CN112388668B

CN112388668B - Simulation mechanical arm and control system thereof

Info

Publication number: CN112388668B
Application number: CN202011230040.7A
Authority: CN
Inventors: 李田; 杨振; 魏慧君; 韩仁瑞
Original assignee: Wannan Medical College
Current assignee: Wannan Medical College
Priority date: 2020-11-06
Filing date: 2020-11-06
Publication date: 2021-11-23
Anticipated expiration: 2040-11-06
Also published as: CN112388668A

Abstract

The invention discloses a simulation mechanical arm, which comprises a central control system of the simulation mechanical arm, wherein the simulation mechanical arm comprises a fixed base arranged close to a bed body, an adjusting steering engine which rotates in the horizontal direction is arranged on the fixed base, the adjusting steering engine is connected with a waist steering engine which swings in the vertical direction, the waist steering gear is connected with a waist connecting rod, one end of the waist connecting rod, which is far away from the waist steering gear, is connected with an arm component, one end of the arm component, which is far away from the waist connecting rod, is connected with a simulated hand component, the waist steering engine drives the arm component to swing and the arm component to fold and bend so as to complete the action command sent by the central control system, the movable range of the arm component is effectively enlarged by adjusting the steering engine and the waist steering engine, therefore, the effective operation space of the simulation mechanical arm is increased, the simulation mechanical arm can run in multiple postures, and the practicability of the simulation mechanical arm is improved.

Description

Simulation mechanical arm and control system thereof

Technical Field

The invention relates to the technical field of mechanical arms, in particular to a simulation mechanical arm and a control system thereof.

Background

The mechanical arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. Because of its unique operational flexibility, it has been widely used in the fields of industrial assembly, safety and explosion protection. The mechanical arm is a complex system, and uncertainties such as parameter perturbation, external interference, unmodeled dynamics and the like exist. Therefore, uncertainty exists in a modeling model of the mechanical arm, and for different tasks, the motion trail of the joint space of the mechanical arm needs to be planned, so that the tail end pose is formed by cascading.

The robot arm is a programmable robot arm having a similar function as a human arm. The arm may be an integral mechanical device or may be part of a more complex robot. Such a manipulator is articulated in such a way that it can perform a rotational movement (for example in an articulated robot) or a translational (linear) movement. The manipulator finally forms a kinematic chain through the connection of each joint. The end of the robot kinematics chain is called an end effector, which resembles a human hand.

The mechanical arm is mainly applied to the production and manufacturing process, and more mechanical arms are applied to daily life of people. The artificial mechanical arm applied to the technical field of infant care in the prior art effectively reduces the burden of parents for taking care of infants. However, the simulation mechanical arm in the prior art is single in motion mode and poor in practicability.

Disclosure of Invention

The invention aims to provide a simulation mechanical arm and a control system thereof, which effectively enlarge the moving range of an arm component by adjusting a steering engine and a waist steering engine, thereby enlarging the effective operation space of the simulation mechanical arm, enabling the simulation mechanical arm to operate in multiple postures, and improving the practicability of the simulation mechanical arm so as to solve the technical problems of single motion mode and poor practicability of the simulation mechanical arm in the prior art.

In order to solve the technical problems, the invention specifically provides the following technical scheme:

the utility model provides a simulation arm, includes the center control system of simulation arm, simulation arm includes the unable adjustment base that is close to the bed body setting, install horizontal direction pivoted adjustment steering wheel on the unable adjustment base, the adjustment steering wheel is connected with vertical direction wobbling waist steering wheel, waist steering wheel is connected with the waist connecting rod, the waist connecting rod is kept away from the one end of waist steering wheel is connected with the arm subassembly, the arm subassembly is kept away from the one end of waist connecting rod is connected with simulated hand part, the waist steering wheel drives the arm subassembly swing and the folding crooked in order to accomplish of arm subassembly the action instruction that center control system sent.

As a preferable scheme of the invention, a swinging assembly used for driving the arm assembly to slowly swing is arranged on the arm assembly, a slow flapping assembly used for driving the simulated hand assembly to slowly flap is arranged at the joint of the arm assembly and the simulated hand assembly, and the swinging assembly drives the arm assembly to swing and the slow flapping assembly drives the simulated hand assembly to slowly flap.

As a preferred scheme of the invention, the arm assembly comprises a shoulder steering engine connected with the tail end of the waist connecting rod, an output shaft of the shoulder steering engine is connected with a fixed block, one end of the fixed block, far away from the shoulder steering engine, is provided with a pair of rear arm connecting rods, one end of the pair of rear arm connecting rods, far away from the fixed block, is respectively connected with an elbow steering engine, the elbow steering engine is connected with a front arm connecting rod, the other end of the front arm connecting rod is connected with a wrist steering engine, the wrist steering engine is connected with the simulated hand component, the shoulder steering engine drives the fixed block to rotate in the vertical direction, the rear arm connecting rod rotates in the horizontal direction relative to the fixed block, and the swinging assembly is arranged between the pair of rear arm connecting rods.

As a preferable aspect of the present invention, the swing assembly includes a spreading bracket provided on one of the rear arm links, and an end bracket provided on the other rear arm link, the end bracket is provided with a damping air rod that extends and contracts in a length direction of the rear arm link, and the spreading bracket extends in a direction of the end bracket and is connected to the damping air rod.

As a preferred scheme of the present invention, a rotation limiting assembly for limiting a rotation position of the rear arm connecting rod is disposed on the fixing block, the rotation limiting assembly includes a clamping groove disposed on the fixing block for rotatably mounting the rear arm connecting rod, a wedge-shaped limiting groove is disposed on an end surface of the rear arm connecting rod in the clamping groove, an embedded cavity is disposed in the fixing block, a through groove penetrating in a direction of the clamping groove is disposed on an end surface of the embedded cavity facing the wedge-shaped limiting groove, a limiting block is disposed in the through groove, a power spring for pushing the limiting block to move in the direction of the clamping groove is disposed in the embedded cavity, and a tail end of the limiting block in the clamping groove is embedded in the wedge-shaped limiting groove.

As a preferred scheme of the invention, an electromagnet is arranged in the embedding cavity, an armature is arranged on the end face of one side of the limiting block close to the power spring, and the electromagnet attracts the armature to drive the limiting block to move in the direction away from the clamping groove.

