with the installation cavity 7, the telescopic rod 10 is fixedly installed in the installation cavity 7, one end of the telescopic rod 10 is fixedly installed with the second sealing plate 9, the liquid storage cavity 8 is formed between the two second sealing plates 9, the liquid storage cavity 8 is communicated with the through hole 19, when the connecting plate 2 or the damping base 1 is subjected to pressure, the connecting plate 2 drives the first sealing plate 13 to move downward, the first spring 11 is first matched between the first sealing plate 13 and the damping base 1 to perform primary buffering, the first sealing plate 13 extrudes the hydraulic oil in the buffer cavity 14, the hydraulic oil in the buffer cavity 14 flows into the liquid storage cavity 8 through the through hole 19, the hydraulic oil in the liquid storage cavity 8 extrudes the second sealing plate 9, the second sealing plate 9 further extrudes the second spring 16, the pressure is buffered again, when the pressure disappears, the second spring 16 is reset, the hydraulic oil in the liquid storage cavity 8 is extruded into the buffer cavity 14, and then the connecting plate 2 is reset, the damping effect is improved, the object shaking is effectively reduced, and the damping curve is more gentle.
[0031] The connecting frame 4 is fixedly installed on the damping base 1 and the connecting plate 2, the protective cover 3 is fixedly installed between the two connecting frames 4, the protective cover 3 is sleeved outside the first spring 11, and the protective cover 3 is used for protecting the first spring 11, reducing the corrosion rate of the first spring 11 and prolonging the service life.
[0032] As shown in the figure, Figures 1-4 The second spring 16 is sleeved on the telescopic rod 10, one end of the second spring 16 is fixedly connected with the second sealing plate 9, the sealing opening 15 is opened in the damping column 18, the liquid outlet valve 20 is fixedly installed on one side of the damping base 1, one end of the liquid outlet valve 20 is communicated with the liquid storage cavity 8, when the hydraulic oil needs to be replaced, the sealing opening 15 and the liquid outlet valve 20 are opened, and the internal hydraulic oil can be discharged.
[0033] The threaded hole is opened in the damping base 1, the second bolt 5 is fixedly installed on the connecting frame 4, the second bolt 5 is located in the threaded hole, the observation plate 6 is arranged on one side of the damping base 1, the observation plate 6 is made of transparent material, the internal devices can be observed, and timely maintenance can be carried out.
[0034] In the embodiment, when the connecting plate 2 or the damping base 1 is subjected to pressure, the connecting plate 2 drives the first sealing plate 13 to move downwards, and the first spring 11 and the damping base 1 are firstly buffered, the first sealing plate 13 extrudes the hydraulic oil in the buffer cavity 14, the hydraulic oil flows into the liquid storage cavity 8 through the through hole 19, the hydraulic oil in the liquid storage cavity 8 extrudes the second sealing plate 9, the second sealing plate 9 further extrudes the second spring 16, the pressure is buffered again, when the pressure disappears, the second spring 16 resets, the hydraulic oil in the liquid storage cavity 8 is extruded into the buffer cavity 14, and then the connecting plate 2 resets, the damping effect is improved, the object shaking is effectively reduced, the damping curve is more gentle, and maintenance is facilitated.
[0035] The above specific embodiments are only several optional embodiments of the utility model, based on the technical scheme of the utility model and the related inspiration of the above embodiments, the person skilled in the art can make multiple alternative improvements and combinations to the above specific embodiments.
Claims
1. A robot leg shock absorbing spring device comprising a damping base (1), characterized in that, Also include: The damping column (18) is detachably mounted on the damping base (1), the connecting rod (12) is slidably mounted in the damping column (18), one end of the connecting rod (12) is fixedly installed with the connecting plate (2), the connecting plate (2) and the damping base (1) are fixedly installed with the first spring (11), the damping base (1) is provided with auxiliary mechanism for damping damping base (1) and connecting plate (2).
2. The robotic leg shock spring device of claim 1, wherein, The auxiliary mechanism includes the buffer cavity (14) opened in the damping column (18), the buffer cavity (14) is filled with hydraulic oil, the first sealing plate (13) is slidably mounted in the damping column (18), the top of the first sealing plate (13) is fixedly connected with the connecting rod (12), the bottom of the damping column (18) is fixedly installed with the first bolt (17), the through hole (19) is formed in the first bolt (17), the first bolt (17) is screwed with the damping base (1), the mounting cavity (7) is formed on both sides of the inner wall of the damping base (1), the telescopic rod (10) is fixedly installed in the mounting cavity (7), one end of the telescopic rod (10) is fixedly installed with the second sealing plate (9), the liquid storage cavity (8) is formed between the two second sealing plates (9), the liquid storage cavity (8) is communicated with the through hole (19).
3. The robotic leg shock spring device of claim 1, wherein, The damping base (1) and the connecting plate (2) are fixedly installed with the connecting frame (4), the protective cover (3) is fixedly installed between the two connecting frames (4), and the protective cover (3) is sleeved on the outer side of the first spring (11).
4. The robotic leg shock spring device of claim 2, wherein, The telescopic rod (10) is sleeved with the second spring (16), one end of the second spring (16) is fixedly connected with the second sealing plate (9).
5. The robotic leg shock spring device of claim 2, wherein, The damping column (18) is provided with a sealing port (15), one side of the damping base (1) is fixedly installed with the liquid outlet valve (20), one end of the liquid outlet valve (20) is communicated with the liquid storage cavity (8).
6. The robotic leg shock spring device of claim 3, wherein, The damping base (1) is provided with a threaded hole, a plurality of second bolts (5) are fixedly installed on the connecting frame (4), and the second bolts (5) are located in the threaded hole.
7. The robotic leg shock spring device of claim 1, wherein, One side of the damping base (1) is provided with an observation plate (6), and the observation plate (6) is made of transparent material.