CN211343849U - Vibration damping device and robot - Google Patents
Vibration damping device and robot Download PDFInfo
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- CN211343849U CN211343849U CN201921927395.4U CN201921927395U CN211343849U CN 211343849 U CN211343849 U CN 211343849U CN 201921927395 U CN201921927395 U CN 201921927395U CN 211343849 U CN211343849 U CN 211343849U
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- 238000013016 damping Methods 0.000 title claims abstract description 61
- 239000006096 absorbing agent Substances 0.000 claims abstract description 41
- 230000035939 shock Effects 0.000 claims abstract description 40
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 230000001133 acceleration Effects 0.000 abstract description 10
- 230000000694 effects Effects 0.000 description 9
- 238000010521 absorption reaction Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 4
- 238000002955 isolation Methods 0.000 description 4
- 230000002829 reductive effect Effects 0.000 description 3
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- 230000000670 limiting effect Effects 0.000 description 2
- 230000036961 partial effect Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000002238 attenuated effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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Abstract
The utility model provides a vibration damper and robot, vibration damper includes: the first fixing plate is used for being fixedly connected with a piece to be damped; the second fixing plate is used for being fixedly connected with a base of the robot; the two ends of the rigid rope shock absorber are respectively and fixedly connected to the first fixing plate and the second fixing plate; and the two ends of the flexible vibration absorber are respectively connected to the first fixing plate and the second fixing plate. The utility model provides a vibration damper, base are when vibrations, and each strand rigidity silk mutual friction in the rigidity rope shock absorber consumes the vibration energy, and when the great condition of acceleration such as robot emergency brake or emergency acceleration, rigidity rope shock absorber heels easily, and first fixed plate and second fixed plate can be supported again to flexible shock absorber, reduce deformation. In addition, the rigid rope damper is suitable for low-frequency damping, the flexible damper is suitable for high-frequency damping, and the combination of the rigid rope damper and the flexible damper can enlarge the attenuation frequency range of the damping device.
Description
Technical Field
The utility model belongs to the technical field of the damping, more specifically say, relate to a vibration damper and robot.
Background
The laser radar of the robot needs to adjust the angle and the position of the robot according to the detection range of the robot, so that the holder is an indispensable part of the robot and is used for adjusting the angle and the position of the laser radar. However, the robot can vibrate due to uneven road surface in the moving process, and the holder and the laser radar can also vibrate synchronously, so that the detection error is large. The current holder vibration damping device is poor in vibration damping effect and cannot meet the requirement for accurate detection of a laser radar.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a vibration damper to solve the relatively poor technical problem of vibration damper damping effect who exists among the prior art.
In order to achieve the above object, the utility model adopts the following technical scheme: provided is a vibration damping device including:
the first fixing plate is used for being fixedly connected with a piece to be damped;
the second fixing plate is fixedly connected with the base;
the two ends of the rigid rope shock absorber are respectively and fixedly connected to the first fixing plate and the second fixing plate; and
and two ends of the flexible damper are respectively and fixedly connected to the first fixing plate and the second fixing plate.
In one embodiment, the rigid cord damper includes a first fixation bar, a second fixation bar, and a rigid cord connected between the first fixation bar and the second fixation bar.
In one embodiment, the number of the rigid rope dampers is two or more, and each of the rigid rope dampers is disposed around the center of the member to be damped.
In one embodiment, the number of the rigid rope dampers is four, and the four rigid rope dampers are connected end to form a quadrilateral.
In one embodiment, the number of the flexible dampers is two or more, and each of the flexible dampers is disposed around the center of the member to be damped.
In one embodiment, the number of the flexible dampers is eight;
the connecting lines of the four flexible vibration absorbers are arranged in a quadrilateral shape, and the other four flexible vibration absorbers are respectively arranged at the middle points of all side lengths of the quadrilateral shape; or,
and the flexible vibration dampers are circumferentially and uniformly distributed by taking the center of the part to be damped as a circle center.
In one embodiment, each of the flexible dampers surrounds an outer periphery of each of the rigid rope dampers.
In one embodiment, a flexible gasket for vibration reduction is arranged on one side of the second fixing plate, which faces away from the first fixing plate.
In one embodiment, the rigid rope damper is a wire rope damper and the flexible damper is a rubber column damper.