As a preferable scheme of the invention, the slow-shooting component is arranged at the joint of the wrist steering engine and the simulated hand component, the simulated hand component rotates towards the direction of the wrist steering engine and is connected with the wrist steering engine and the simulated hand component through the slow-shooting component, and the slow-shooting component drives the simulated hand component to swing back and forth.

As a preferable scheme of the invention, the slow-shooting assembly comprises a magnetic suction connecting piece arranged on the wrist steering engine, a magnetic buckling piece arranged corresponding to the magnetic suction connecting piece is arranged on the simulation hand part, and the magnetic suction connecting piece is connected with an output shaft of the damping air rod through a buffering traction piece.

In order to solve the above technical problems, the present invention further provides the following technical solutions: a control system of a simulation mechanical arm comprises the following steps:

s100, when an infant is encircled and cared to sleep, the waist steering engine swings and inclines towards the direction of the bed body, the arm component bends in a spoon shape towards the direction far away from the bed body, and the simulated hand component bends in a folding manner towards the direction of the arm component;

s200, placing the baby at the concave surface of the arm assembly, wherein the swing assembly on the arm assembly drives the arm assembly to swing so as to enable the baby to sleep;

s300, after the baby sleeps well, the adjusting steering engine drives the waist steering engine to rotate towards the direction of the bed body, the waist steering engine swings towards the direction of the bed body, the arm assembly is gradually straightened, and the simulation hand part bends towards the direction far away from the arm assembly;

s400, the arm assembly gradually approaches to the waist steering engine, so that a baby is separated from the range of the arm assembly;

s500, the waist steering engine swings towards the direction far away from the bed body to drive the arm assembly to move towards the direction far away from the bed body.

Compared with the prior art, the invention has the following beneficial effects:

(1) the adjusting steering engine and the waist steering engine effectively enlarge the moving range of the arm assembly, so that the effective operation space of the simulation mechanical arm is enlarged, the simulation mechanical arm can run in multiple postures, and the practicability of the simulation mechanical arm is improved;

(2) the arm assembly of the simulation mechanical arm can complete the embracing action of the baby by a single hand arm, so that the manufacturing cost is reduced, and in the process of embracing the baby by the simulation mechanical arm, the pacifying effect is provided for the baby by the swinging assembly and the patting assembly, so that the burden of parents for caring the baby is effectively reduced.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.

FIG. 1 is a schematic view of the overall structure of a baby crib according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of an assembled module of a crib according to an embodiment of the present invention;

FIG. 3 is an enlarged schematic view of the structure A in FIG. 1 according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of the overall structure of the simulation robot arm according to the embodiment of the present invention;

FIG. 5 is a schematic diagram of a top view of a simulated robotic arm according to an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a fixing block of the simulation mechanical arm according to the embodiment of the present invention;

FIG. 7 is a schematic structural diagram of a simulated mechanical arm slow-beat assembly according to an embodiment of the present invention;

the reference numerals in the drawings denote the following, respectively:

1-bed body; 2-a monitoring component; 3-a simulation mechanical arm; 4-detecting a drying component;

11-bed frame; 12-a holding frame; 13-assembling the modules; 14-splicing blocks; 15-effusion funnel; 16-a limit buffer spring;

131-a base; 132-a central shaft seat; 133-a clamping step; 134-drainage channel; 135-splicing sliding groove; 136-assembling the embedded blocks;

1311-slotted holes; 1312-limit step; 1313-a thrust spring; 1314-drainage slope;

1321-center column; 1322-slope surface; 1323-a containment chamber; 1324-waterproof cover;

31-a stationary base; 32-adjusting a steering engine; 33-waist steering engine; 34-waist link; 35-an arm assembly; 36-simulated hand parts; 37-a rocking assembly; 38-a slow-beat component;

351-shoulder steering engine; 352-fixed block; 353-rear arm link; 354-elbow steering engine; 355-forearm link; 356-wrist steering gear;

3521-holding groove; 3522-wedge shaped limit groove; 3523-embedding cavity; 3524-through slots; 3525-limited block; 3526-power spring; 3527-electromagnet; 3528-armature;

371-prop open the support; 372-an end bracket; 373-damping gas lever;

3711-folding long rod; 3712-embedding a chute cavity; 3713-slideway; 3714-slide block; 3715-opening the air rod;

381-magnetic attachment; 382-magnetic snap fastener; 383-a buffer traction piece; 384-pull electromagnet;

3810-a buffer spring; 3811-a stationary sleeve; 3812-a sliding sleeve; 3813-an insert block; 3814-groove cavity; 3815-magnet ring; 3816-built-in cavity; 3817-a via; 3818-a spacing iron bead; 3819-a stop iron ring;

3821-a mounting block; 3822-bump terminals; 3823-a magnetic ring; 3824-a limit groove;

41-a temperature and humidity detection unit; 42-a bed baby detection unit; 43-drying unit

431-heating wire resistance; 432-thermally conductive sheet.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1 to 3, the invention provides an intelligent crib, which comprises a crib body 1, wherein a monitoring component 2 for monitoring the state of a baby, a simulation mechanical arm 3 for simulating the action of an arm of a human body and a central control system for controlling the simulation mechanical arm 3 are arranged on the crib body 1.

As the bed body 1 is provided with the simulation mechanical arm 3 and the monitoring component 2 for monitoring the state of the baby, the state of the baby is monitored by the monitoring component 2, and then the state of the arm of the human body and the action thereof are simulated by the simulation mechanical arm 3 to replace the user to look after the baby, so that the burden of the user for looking after the baby is reduced.

Wherein, be provided with the detection stoving subassembly 4 that is used for detecting the environmental parameter of the bed body 1 and is used for the heating stoving of the bed body 1 in bed body 1 inboard, detect stoving subassembly 4 and central control system and be connected and transmit the environmental parameter of the bed body 1 to central control system, and central control system passes through wireless transmission module and connects mobile terminal, and mobile terminal is used for the input control instruction to central control system, and then control monitoring subassembly 2 and simulation mechanical arm 3 execution action.

