CN113251104B

CN113251104B - Shock attenuation joint

Info

Publication number: CN113251104B
Application number: CN202110716507.7A
Authority: CN
Inventors: 杨杰; 刘连荣; 关玉金; 陈东亮
Original assignee: Jiangsu Sanming Zhida Technology Co ltd
Current assignee: Jiangsu Sanming Zhida Technology Co ltd
Priority date: 2021-06-28
Filing date: 2021-06-28
Publication date: 2021-09-17
Anticipated expiration: 2041-06-28
Also published as: CN113251104A

Abstract

The invention discloses a shock absorption joint, which belongs to the technical field of robot buffer structures and comprises a spring body, wherein the spring body is provided with a first convex part, two ends of the first convex part are respectively extended with a second convex part, and the end part of each second convex part, which is far away from the first convex part, is extended with a spiral part; the damping joint comprises an elastic part, a base, a first base sleeve, a second base sleeve and a base ring, the plurality of damping springs are uniformly distributed in the circumferential direction to form the elastic part, and the base, the first base sleeve, the second base sleeve and the base ring are tangent to the damping springs; the damping device adopts a structure different from the traditional spring, can realize the damping effect, can realize multidirectional damping and buffering by combining a plurality of springs with other structures, and greatly improves the damping effect.

Description

Shock attenuation joint

Technical Field

The invention relates to the technical field of robot buffer structures, in particular to a damping joint.

Background

With the continuous development of artificial intelligence, the application field of the robot is more and more extensive, especially rescue robots, the robot can face more complicated road surfaces, the number of obstacles is more, and the running of equipment on the robot can be directly influenced due to the vibration of the body of the robot.

In prior art, the single suspension system or damper that generally all adopt, its shock attenuation effect is relatively poor, generally only has the shock attenuation in the limited direction, can't accomplish the shock attenuation of multi-direction and position, if need increase the buffering direction, the corresponding also increase in its structure, also comparatively complicated, to the little robot in space of itself, it can occupy more space.

Disclosure of Invention

In view of the technical defects, the invention aims to provide a damping joint which adopts a structure different from the traditional spring, can realize a damping effect, can realize multidirectional damping and buffering by combining a plurality of damping joints with other structures, and greatly improves the damping effect.

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

the invention provides a damping joint which comprises damping springs, wherein the damping springs are uniformly distributed in the circumferential direction to form an elastic part, all the damping springs are not in contact with each other, and the elastic part is provided with an inner ring, an outer ring and two end parts;

the damping spring comprises an elastic part, a base, a first base sleeve, a second base sleeve and a base ring, wherein the inner ring of the elastic part is internally provided with a base tangent to each damping spring, the outer ring of the elastic part is nested with the first base sleeve tangent to each damping spring, two ends of the elastic part are respectively provided with the second base sleeve tangent to each damping spring, and the middle part of the elastic part is provided with a base ring tangent to the spiral part of each damping spring;

the tangent position of the base and the damping spring is provided with an inwards concave cambered surface, and when the base is displaced, the inwards concave cambered surface can enable the damping spring to deform;

the damping spring comprises a spring body;

the spring body is provided with a first convex part, two ends of the first convex part are respectively extended with a second convex part, the end part of each second convex part far away from the first convex part is extended with a spiral part, the directions of spiral lines corresponding to the two spiral parts are opposite, the number of the corresponding spiral lines is less than 1, the spiral parts are not in contact with the first convex part, and the two spiral parts are not in contact;

when the spring body is matched with an external structure for use, a first tangent point can be formed on the first convex part, a second tangent point can be formed on the second convex part, a third tangent point can be formed on the second convex part and/or the spiral part, a fourth tangent point can be formed on the spiral part, and a suspension end is formed at the end part of the spiral part far away from the second convex part;

the first tangent point and a connecting line of the two second tangent points form a triangle, and the vertical projection of the suspension end towards the direction of the triangle falls into the triangle.

Preferably, the first convex portion is tangent to the second convex portion, and the second convex portion is tangent to the spiral portion.

Preferably, the first convex part and the second convex part are both in a segment of circular arc structure.

Preferably, the base is tangent to the first convex portion of each of the damping springs and forms a first tangent point;

the first base sleeve is tangent to the second convex part and/or the spiral part of each damping spring and forms a third tangent point;

the second base sleeve is tangent to the second convex part of each damping spring and forms a second tangent point;

the base ring is tangent to the helical portion of each of the damping springs and forms a fourth tangent point.