The utility model also provides a robot, including foretell vibration damper, still including being fixed in the first fixed plate treat the damping piece and be fixed in the base of second fixed plate.
The utility model provides a vibration damper and robot's beneficial effect lies in: compared with the prior art, the utility model discloses vibration damper including be used for with treat damping piece fixed connection's first fixed plate, be used for with the base fixed connection's of robot second fixed plate, rigidity rope shock absorber and flexible shock absorber, the both ends of rigidity rope shock absorber, the both ends of flexible shock absorber are equallyd divide and are do not fixed in first fixed plate and second fixed plate. When the base vibrates, all the strands of rigid wires in the rigid rope shock absorber rub with each other to consume vibration energy, and the rigid rope shock absorber can slightly deform to buffer the influence of the vibration of the base on the part to be damped. However, when the acceleration of the robot is large, such as sudden braking or sudden acceleration, the rigid rope damper tends to roll, and the flexible damper can support the first and second fixed plates to reduce the deformation of the rigid rope damper. In addition, the rigid rope shock absorber is suitable for low-frequency shock absorption, the flexible shock absorber is suitable for high-frequency shock absorption, and the combination of the rigid rope shock absorber and the flexible shock absorber can enlarge the attenuation frequency range of the shock absorption device and improve the shock absorption effect.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.
Fig. 1 is a first three-dimensional structure diagram of a vibration damping device provided in an embodiment of the present invention;
fig. 2 is a second three-dimensional structure diagram of the vibration damping device provided in the embodiment of the present invention;
fig. 3 is an exploded view of a vibration damping device according to an embodiment of the present invention;
fig. 4 is a perspective structural view of a robot according to an embodiment of the present invention.
Wherein, in the figures, the respective reference numerals:
100-a vibration damping device; 1-a first fixing plate; 10-a first fixation hole; 11-a first via; 2-a second fixing plate; 20-a second fixation hole; 21-a second via; 3-rigid rope shock absorbers; 31-a first fixation bar; 32-a second fixation bar; 33-a rigid cord; 4-a flexible damper; 5-a flexible gasket; 50-a third fixation hole; 200-a member to be damped; 300-base.
Detailed Description
In order to make the technical problem, technical solution and advantageous effects to be solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
Referring to fig. 1 and fig. 2, a damping device 100 according to an embodiment of the present invention will now be described. In one embodiment, the vibration damping device 100 includes a first fixing plate 1, a second fixing plate 2, a rigid rope damper 3, and a flexible damper 4. Wherein, first fixed plate 1 is used for and treats damping 200 fixed connection, second fixed plate 2 is used for and base 300 fixed connection, rigidity rope shock absorber 3 and flexible shock absorber 4 all locate between first fixed plate 1 and second fixed plate 2, after base 300's vibration transmits second fixed plate 2, the vibration of second fixed plate 2 is after the damping of rigidity rope shock absorber 3 and flexible shock absorber 4, the vibration that transmits to first fixed plate 1 weakens, reduce the vibration of treating damping 200 and treating the damping 200 and go up the object, thereby improve laser radar's detection precision.
The multiple strands of rigid wires of the rigid rope shock absorber 3 can rub against each other to generate large damping when being vibrated, so that the rigid rope shock absorber has dynamic hysteresis characteristics, has strong vibration isolation capability and can attenuate low-frequency vibration. The flexible damper 4 has impact stiffness greater than dynamic stiffness and dynamic stiffness greater than static stiffness, so that impact deformation and dynamic deformation can be buffered, high-frequency vibration energy can be absorbed remarkably, and the flexible damper can be used in cooperation with the rigid rope damper 3 to increase the range of vibration frequency capable of being attenuated. The combination of the rigid rope shock absorber 3 and the flexible shock absorber 4 can increase the stress points of the first fixing plate 1, and disperse the stress of each stress point, so that the stress of the first fixing plate 1 is more uniform. Further, the stiffness characteristic curve of the rigid rope damper 3 is substantially an inverse proportional curve, and the stiffness coefficient of the rigid rope damper 3 gradually decreases with an increase in the amount of deformation, and exhibits a characteristic of decreasing the stiffness. The flexible damper 4 can provide a certain stiffness compensation to the rigid rope damper 3 when the rigid rope damper 3 is largely deformed, and can secure a supporting strength between the first fixed plate 1 and the second fixed plate 2 and prevent the damping device 100 from tilting when the acceleration of the robot is large.