The simulation mechanical arm 3 is arranged on the crib body 1, the motion of the human body arm is simulated through the simulation mechanical arm 3 to replace a user to look after a baby, so that the burden of the user to look after the baby is effectively reduced, the simulation mechanical arm 3 provided by the invention can be used for simulating or learning the operations of the user such as embracing the baby, feeding milk to the baby, soothing the baby to sleep and the like, the comfort of the baby in the simulation mechanical arm 3 is ensured through a scientific calculation method, on one hand, the burden of the user to look after the baby is reduced, the sleep safety of the baby is ensured, and the sleep disorder and the psychological problems of the baby are effectively reduced. On the other hand, the simulation mechanical arm 3 provided by the invention embraces the baby and slightly shakes the baby according to scientific data to help the baby sleep, so that the problem of light and slight cerebral concussion of the baby caused by improper shaking of the intelligent crib in the prior art is solved, and the physical and psychological health problems of the baby are guaranteed.

The detection drying assembly 4 comprises a temperature and humidity detection unit 41, an in-bed baby detection unit 42 and a drying unit 43, wherein the temperature and humidity detection unit 41 is arranged on a bed body 1 and used for detecting environmental parameters of the bed body 1, the in-bed baby detection unit 42 is used for detecting whether a baby exists on the bed body 1, the drying unit 43 is used for heating and drying the bed body 1, the temperature and humidity detection unit 41 transmits the environmental parameters of the bed body 1 to a central control system, a bed wetting alarm is sent to a mobile terminal when the environmental parameters are out of a set threshold value of the central control system, no baby information is transmitted to the central control system when the in-bed baby detection unit 42 detects that the baby does not exist on the bed body 1, and the central control system further controls the drying unit 43 to heat and dry the bed body 1.

The control ability of the baby to the muscle of the baby is poor, so that the problem of bed wetting is easy to occur at night, and the user can not timely treat the baby when sleeping well at night, if the user sleeps in a humid environment for a long time, the problems of rash, eczema and the like of the skin of the baby are easy to occur, so that the skin health of the baby is influenced, and the sleeping quality of the baby is influenced.

Therefore, the bed body 1 of the invention is provided with the temperature and humidity detection unit 41, which can send a bed wetting alarm signal to the user in time when the baby has the bed wetting condition, on one hand, the bed wetting alarm signal is sent to the mobile terminal through the central control system to inform the user to process the bed wetting condition of the baby in time, and the baby can be encircled by the simulation mechanical arm 3 to be separated from the wet environment of the bed body 1. On the other hand, the central control system controls the drying unit 43 to be in a ready state, when the in-bed baby detection unit 42 detects that no baby is on the bed body 1, the drying unit 43 performs drying treatment on the bed body 1 until the environmental parameters of the bed body 1 reach the threshold range set by the central control system, and then the baby is placed on the bed body 1.

Wherein, the bed baby detecting element 42 is including setting up the photoelectric sensor on the bed body 1 to and the pressure sensor of the bed body 1 within range, when photoelectric sensor detects no baby signal and pressure sensor detection feedback value and be 0, no baby on the surface bed body 1 promptly, drying unit 43 just can carry out heat treatment to the bed body 1 this moment, thereby avoids photoelectric sensor false detection to cause drying unit 43 to heat the bed body 1 and lead to the baby scald problem.

The drying unit 43 comprises a heating filament 431 installed in the range of the bed body 1, and a relay connecting the heating filament 431 with the central control system.

The mattress of the intelligent crib in the prior art is generally of a sponge, silica gel and palm structure, and the air-permeable and water-draining effects are poor, so that water is inconvenient to drain when a baby urinates into the crib, the baby sleeps in a humid environment for a long time, and the health of the baby is damaged. In addition, the mattress in the prior art is inconvenient to clean, and the inside of the mattress is dirty and dirty, which affects the health of the baby.

To this, the embodiment further provides a bed body 1 structure of intelligence crib, specifically the bed body 1 includes bed body frame 11 to and install the intelligent mattress in bed body frame 11, the intelligent mattress is including setting up the bearing frame 12 on bed body frame 11, bearing frame 12 is gone up and is set gradually close skin layer by one side of keeping away from bearing frame 12 to the one side that is close to bearing frame 12, moisture drainage layer and hydrops layer, the water drainage layer is formed by a plurality of module 13 combinations of assembling, close skin layer is including setting up the piece 14 of assembling between adjacent module 13 of assembling.

Because the intelligent mattress is formed by combining the plurality of the assembling modules 13 and the assembling blocks 14, the air permeability and the drainage performance of the intelligent mattress are effectively improved through the gaps between the assembling modules 13 and the assembling blocks 14, so that the health problem caused by the wet environment of the infant sleeping for a long time is effectively avoided, the cleaning and the maintenance of the bed body 1 are facilitated, and the tidiness of the sleeping environment of the infant is ensured.

Wherein, assemble module 13 including setting up base 131 on bearing frame 12, be provided with well axle bed 132 on the base 131, well axle bed 132 is provided with screens step 133 with the base 131 junction, assemble 14 and erect on the screens step 133 of adjacent base 131, be provided with flowing back channel 134 between the adjacent base 131, the hydrops layer is including setting up the hydrops funnel 15 to the sunken setting of bearing frame 12 orientation on bearing frame 12, the narrow portion of hydrops funnel 15 is provided with one-way component.

Liquid flows to hydrops funnel 15 directions along the linking gap between adjacent piece 14 of assembling and the central spindle seat 132, then discharges along the one-way component that 15 narrow portions of hydrops funnels set up to guarantee the aridity of intelligent mattress, guarantee the travelling comfort of bed body 1 environment. The one-way component that sets up at 15 narrow and narrow portions of hydrops funnel is the check valve, avoids 1 stoving heating process of the bed body to cause the liquid reflux problem on the one hand, and on the other hand avoids urine smell backward flow, guarantees that 1 environment of the bed body is clean and tidy.

Base 131 is the terrace with edge structure, and the one end that base 131 diameter size is little is close to well axle bed 132 and sets up, and flowing back channel 134 is formed by the inclined plane end combination of adjacent base 131, and liquid flows to hydrops funnel 15 direction along the slope terminal surface of base 131, avoids the hydrops problem on the base 131.

An assembling sliding groove 135 is arranged on the end face of one side of the middle shaft seat 132 close to the assembling block 14 towards the base 131, an assembling embedding block 136 corresponding to the assembling sliding groove 135 is arranged on the assembling block 14, and the depth of the assembling sliding groove 135 is gradually reduced from one end far away from the base 131 to one end close to the base 131.