Preferably, the base is tangent to the second convex portion and/or the spiral portion of each of the damper springs and forms a third tangent point;

the first base sleeve is tangent to the first convex part of each damping spring and forms a first tangent point;

Preferably, the suspension ends of the damping springs are connected together through a floating ring, and the suspension ends of the damping springs are fixedly connected with the floating ring;

when the base does not generate displacement, the inner ring and the outer ring of the floating ring are not in contact with the damping spring.

Preferably, the inner wall of the first base sleeve is provided with a plurality of limiting grooves corresponding to the damping springs one to one, and the damping springs are abutted against the limiting grooves.

Preferably, the first base sleeve is fixedly connected with the second base sleeve, and the base ring is fixedly connected with the first base sleeve.

Preferably, the center of the base is provided with a first mounting hole, and the second base sleeve is provided with a second mounting hole.

The invention has the beneficial effects that: the invention adopts a structure different from the traditional spring, and a plurality of convex parts and spiral parts are arranged on the spring body, so that when the damping spring is used, a plurality of tangential points on the space can be formed, and further, a plurality of positions on the space can be contacted, and further, a plurality of buffers in a plurality of directions can be formed, meanwhile, the damping spring is provided with an open end by utilizing the suspension end formed by the spiral part, the suspension end changes the deformation direction, the impact force can be released to the suspension end when being impacted, the direction of the impact force is changed, the space in the damping spring can be fully utilized, an inward rolling structure is formed, the utilization rate of the damping spring to the buffer space is improved, when the damping spring is not axially compressed, the suspension end and the tangential points at the plurality of positions can be utilized, the buffers in the axial direction can be obtained, and further, compared with a complex multidirectional suspension system, can effectual reduction deformation space, reduce installation space.

The invention utilizes the elastic part formed by the combination of the damping spring, and forms a damping joint with the structures such as the base sleeve, the base ring and the like, and can fully utilize the suspension end and a plurality of tangent points of the damping spring, so that the damping effect of the damping spring is utilized to the maximum extent, and further the base can obtain multidirectional buffering.

In addition, the tangent point formed by contacting with the base is utilized to act on the damping spring to generate deformation buffering, on one hand, the damping spring can be buffered without being compressed in the axial direction, on the other hand, a plurality of spatial tangent points are formed, the action point is expanded, impact force is transferred in multiple directions, meanwhile, the existence of the suspension end enables the stress of the damping spring to obtain a release end, the deformation direction of the damping spring can be changed, and a floating ring is combined, so that the damping springs are effectively connected, in the process of shock absorption, the damping springs are interacted, the suspension end forms swinging in the inner space of the damping spring, the impact force is transferred to swinging, non-contact buffering is formed, and the silencing effect of buffering is further improved.

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 is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic perspective view of a damping spring according to the present invention;

FIG. 2 is a side view of FIG. 1;

FIG. 3 is a front view of FIG. 1;

FIG. 4 is a tangential view of the damper spring;

FIG. 5 is a perspective view of a shock-absorbing joint according to embodiment 1;

FIG. 6 is an exploded view of FIG. 5;

FIG. 7 is a front view of FIG. 5;

FIG. 8 is a schematic view of FIG. 7 with a second base sleeve removed;

FIG. 9 is a perspective view of the spring of FIG. 5;

FIG. 10 is a front view of FIG. 9;

FIG. 11 is a cross-sectional view taken along line A-A of FIG. 7;

FIG. 12 is a simplified diagram of FIG. 11;

FIG. 13 is a perspective view of a shock-absorbing joint according to embodiment 2;

FIG. 14 is an exploded view of FIG. 13;

FIG. 15 is a front view of FIG. 13;

FIG. 16 is a schematic view of FIG. 15 with a second base sleeve removed;

FIG. 17 is a perspective view of the spring of FIG. 13;

FIG. 18 is a front view of FIG. 17;

FIG. 19 is a cross-sectional view taken along line B-B of FIG. 15;

fig. 20 is a simplified diagram of fig. 15.

Description of reference numerals: 001 spring body, 100 first convex part, 101 first tangent point, 200 second convex part, 201 second tangent point, 202 third tangent point, 300 spiral part, 301 fourth tangent point, 302 suspension end; 002 elastic part; a 003 base; 004 a first base sleeve; 005 a second base sleeve; the 006 ring; 007 floating ring.

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 4, the present invention provides a damper spring, including a spring body 001, the spring body 001 has a first protrusion 100, two ends of the first protrusion 100 respectively extend to form a second protrusion 200, an end of each second protrusion 200 away from the first protrusion 100 extends to form a spiral portion 300, the first protrusion 100 is tangent to the second protrusion 200, the second protrusion 200 is tangent to the spiral portion 300, and for the protrusion, it is necessary to have a protruding end, so that the first protrusion 100 and the second protrusion 200 are both in a segment of circular arc structure, and certainly may be in a structure similar to a circular arc; in addition, as shown in fig. 2, the two spiral portions 300 may be located on the same side of the first protrusion 100, or may be located on two sides (not shown), and the following description is made of the two first protrusions 100 located on the same side.