The vibration damping device 100 in the above embodiment includes a first fixing plate 1 for being fixedly connected with a member to be damped 200, a second fixing plate 2 for being fixedly connected with a base 300 of a robot, a rigid rope vibration damper 3 and a flexible vibration damper 4, wherein both ends of the rigid rope vibration damper 3 and both ends of the flexible vibration damper 4 are respectively fixed on the first fixing plate 1 and the second fixing plate 2. When the base 300 vibrates, the strands of rigid wires in the rigid rope damper 3 rub against each other to dissipate vibration energy, and the rigid rope damper 3 can deform slightly to damp the influence of the vibration of the base 300 on the to-be-damped piece 200. However, when the acceleration of the robot is large, such as sudden braking or sudden acceleration, the rigid rope damper 3 tends to roll, and the flexible damper 4 can support the first fixed plate 1 and the second fixed plate 2, thereby reducing the deformation of the rigid rope damper 3. In addition, the rigid rope damper 3 is suitable for low-frequency damping, the flexible damper 4 is suitable for high-frequency damping, and the combination of the rigid rope damper 3 and the flexible damper 4 can enlarge the frequency range of the damping device 100 and improve the damping effect.
Referring to fig. 3, in one embodiment of the rigid rope damper 3, the rigid rope damper 3 includes a first fixing strip 31, a second fixing strip 32 and a rigid rope 33. The first fixing strip 31 is fixed to the first fixing plate 1, and the second fixing strip 32 is fixed to the second fixing plate 2 such that the rigid string 33 is connected between the first fixing plate 1 and the second fixing plate 2. The rigid rope 33 is formed by twisting a plurality of strands of rigid wires, when the rigid rope is vibrated, the friction between the rigid wires can attenuate partial vibration energy, so that the rigid rope has a large self-energy consumption effect, and the deformation of the whole rigid rope 33 can buffer and consume partial vibration energy. In this embodiment, the rigid rope damper 3 has a relatively significant vibration isolation effect, the vibration transmissivity of the rigid rope damper is generally less than 3, the resonance frequency band is relatively narrow, and it can be considered that there is substantially no resonance phenomenon, thereby significantly reducing the possibility of resonance of the member to be damped 200. Further, since the rigid cord 33 can deform in various directions when it receives vibration, it has a certain vibration damping function in any of the X direction, the Y direction, and the Z direction. Among them, the vibration damping function in the Z direction (i.e., the direction in which the both ends of the rigid string 33 are connected) is the best.
Optionally, a plurality of rigid ropes 33 are connected between one side of the first fixing strip 31 and one side of the second fixing strip 32, and a plurality of rigid ropes 33 are also connected between one side of the first fixing strip 31 and the other side of the second fixing strip 32, so that the two sides of the first fixing strip 31 are stressed more uniformly, and the vibration reduction effect is better. The rigid rope 33 can be selected as a steel wire rope, and the rigid rope damper 3 is a steel wire rope damper.
Alternatively, the first fixing strip 31 and the second fixing strip 32 are parallel to each other, and the lengths of the respective rigid strings 33 are the same, the damping capacity is the same, and the damping capacity against vibrations transmitted in various directions is the same.
In one embodiment of the vibration damping device, the number of the rigid rope dampers 3 is two or more, each rigid rope damper 3 is arranged around the center of the member to be damped 200, and each force bearing point of the first fixing plate 1 is arranged around the center of the member to be damped 200, so that the support of the member to be damped 200 is more stable, and the possibility of the member to be damped 200 inclining is reduced.
Optionally, the number of the rigid rope dampers 3 is two, the two rigid rope dampers 3 are arranged in parallel, and the center lines of the two rigid rope dampers 3 intersect with the central axis of the member to be damped 200, so that the center of the member to be damped 200 is located between the two rigid rope dampers 3. The number of the rigid rope shock absorbers 3 is three, the three rigid rope shock absorbers 3 are connected end to form a triangle, and the center of the triangle and the center of the to-be-damped part 200 are located on the same vertical line.