The splicing embedded blocks 136 on the splicing blocks 14 and the splicing sliding grooves 135 on the middle shaft base 132 are correspondingly embedded, so that the connection stability of the splicing blocks 14 and the middle shaft base 132 is improved, the integrity between the splicing blocks 14 and the splicing modules 13 is ensured, the integral effect of the intelligent mattress is ensured, and the depth of the splicing sliding grooves 135 is gradually reduced from one end far away from the base 131 to one end close to the base 131, so that liquid on the end surfaces of the splicing blocks 14 and the middle shaft base 132 flows towards the base 131 along the splicing sliding grooves 135, the problem of liquid accumulation at splicing gaps of the splicing blocks 14 and the middle shaft base 132 is effectively avoided, and the obliquely arranged splicing sliding grooves 135 are convenient for splicing and embedding the relative sliding of the splicing blocks 136 and the splicing sliding grooves 135.

A limit buffer spring 16 is arranged at the joint of the splicing block 14 and the blocking step 133, a slot 1311 for mounting the middle shaft seat 132 is arranged on the base 131, a limit step 1312 for limiting the moving distance of the middle shaft seat 132 is arranged in the slot 1311, and a thrust spring 1313 for pushing the middle shaft seat 132 to move away from the slot 1311 is arranged on the limit step 1312 in the slot 1311.

Through setting up the spacing buffer spring 16 of assembling piece 14 and screens step 133 department on the one hand increase and assemble the space between piece 14 and the screens step 133 on the base 131 to improve the air permeability and the drainage of intelligent mattress, on the other hand improves the compliance of intelligent mattress through spacing buffer spring 16, improves baby's comfort of sleeping.

In addition, set up in the slotted hole 1311 of base 131 and be provided with the thrust spring 1313 that provides cushioning effect for well axle seat 132, the function of thrust spring 1313 is the same with spacing buffer spring 16's function, and guarantees the roughness of the close skin layer of the intelligent bed body 1 through thrust spring 1313, guarantees the travelling comfort of intelligent mattress.

According to the invention, a drainage inclined plane 1314 is arranged around a slotted hole 1311 on the end surface of one side of the base 131 close to the center shaft seat 132, the drainage inclined plane 1314 is obliquely arranged from the slotted hole 1311 to the direction far away from the slotted hole 1311, a center shaft column 1321 embedded in the slotted hole 1311 is arranged on the end surface of one side of the center shaft seat 132 close to the slotted hole 1311, a slope 1322 is arranged around the center shaft column 1321 on the end surface of one side of the center shaft seat 132 close to the center shaft column 1321, and the slope 1322 and the drainage inclined plane 1314 are in the same inclination direction.

Drainage inclined plane 1314 of setting on base 131 makes things convenient for liquid to flow along drainage inclined plane 1314 on the one hand, effectively avoids well axle bed 132 and base 131 junction to take place the hydrops problem, and on the other hand avoids liquid deposit in cell 1311, improves intelligent mattress drainage effect. In addition, a slope 1322 in the same inclination direction as the drainage inclined plane 1314 is arranged at one end of the middle shaft seat 132 close to the drainage inclined plane 1314, the slope 1322 fits the drainage inclined plane 1314 on the one hand, so that the middle shaft seat 132 can slide relative to the base 131 conveniently, and the slope 1322 effectively avoids the problem of liquid backflow along the middle shaft seat 132, avoids the problem of liquid accumulation at the joint of the middle shaft seat 132 and the base 131, and improves the drainage effect of the intelligent mattress.

The assembling block 14 and the middle shaft seat 132 are made of silica gel, the accommodating cavity 1323 is arranged on one side end face of the middle shaft seat 132 far away from the base 131, the accommodating cavity 1323 is covered with the waterproof cover 1324, the waterproof cover 1324 is of a mushroom-shaped structure, the heating filament 431 is embedded in the accommodating cavity 1323, the heat conducting sheet 432 is arranged on one side end face of the waterproof cover 1324 close to the heating filament 431, heat of the heating filament 431 is transferred through the heat conducting sheet 432, drying treatment is carried out, the problem that a mattress is damaged due to the fact that the heating filament 431 is directly heated is solved, heat conduction is carried out through the heat conducting sheet 432, the heating area is effectively increased, and drying efficiency is improved.

Wherein the pressure sensor is embedded in the slot 1311, and the photoelectric sensor is arranged on the bed body frame 11 above the bearing frame 12.

The heating wire resistors 431 of the drying units 43 are respectively arranged on the assembling blocks 14 arranged between the adjacent assembling modules 13, the temperature and humidity detection units 41 are arranged at the liquid drainage channels 134 between the adjacent bases 131, wherein the heating wire resistors 431 are separately controlled by the temperature and humidity detection units 41 through a central control system, when the local temperature and humidity detection units 41 detect bed wetting signals, the central control system controls the drying units 43 in the range of the temperature and humidity detection units 41 which detect the bed wetting signals to work, and the bed wetting signals are dried on the bed body 1, so that the comfort of the environment of the bed body 1 is improved, and the source nourishing source is effectively saved.

The heating filament 431 of the drying unit 43 on the bed body 1 of the invention is controlled simultaneously according to the pressure sensor and the temperature and humidity detection unit 41. Indicate that there is the baby in this scope when the pressure value that pressure sensor detected, temperature and humidity detection unit 41 carries out the humiture detection to the within range that pressure sensor detected the pressure value this moment, when temperature and humidity detection unit 41 detected the temperature and be lower, central control system control drying unit 43 detects the lower within range of temperature value and heats temperature and humidity detection unit 41, drying unit 43 heats temperature and humidity detection unit 41 detected the temperature less than or equal to 37 degrees and stops, thereby guarantee bed body 1 temperature, and provide warm comfortable sleep environment for the baby, thereby guarantee baby's sleep quality, effectively reduce the problem that the baby singly sleeps and catches a cold illness.