The spiral part 300 is not in contact with the first protrusion 100, and the two spiral parts 300 are not in contact, i.e. the spiral part 300 forms a relatively independent structure, and is not in contact with the first protrusion 100, thereby forming a spatial extension.

In conjunction with fig. 4, when the spring body 001 is used in cooperation with an external structure, the dotted line in the figure is a simplified external structure, and when the damping spring is used in a damping joint as described below, the external structure is a base sleeve, a base 003, a base ring 006, etc.; the spring body 001 can form a first tangent point 101 at the first convex portion 100, a second tangent point 201 at the second convex portion 200, a third tangent point 202 at the second convex portion 200 and/or the spiral portion 300, a fourth tangent point 301 at the spiral portion 300, and a floating end 302 at an end of the spiral portion 300 away from the second convex portion 200.

The term "and/or" means that the third tangent point 202 may be present on the second convex portion 200, may be present on the spiral portion 300, or may be present on both the second convex portion 200 and the spiral portion 300, which is determined mainly by the length of the second convex portion 200, and as shown in fig. 4, the contact position of the second convex portion 200 and the spiral portion 300 is at the rightmost end in the drawing, so that the third tangent point 202 is simultaneously present on the second convex portion 200 and the spiral portion 300, and similarly, if the contact position of the second convex portion 200 and the spiral portion 300 is not at the rightmost end in the drawing on the basis of fig. 4, the third tangent point 202 may be present on the second convex portion 200 alone or on the spiral portion 300 alone.

For the spiral part 300, a suspension end 302 is arranged on the spiral part, so that the damping spring is provided with a floating end, and further, the suspension end 302 can release deformation, the deformation direction is transferred to the inside of the damping spring, the internal space of the spring is fully utilized, and the utilization rate is improved; in order to ensure the effective action of the suspension end 302, the directions of the spiral lines corresponding to the two spiral parts 300 are opposite, and the number of turns of the corresponding spiral lines is less than 1 turn, and the connecting line of the first tangent point 101 and the two second tangent points 201 forms a triangle, the suspension end 302 falls into the triangle towards the vertical projection of the triangle direction, that is, on the basis of fig. 4, the suspension end 302 needs to be located inside and cannot be located outside the first convex part 100 and the second convex part 200, so that the suspension end 302 can be located inside and can form an inner coil, and the number of turns of the spiral line corresponding to the preferred spiral part 300 is 0.4 turn.

As shown in fig. 5 to 20, the damper joint formed by combining the damper spring with other structures includes two embodiments, and as can be seen from the above, there are a plurality of choices for the position of the third tangent point 202, and for the sake of simplifying the description, in both embodiments described below, the third tangent point 202 is defined to be located on the second protrusion 200.

Example 1:

referring to fig. 5 to 12, a shock-absorbing joint is shown, which specifically includes an elastic portion 002, a base 003, a first base sleeve 004, a second base sleeve 005, a base ring 006 and the like, wherein the first base sleeve 004 is fixedly connected to the second base sleeve 005, the base ring 006 is fixedly connected to the first base sleeve 004, and in conjunction with fig. 5, the base ring 006 can be fixed by a plurality of bolts disposed on the first base sleeve 004, and the second base sleeve 005 is fixed to the first base sleeve 004 by a threaded connection; the plurality of damping springs are uniformly distributed in the circumferential direction to form an elastic part 002, all the damping springs are not in contact with each other, and the elastic part 002 is provided with an inner ring, an outer ring and two end parts; damping spring's deformation relies on the displacement realization of base 003, because damping spring is last to have the convex part, consequently base 003 has the cambered surface of an indent with the tangent department of damping spring, and when base 003 produced the displacement, the cambered surface of this indent can make damping spring produce deformation.

Referring to fig. 6, 8 and 12, the base 003 is positioned inside the inner ring of the elastic portion 002 and tangent to the first convex portion 100 of each damper spring to form a first tangent point 101.

Referring to fig. 6, 8 and 12, the first base sleeve 004 is nested on the outer ring of the elastic portion 002 and tangent to the second convex portion 200 of each damper spring to form a third tangent point 202.

Referring to fig. 6, 11 and 12, the second base sleeve 005 is positioned at both end portions of the elastic part 002, and is tangent to the second convex part 200 of each damper spring to form a second tangent point 201.