In addition, the invention also provides a baby monitoring method of the intelligent baby crib, which comprises the following steps:

s100, when the baby is in a non-sleep state, the simulation mechanical arm 3 simulates the height of a human arm to simulate the human body to embrace the baby in a mother-baby-like environment;

s200, when the monitoring component 2 monitors that the baby is in a sleeping state, transmitting information to the central control system and controlling the simulation mechanical arm 3 to slowly place the baby in the bed body 1;

s300, the temperature and humidity detection unit 41 of the detection drying assembly 4 on the bed body 1 detects the environmental parameters of the bed body 1 in real time and feeds the environmental parameters back to the central control system;

s400, when the environmental parameters of the bed body 1 are out of the set threshold range of the central control system, sending a bed wetting alarm to the mobile terminal, and simultaneously detecting whether a baby exists on the bed body 1 in real time by the in-bed baby detection unit 42 of the detection drying assembly 4;

s400, when the bed baby detection unit 42 detects that no baby is on the bed body 1, the drying unit 43 of the detection drying assembly 4 performs drying treatment on the bed body 1 until the environmental parameters of the bed body 1 reach the set threshold range of the central control system.

As shown in fig. 4 to 7, the present embodiment further provides a simulated mechanical arm 3 of the simulated mechanical arm, wherein the outer side of the simulated mechanical arm is made of a thermal sensitive slow-rebound material, the simulated mechanical arm is soft and highly simulated, and a constant temperature heating system is arranged on the simulated mechanical arm for simulating the temperature of a human body and improving the authenticity of the human body. The simulation mechanical arm 3 further specifically comprises a fixed base 31, an adjusting steering engine 32 which rotates in the horizontal direction is mounted on the fixed base 31, the adjusting steering engine 32 is connected with a waist steering engine 33 which swings in the vertical direction, the waist steering engine 33 is connected with a waist connecting rod 34, the waist steering engine 33 is used for driving the waist connecting rod 34 to fold and bend so as to drive a movable arm assembly 35 to lift, one end, far away from the waist steering engine 33, of the waist connecting rod 34 is connected with an arm assembly 35, one end, far away from the waist connecting rod 34, of the arm assembly 35 is connected with a simulation hand part 36, and the waist steering engine 33 drives the arm assembly 35 to swing and the arm assembly 35 to fold and bend so as to complete action instructions sent by a central control system.

Wherein, unable adjustment base 31 is used for with the installation of the bed body 1 fixedly, and the adjustment steering wheel 32 that sets up on the bed body 1 is used for driving the horizontal direction of whole emulation mechanical arm 3 and rotates to the operating range of adjustment emulation mechanical arm 3, wherein the rotation direction and the rotation angle of adjustment steering wheel 32 can rotate in order to adjust the operating range of emulation mechanical arm 3 through adjustment steering wheel 32 according to the baby's position that monitoring component 2 detected.

The mechanical arm in the prior art is simple in structure, and when the mechanical arm in the prior art is used for encircling an infant, two mechanical arms are required to be operated in a coordinated mode, so that the manufacturing cost is increased, and the mechanical arm is used for driving the infant to slowly shake, the steering engine of the mechanical arm is required to do reciprocating motion, so that the mechanical arm is driven to swing, the workload of the mechanical arm steering engine is increased, and the service life of the mechanical arm is shortened.

In view of the above, the present invention further provides a structure of an arm assembly 35 of the simulated mechanical arm 3, wherein a swing assembly 37 for pulling the arm assembly 35 to swing slowly is arranged on the arm assembly 35, a slow flapping assembly 38 for pulling the simulated hand assembly 36 to flap slowly is arranged at a connection position of the arm assembly 35 and the simulated hand assembly 36, and the slow flapping assembly 38 pulls the simulated hand assembly 36 to flap slowly while the swing assembly 37 pulls the arm assembly 35 to swing.

In the process that the simulation mechanical arm 3 is used for embracing an infant and soothing the infant to sleep, the arm assembly 35 is driven to slowly swing through the swing assembly 37 to help the infant sleep, meanwhile, the simulated hand part 36 is driven to slowly swing towards the direction of the arm assembly 35 through the slow-shooting assembly 38, the human body is simulated to lightly shoot the infant sleeping in the armset 35, and therefore certain safety of the infant is achieved, the sense of reality of the simulation mechanical arm 3 is improved, and the sleep quality of the infant is improved.

The arm assembly 35 comprises a shoulder steering engine 351 connected with the tail end of a waist connecting rod 34, an output shaft of the shoulder steering engine 351 is connected with a fixed block 352, one end of the fixed block 352, far away from the shoulder steering engine 351, is provided with a pair of rear arm connecting rods 353, one end of the pair of rear arm connecting rods 353, far away from the fixed block 352, is respectively connected with an elbow steering engine 354, the elbow steering engine 354 is connected with a front arm connecting rod 355, the other end of the front arm connecting rod 355 is connected with a wrist steering engine 356, the wrist steering engine 356 is connected with an analog hand part 36, the shoulder steering engine 351 drives the fixed block 352 to rotate in the vertical direction, the rear arm connecting rod 353 rotates in the horizontal direction relative to the fixed block 352, and a swinging assembly 37 is arranged between the pair of rear arm connecting rods 353.

The swing assembly 37 includes a support frame 371 provided on one of the rear arm links 353, an end support frame 372 provided on the other rear arm link 353, a damping air rod 373 extending and retracting along the length direction of the rear arm link 353 is installed on the end support frame 372, and the support frame 371 extends towards the end support frame 372 and is connected with the damping air rod 373.

Be provided with folding cloth pocket between a pair of trailing arm connecting rod 353 and a pair of forearm connecting rod 355, when emulation arm 3 is used for embracing the baby and sleeps the baby, promote a pair of trailing arm connecting rod 353 through strutting support 371 and rotate back to back mutually to prop open a pair of trailing arm connecting rod 353 and a pair of forearm connecting rod 355, place the baby on folding cloth pocket, because the baby struggles easily in emulation arm 3 when not sleeping, prior art's arm has increased the stability of embracing the baby in order to guarantee the arm to the constraint of baby, but prior art's arm reduces baby's sleep comfortableness, be unfavorable for the falling asleep of baby. According to the simulation mechanical arm 3, the infant sleeping cloth pocket is formed between the two rear arm connecting rods 353, so that the restraint feeling of an infant is reduced, the sleeping comfort is improved, and the infant is held by the pair of rear arm connecting rods 353, the pair of front arm connecting rods 355 and the folding cloth pocket, so that the stability of the simulation mechanical arm 3 surrounding the infant is improved. Compared with the mechanical arm in the prior art, the simulation mechanical arm 3 can complete the encircling operation of the baby through one mechanical arm, and has strong practicability.

Be provided with force sensor at folding cloth pocket and trailing arm connecting rod 353's junction, when not having the infant on folding cloth pocket, force sensor pulling force value is 0, when sleeping when having the infant when crouching on folding cloth pocket, pulling force value is not 0, and the damping gas pole 373 of subassembly 37 sways this moment begins to stretch out and draw back to drive trailing arm connecting rod 353 swing and pacify the infant with slowly rocking.

The opening support 371 comprises a folding long rod 3711 connected with one rear arm connecting rod 353 and an output shaft of the damping air rod 373, wherein the rear arm connecting rod 353 far away from the damping air rod 373 is provided with an embedded sliding groove cavity 3712 for installing the folding long rod 3711, the embedded sliding groove cavity 3712 is internally provided with a sliding way 3713, one end of the folding long rod 3711 is provided with a sliding block 3714 which is installed in the sliding way 3713 in a sliding way, the rear arm connecting rod 353 is rotatably provided with an opening air rod 3715 close to the embedded sliding groove cavity 3712, and the output shaft of the opening air rod 3715 is connected with the folding long rod 3711.

The one end that drives folding stock 3711 through the flexible of propping out gas pole 3715 inlays the dress and slides along slide 3713 in inlaying dress spout cavity 3712 to drive two back arm connecting rods 353 and rotate back to back at the gliding in-process of folding stock 3711, in order to strut back arm connecting rod 353, when folding stock 3711 along sliding to the slide 3713 when keeping away from the one end of strutting gas pole 3715, it stops the extension and contraction and keeps the steady state to strut gas pole 3715, the supporting role of the folding stock 3711 of a pair of back arm connecting rod 353 maintains stable state of strutting.

Because rotation is connected between trailing arm connecting rod 353 and fixed block 352 to at the flexible in-process of damping gas pole 373, promote through strutting support 371 and keep away from the trailing arm connecting rod 353 swing that damping gas pole 373 set up, and then drive the trailing arm connecting rod 353 that is close to damping gas pole 373 setting through the traction effect who struts support 371 and follow the swing, thereby realize the swing process of trailing arm connecting rod 353, rock with driving the baby, play the effect of pacifying the baby.

When the rear arm connecting rod 353 is unfolded, the rear arm connecting rod 353 can be driven to slowly swing through the stretching of the damping air rod 373 so as to drive the baby to shake to sleep the baby, when the hand part bends towards the direction of the wrist steering engine 356, the magnetic suction connecting piece 381 and the magnetic fastening piece 382 enable the hand part and the wrist steering engine 356 to be cascaded, the hand part is driven to flap towards the sleeping direction of the baby through the stretching of the damping air rod 373 when the rear arm connecting rod 353 is driven to slowly swing, and therefore the baby can sleep.

When rear arm connecting rod 353 does not strut, because the one end that the long support pole kept away from damping gas pole 373 and rear arm connecting rod 353 sliding connection, crooked to wrist steering wheel 356 direction when the hand member for when cascading through slowly clapping subassembly 38 between hand member and the wrist steering wheel 356, drive the hand member through the flexible of damping gas pole 373 and pat to the baby direction of sleeping, pacify when effectively helping the baby to lie in bed.

In order to ensure the integrity between the fixed block 352 and the rear arm connecting rod 353 in the process that the simulation arm is used for executing other baby care commands, a rotation limiting component for limiting the rotation position of the rear arm connecting rod 353 is arranged on the fixed block 352, and the connection stability between the fixed block 352 and the rear arm connecting rod 353 is maintained through the rotation limiting component, so that the operation of the simulation mechanical arm 3 is facilitated. In addition, in the process of driving the rear arm link 353 to swing through the swinging assembly 37, the rotation limiting assembly is not used for limiting the rotation position of the rear arm link 353, the clamping groove 3521 which is used for rotatably mounting the rear arm link 353 on the fixing block 352 provides a limiting effect for the swing of the rear arm link 353 through the inner wall of the clamping groove 3521.

The rotation limiting assembly comprises a clamping groove 3521 which is arranged on a fixing block 352 and used for rotatably mounting a rear arm connecting rod 353, a wedge-shaped limiting groove 3522 is arranged on the end face of the rear arm connecting rod 353 in the clamping groove 3521, the wedge-shaped limiting groove 3522 is arranged to deviate from the rotation center of the rear arm connecting rod 353, an embedding cavity 3523 is arranged in the fixing block 352, a penetrating groove 3524 which penetrates through the clamping groove 3521 is arranged on the end face of one side of the embedding cavity 3523 facing the wedge-shaped limiting groove 3522, a limiting block 3525 is arranged in the penetrating groove 3524, a power spring 3526 which pushes the limiting block 3525 to move towards the clamping groove 3521 is arranged in the embedding cavity 3523, and the tail end of the limiting block 3525 in the clamping groove 3521 is embedded in the wedge-shaped limiting groove 3522.

In the process that the shoulder steering engine 351 drives the fixing block 352 to rotate, the limiting block 3525 is embedded in the wedge-shaped limiting groove 3522 of the rear arm connecting rod 353 under the thrust action of the power spring 3526, and therefore the rotation limiting stability of the rear arm connecting rod 353 is maintained. In addition, an electromagnet 3527 is arranged in the embedded cavity 3523, an armature 3528 is arranged on the end face of the limit block 3525, which is close to the power spring 3526, one side of the end face of the limit block 3525 is provided with an armature 3528, the electromagnet 3527 attracts the armature 3528 to drive the limit block 3525 to move away from the clamping groove 3521, and in the process that the swinging assembly 37 drives the rear arm connecting rod 353 to swing, the armature 3528 on the limit block 3525 is attracted by the electromagnet 3527 to drive the limit block 3525 to move towards the embedded cavity 3523, so that the rear arm connecting rod 353 is released, and the rotation of the rear arm connecting rod 353 is facilitated.

The slow-beat component 38 is arranged at the joint of the wrist steering engine 356 and the simulated hand component 36, the simulated hand component 36 rotates towards the direction of the wrist steering engine 356, the wrist steering engine 356 is connected with the simulated hand component 36 through the slow-beat component 38, and the slow-beat component 38 drives the simulated hand component 36 to swing back and forth.