Referring to fig. 6, 10 and 12, the base ring 006 is located at the middle of the elastic part 002 and tangent to the spiral part 300 of each damping spring to form a fourth tangent point 301.

Combine fig. 10, fig. 11 and fig. 12, each damping spring's suspension end 302 links together through a floating ring 007, suspension end 302 is fixed on floating ring 007, when base 003 does not produce the displacement, the inner circle and the outer lane of floating ring 007 do not all contact with damping spring, reserve out floating space, thereby rely on floating ring 007 to make each damping spring obtain effective connection, at the absorbing in-process, make each damping spring obtain interact, and the swing of department formation at the damping spring inner space is held in suspension, shift the impact force to the swing, form contactless buffering, the silence effect of buffering has also further been improved.

Referring to fig. 12, which is a simplified diagram of fig. 11, when the base 003 generates an axial displacement, the concave arc surface on the base 003 pushes the first protrusion 100 to deform toward the radial direction of the base 003 by the action of the first tangent point 101, and due to the existence of the second tangent point 201, the third tangent point 202 and the fourth tangent point 301, and the tangent points are not on the same plane, the displacement from the base 003 will utilize the tangent points to transfer the deformation along the second protrusion 200 and the spiral portion 300, so as to release at the floating end 302 of the spiral portion 300, and meanwhile, since the floating ends 302 on the respective damping springs are fixed on the floating ring 007, the deformation direction after release is changed, and finally, the deformation on the first protrusion 100 is changed to multiple directions and to the swing of the floating ring 007, so that the buffering position and direction are greatly expanded.

When the base 003 generates radial displacement, the concave cambered surface on the base 003 directly pushes the first convex part 100 to deform towards the radial direction of the base 003, and the existence of the second tangent point 201, the third tangent point 202, the fourth tangent point 301 and the floating ring 007 can also be utilized to form buffering in multiple directions.

When the base 003 swings along the axis, the base 003 presses a part of the damper spring, assuming that the upper half of fig. 12 presses, and the pressing presses the base 003 to have a radial displacement, the upper second convex portion 200 and the spiral portion 300 deform, and the upper second tangent point 201, the upper third tangent point 202, the upper fourth tangent point 301, and the floating ring 007 buffer in multiple directions.

It should be noted that, for the sake of simplifying the description, the axial, radial and axial swing motions are only for one damping spring, and in the practical process, each damping spring is correspondingly changed, so in summary, the damping joint can achieve multi-directional damping in the axial, radial and axial swing directions of the base 003, and meanwhile, because of the damping, it is not necessary to compress the damping spring in the axial direction of the base 003, that is, it is not necessary to compress the damping spring by shortening the distance between the two second base sleeves 005 (the conventional spring is compressed by similarly shortening the distance between the two second base sleeves 005), so that when the damping spring is not compressed in the axial direction, the damping joint can utilize the tangent point between the suspension end 302 and multiple points to obtain axial damping, and in combination with the change of the deformation direction, so the space utilization rate of the damping joint is higher than that of the conventional suspension system capable of achieving multi-directional damping Has the advantages.

Example 2:

referring to fig. 13 to 20, another shock-absorbing joint is shown, which also includes an elastic portion 002, a base 003, a first base sleeve 004, a second base sleeve 005, a base ring 006 and the like, wherein the same first base sleeve 004 is fixedly connected with the second base sleeve 005, and the base ring 006 is fixedly connected with the first base sleeve 004, and the fixing manner can be the same as that of embodiment 1; wherein a plurality of damping springs are uniformly distributed in the circumferential direction to form an elastic portion 002, the elastic portion 002 is different from the array manner of the elastic portion 002 in the embodiment 1, the elastic portion 002 in the embodiment 1 is formed by an axis array close to the first protrusion 100, and the elastic portion 002 in the embodiment is formed by an axis array close to the second protrusion 200, so that the corresponding base 003 and the damping spring have two tangent positions, and the base 003 has two concave arc surfaces respectively tangent to the two second protrusions 200; in this embodiment, the elastic portion 002 is formed to have an inner ring, an outer ring and two end portions.

As shown in fig. 14, 16, and 20, the base 003 is located inside the inner ring of the elastic portion 002, and is tangent to the second convex portion 200 of each damper spring to form a third tangent point 202.

Referring to fig. 14, 16 and 20, a first base sleeve 004 is nested on the outer ring of the elastic portion 002 and tangent to the first convex portion 100 of each damper spring to form a first tangent point 101.