Wherein, slowly clap subassembly 38 and include that the magnetism that sets up on wrist steering wheel 356 inhales connector 381, is provided with on the simulated hand part 36 and inhales the magnetism lock 382 that connector 381 corresponds the setting, and the connector 381 is inhaled to magnetism and is connected with the output shaft of damping air pole 373 through buffering traction member 383.

When wrist steering wheel 356 drives simulation hand part 36 and to the crooked folding of wrist steering wheel 356 direction, along with simulation hand part 36's swing, the magnetism of setting in wrist steering wheel 356 department is inhaled the connecting piece 381 and is connected with the magnetism lock 382 on simulation hand part 36 actuation gradually, treat wrist steering wheel 356 and simulation hand part 36 and connect the back of accomplishing, release the control to simulation hand part 36 through wrist steering wheel 356, thereby simulation hand part 36 maintains stable connection state under the effect of magnetism lock 382 and magnetism connecting piece 381, then damping gas pole 373 drives simulation hand part 36 swing through buffering traction piece 383 in order to pacify the baby, the operation authenticity of simulation arm 3 of improvement, improve the baby efficiency of falling asleep.

The magnetic suction connector 381 comprises a fixed sleeve 3811 arranged on the wrist steering engine 356, a sliding sleeve 3812 is arranged in the fixed sleeve 3811 in a sliding mode, an embedded block 3813 is arranged at one end, close to the hand simulator part 36, of the sliding sleeve 3812, a groove cavity 3814 is arranged on the embedded block 3813, and a magnetic suction ring 3815 is arranged on the end face of the embedded block 3813, around the groove cavity 3814;

magnetic buckle 382 is including setting up mounting block 3821 that sets up on being close to wrist steering wheel 356 on simulator hand part 36, and mounting block 3821 is provided with on being close to wrist steering wheel 356's a side terminal surface with corresponding lug end 3822 of recess chamber 3814, and mounting block 3821 is last to be provided with around lug end 3822 with magnetism inhale the magnetic ring 3815 corresponding magnetic ring 3823.

The convex end 3822 of the magnetic snap 382 is correspondingly buckled with the concave cavity 3814 of the magnetic connector 381, and the magnetic ring 3815 of the magnetic connector 381 and the magnetic ring 3823 of the magnetic snap 382 are used for aligning and connecting the magnetic connector 381 and the magnetic snap 382.

The embedded block 3813 is internally provided with an internal cavity 3816 which is arranged around the groove cavity 3814, the internal cavity 3816 is provided with a through hole 3817 which penetrates in the direction of the groove cavity 3814, a limiting iron bead 3818 is arranged in the through hole 3817, a limiting iron ring 3819 which is in contact connection with the limiting iron bead 3818 is arranged in the internal cavity 3816, the limiting iron bead 3818 is arranged on one side of the limiting iron ring 3819, which is close to the magnetic attraction ring 3815, a limiting groove 3824 which corresponds to the limiting iron bead 3818 is arranged on the lug end 3822, and the lug end 3822 is embedded in the groove cavity 3814 and is embedded with the limiting groove 3824 through the limiting iron bead 3818 so as to fix the lug end 3822.

The limiting iron ring 3819 and the limiting iron bead 3818 are attracted through the magnetic attraction ring 3815, the limiting iron bead 3818 is embedded in the through hole 3817 under the thrust of the limiting iron ring 3819 and the magnetic attraction effect of the magnetic attraction ring 3815, and the temporary stable state is maintained, when the bump end 3822 moves towards the groove cavity 3814, the bump end 3822 presses the limiting iron bead 3818 towards the built-in cavity 3816, so that the movement of the bump end 3822 is facilitated, when the limiting groove 3824 on the bump end 3822 corresponds to the through hole 3817, the limiting iron bead 3818 is buckled in the limiting groove 3824 under the magnetic force effect, so that the position fixing of the bump end 3822 is realized, the position of the simulated hand part 36 is further fixed, and meanwhile, the wrist steering engine 356 releases the control effect on the simulated hand part 36.

In addition, in order to ensure the limiting stability of the limiting iron ball 3818 to the bump end 3822, a spring is arranged in the built-in cavity 3816, the spring pushes the limiting iron ring 3819 to move towards the side close to the magnetic attraction ring 3815, and the spring is arranged on the end face of the limiting iron ring 3819 far away from the magnetic attraction ring 3815.

The end, close to the through hole 3817, of the built-in cavity 3816 is in a conical structure, the conical end face of the built-in cavity 3816 provides a squeezing effect for the movement of the limiting iron ball 3818 into the through hole 3817, so that the limiting iron ball 3818 is stably embedded into the through hole 3817, the end, far away from the mounting block 3821, of the bump end 3822 is in a conical structure, and the conical structure of the bump end 3822 facilitates the limiting iron ball 3818 to be pushed by the bump end 3822 when the bump end 3822 moves into the groove cavity 3814, so that the bump end 3822 can conveniently slide into the groove cavity 3814.

A pulling electromagnet 384 is arranged in the sliding sleeve 3812, the pulling electromagnet 384 pulls the limiting iron ring 3819 and the limiting iron bead 3818 in the built-in cavity 3816 to move towards the direction far away from the through hole 3817, after the infant sleeps, the limiting iron ring 3819 and the limiting iron bead 3818 in the built-in cavity 3816 are attracted by pulling the electromagnet 384 to overcome the magnetic force action of the magnetic attraction ring 3815 to move towards the direction far away from the through hole 3817, so that the limiting iron bead 3818 is separated from the through hole 3817, and the wrist steering engine 356 drives the simulator hand part 36 to return to the original state conveniently.

In addition, a buffer spring 3810 is sleeved on the sliding sleeve 3812 in the fixed sleeve 3811, the buffer spring 3810 pushes the sliding sleeve 3812 to move in a direction away from the wrist steering engine 356, and the buffer traction element 383 is a traction rope connecting the output end of the damping air rod 373 and the sliding sleeve 3812.

Because be provided with buffer spring 3810 between slip sleeve 3812 and fixed sleeve 3811 to drawing slip sleeve 3812 at damping air pole 373 through buffering traction member 383 and at the gliding in-process of fixed sleeve 3811, provide cushioning effect for the removal of slip sleeve 3812 through buffer spring 3810, thereby provide cushioning effect for the swing of simulation hand part 36, provide flexible cushioning effect for the swing of simulation hand part 36, in order to avoid simulation hand part 36 rigidity swing to cause the problem of injury to the baby.

The invention also provides a control system of the simulation mechanical arm 3, which comprises the following steps:

s100, when an infant is held around and lies asleep, the waist steering engine 33 swings and inclines towards the direction of the bed body 1, the arm assembly 35 bends in a spoon shape towards the direction far away from the bed body 1, and the simulated hand part 36 is folded and bent towards the direction of the arm assembly 35;

s200, placing the baby at the concave surface of the arm assembly 35, wherein the swing assembly 37 on the arm assembly 35 drives the arm assembly 35 to swing so as to enable the baby to sleep;

s300, after the baby sleeps well, the adjusting steering engine 32 drives the waist steering engine 33 to rotate towards the direction of the bed body 1, the waist steering engine 33 swings towards the direction of the bed body 1, the arm assembly 35 is gradually straightened, and the simulation hand part 36 bends towards the direction far away from the arm assembly 35;

s400, the arm assembly 35 gradually approaches towards the waist steering engine 33, so that the baby is separated from the range of the arm assembly 35;

s500, the waist steering engine 33 swings towards the direction far away from the bed body 1 to drive the arm assembly 35 to move towards the direction far away from the bed body 1.

The above embodiments are only exemplary embodiments of the present application, and are not intended to limit the present application, and the protection scope of the present application is defined by the claims. Various modifications and equivalents may be made by those skilled in the art within the spirit and scope of the present application and such modifications and equivalents should also be considered to be within the scope of the present application.

Claims

1. A simulation mechanical arm is characterized in that: the central control system comprises the simulation mechanical arm (3), the simulation mechanical arm (3) comprises a fixed base (31) which is arranged close to a bed body (1), an adjusting steering engine (32) which rotates in the horizontal direction is mounted on the fixed base (31), the adjusting steering engine (32) is connected with a waist steering engine (33) which swings in the vertical direction, the waist steering engine (33) is connected with a waist connecting rod (34), one end, far away from the waist steering engine (33), of the waist connecting rod (34) is connected with an arm component (35), one end, far away from the waist connecting rod (34), of the arm component (35) is connected with a simulated hand component (36), and the waist steering engine (33) drives the arm component (35) to swing and the arm component (35) to be folded and bent so as to complete an action instruction sent by the central control system;

the arm assembly (35) is provided with a swinging assembly (37) for pulling the arm assembly (35) to slowly swing, the joint of the arm assembly (35) and the simulated hand part (36) is provided with a slow flapping assembly (38) for pulling the simulated hand part (36) to slowly flap, the swinging assembly (37) pulls the arm assembly (35) to slowly flap while the slow flapping assembly (38) pulls the simulated hand part (36) to slowly flap, the arm assembly (35) comprises a shoulder steering engine (351) connected with the tail end of the waist connecting rod (34), an output shaft of the shoulder steering engine (351) is connected with a fixed block (352), one end, far away from the shoulder (351), of the fixed block (352) is provided with a pair of rear arm connecting rods (353), one end, far away from the fixed block (352), of the pair of rear arm connecting rods (353) is respectively connected with an elbow steering engine (354), the elbow steering engine (354) is connected with a front arm connecting rod (355), the other end of the front arm connecting rod (355) is connected with a wrist steering engine (356), the wrist steering engine (356) is connected with the simulated hand part (36), the shoulder steering engine (351) drives the fixing block (352) to rotate in the vertical direction, the rear arm connecting rod (353) rotates in the horizontal direction relative to the fixing block (352), and the swinging assembly (37) is arranged between the pair of rear arm connecting rods (353);

the fixed block (352) is provided with a rotation limiting component for limiting the rotation position of the rear arm connecting rod (353), the rotation limiting assembly comprises a clamping groove (3521) which is arranged on the fixing block (352) and used for rotatably mounting the rear arm connecting rod (353), a wedge-shaped limiting groove (3522) is arranged on the end surface of the rear arm connecting rod (353) in the clamping groove (3521), an embedded cavity (3523) is arranged in the fixed block (352), a through groove (3524) which penetrates towards the clamping groove (3521) is arranged on the end face of one side, facing the wedge-shaped limiting groove (3522), of the embedded cavity (3523), a limit block (3525) is arranged in the through groove (3524), a power spring (3526) which pushes the limit block (3525) to move towards the clamping groove (3521) is arranged in the embedding cavity (3523), the tail end of the limiting block (3525) in the clamping groove (3521) is embedded in the wedge-shaped limiting groove (3522).

2. A simulated robotic arm according to claim 1, wherein: swing subassembly (37) including one of them prop open support (371) that set up on back arm connecting rod (353), another end support (372) that set up on back arm connecting rod (353), install on end support (372) along the flexible damping gas pole (373) of back arm connecting rod (353) length direction, prop open support (371) to end support (372) direction extension and with damping gas pole (373) are connected.

3. A simulated robotic arm according to claim 1, wherein: be provided with electro-magnet (3527) in embedding chamber (3523), stopper (3525) are close to be provided with armature (3528) on the terminal surface of one side of power spring (3526), electro-magnet (3527) attract armature (3528) drive stopper (3525) are to keeping away from centre gripping groove (3521) direction removes.

4. A simulated robotic arm according to claim 2, wherein: slowly clap subassembly (38) set up in wrist steering wheel (356) with simulation hand part (36) junction, simulation hand part (36) to wrist steering wheel (356) direction is rotated and will through slowly clapping subassembly (38) wrist steering wheel (356) with simulation hand part (36) are connected, and then through slowly clapping subassembly (38) drive simulation hand part (36) swing back and forth.

5. A mock mechanical arm according to claim 4, wherein: the slow racket assembly (38) comprises a magnetic suction connector (381) arranged on the wrist steering engine (356), a magnetic buckling piece (382) arranged corresponding to the magnetic suction connector (381) is arranged on the simulation hand component (36), and the magnetic suction connector (381) is connected with an output shaft of the damping air rod (373) through a buffering traction piece (383).