Referring to fig. 14, 19 and 20, the second base sleeve 005 is positioned at both end portions of the elastic part 002, and is tangent to the second convex part 200 of each damper spring to form a second tangent point 201.

Referring to fig. 14, 18 and 20, the base ring 006 is located at the middle of the elastic part 002 and tangent to the spiral part 300 of each damper spring to form a fourth tangent point 301.

Referring to fig. 19 and 20, the floating ends 302 of the damping springs are still fixed together by a floating ring 007, and similarly, when the base 003 is not displaced, neither the inner ring nor the outer ring of the floating ring 007 contacts with the damping springs, so that a floating space is reserved.

Referring to fig. 20, which is a simplified diagram of fig. 19, when the base 003 swings axially, radially and along the axis, the operation principle is similar to that of embodiment 1, except that the deformation at this time depends on the third tangent point 202, the base 003 pushes the second protrusion 200 to deform the damping spring, and further, the deformation direction is changed and released by using the first tangent point 101, the second tangent point 201, the fourth tangent point 301 and the floating ring 007, so that the deformation of the second protrusion 200 is finally changed to multiple directions and changed to the swing of the floating ring 007, thereby greatly expanding the damping position.

In the two embodiments, since the elastic portion 002 includes a plurality of damping springs in a circumferential array, and each damping spring is not in contact with each other, the damping springs have a problem of stability, on one hand, the floating ring 007 plays a role of a retainer, on the other hand, the abutting relationship between the floating ring 007 and the base sleeve, the base 003 and the base ring 006 can also play a role, in order to further improve the stability, the inner wall of the first base sleeve 004 is provided with limiting grooves corresponding to the damping springs one by one, and according to the embodiment, the first convex portion 100 and the second convex portion 200 of the damping spring abut against the limiting grooves; further, although the damper spring in the elastic portion 002 achieves stability by the above-mentioned structure, the damper spring has a relatively poor stability in the rotation direction of the axis of the base 003 due to the characteristics of the structure itself, and therefore although the above-mentioned embodiment does not describe this direction, it does not represent that the damper spring does not have a damping effect in this direction, and it is not recommended that the base 003 be rotated during the actual use.

In addition, when the shock attenuation joint is installed and is used, damping spring needs to have the pretightning force, and when the state of fig. 5 and fig. 13 was used, damping spring was in the deformation state to guarantee to have better shock attenuation effect, need pay attention to the absorbing extreme position simultaneously, can not make base 003 and damping spring produce and break away from.

When the damping joint is used, the damping joint can be used between equipment and a robot, for example, a mounting plate is arranged, the mounting plate is mounted on the robot through a plurality of damping joints, specifically, a second mounting hole can be formed in a second base sleeve 005 to realize mounting with the robot, a first mounting hole is formed in the center of a base 003, a threaded column is arranged in the first mounting hole to further realize connection with the mounting plate, and a gap is required to be reserved between the mounting plate to be noticed and the damping joint;

the application of the damper joint is not limited to the above-described application, and the damper joint may be used as a damper of other structures.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims

1. A damping joint is characterized by comprising damping springs, wherein the damping springs are uniformly distributed in the circumferential direction to form an elastic part, all the damping springs are not in contact with each other, and the elastic part is provided with an inner ring, an outer ring and two end parts;

the damping spring comprises a spring body;

2. The shock absorbing joint of claim 1 wherein said first protrusion is tangent to said second protrusion, said second protrusion being tangent to said spiral.

3. The shock absorbing joint of claim 2 wherein said first protrusion and said second protrusion are each a segment of a circular arc.

4. The shock absorbing joint as set forth in claim 1, wherein said base is tangent to said first lobe of each of said shock absorbing springs and forms a first tangent point;

5. The shock absorbing joint as set forth in claim 1, wherein said base is tangent to the second convex portion and/or the spiral portion of each of said shock absorbing springs and forms a third tangent point;

6. A shock absorbing joint as claimed in claim 4 or 5, wherein the suspension ends of each of said shock absorbing springs are connected together by a floating ring, and the suspension ends of said shock absorbing springs are fixedly connected to said floating ring;

7. The damping joint as claimed in claim 4 or 5, wherein the inner wall of the first base sleeve is provided with a plurality of limiting grooves corresponding to the damping springs one to one, and the damping springs are abutted against the limiting grooves.

8. A shock absorbing joint as set forth in claim 4 or 5 wherein said first base sleeve is fixedly connected to said second base sleeve and said base ring is fixedly connected to said first base sleeve.

9. The shock-absorbing joint as claimed in claim 4 or 5, wherein said base has a first mounting hole formed at the center thereof, and said second base sleeve has a second mounting hole formed therein.