Optionally, referring to fig. 3, the number of the rigid rope dampers 3 is four, the four rigid rope dampers 3 are connected end to form a quadrilateral, and the center of the quadrilateral and the center of the member to be damped 200 are located on the same vertical line.
Referring to fig. 3, in one embodiment of the damping device 100, the first fixing plate 1 and the second fixing plate 2 are disposed in parallel, so that the heights of the rigid rope damper 3 and the flexible damper 4 are the same, the damping capacity is also the same, and the vibration transmitted from any direction can be effectively damped without the occurrence of the situation that the damping capacity is strong on one side and weak on one side. The first fixing plate 1 and the second fixing plate 2 may be square, circular, etc., and their specific shapes are not limited herein.
In one embodiment of the vibration damping device, the number of the flexible vibration dampers 4 is two or more, each flexible vibration damper 4 is arranged around the center of the member to be damped 200, and each force bearing point of the first fixing plate 1 is arranged around the center of the member to be damped 200, so that the member to be damped 200 is supported more stably, and the possibility of the member to be damped 200 inclining is reduced.
Wherein, first through-hole 11 has been seted up to first fixed plate 1, and second through-hole 21 has been seted up to second fixed plate 2, and flexible damping 4 sets up around waiting the center of damping piece 200, makes first through-hole 11 to the second through-hole 21 between have the fretwork space, and the cable of being convenient for passes from this fretwork space.
Optionally, the flexible damper 4 is a rubber column damper, which has good vibration isolation and shock isolation performance, can quickly cross the resonance region to prevent resonance, can freely select the shape and size, is simple to manufacture, and meets different requirements of users on rigidity in different directions by adjusting the component control hardness of rubber.
Optionally, the number of the flexible vibration dampers 4 is four, the connecting lines of the four flexible vibration dampers 4 are arranged in a quadrilateral manner, or the four flexible vibration dampers 4 are circumferentially and uniformly distributed by taking the center of the member to be damped 200 as a center.
Optionally, referring to fig. 3, the number of the flexible dampers 4 is eight, wherein the connecting lines of four flexible dampers 4 are arranged in a quadrilateral, the other four flexible dampers 4 are distributed at the center of each side length of the quadrilateral, the shape formed by the connecting lines of eight flexible dampers 4 is still the quadrilateral, and the center of the quadrilateral is located on the central axis of the member to be damped 200. Alternatively, the eight flexible vibration dampers 4 are circumferentially and uniformly distributed with the center of the member to be damped 200 as the center. The distribution of the flexible dampers 4 is not limited here as long as it is arranged around the center of the member to be damped 200.
Referring to fig. 3, in one embodiment of the vibration damping device 100, each flexible damper 4 surrounds the outer periphery of each rigid rope damper 3. The impact rigidity of the flexible shock absorber 4 is greater than dynamic rigidity, the dynamic rigidity is greater than static rigidity, the impact resistance is strong, the base 300 can be prevented from causing large impact to the first fixing plate 1 when in emergency stop or acceleration to cause the side turning of the to-be-damped part 200, the impact on the edge of the first fixing plate 1 is strong, and therefore the flexible shock absorber 4 is closer to the edge and can reduce the influence caused by instantaneous impact.
Referring to fig. 3, in one embodiment, a flexible gasket 5 for damping vibration is disposed on a side of the second fixing plate 2 facing away from the first fixing plate 1, and the flexible gasket 5 may be a rubber gasket, a silicone gasket, or other compressible gasket. The flexible gasket 5 can reduce the concentrated stress on the second fixing plate 2, improve the stress distribution, and reduce the high-frequency impact. The flexible pad 5 may optionally be frame-shaped to facilitate the passage of cables through the flexible pad 5.
Referring to fig. 3, in one embodiment of the damping device 100, a first fixing hole 10 is formed in the first fixing plate 1 for cooperating with a fastening member to connect the first fixing plate 1 and the member to be damped 200, and a second fixing hole 20 is formed in the second fixing plate 2 for cooperating with a fastening member to connect the second fixing plate 2 and the base 300. The first fixing hole 10 is arranged near the center of the first fixing plate 1, the second fixing hole 20 is arranged near the center of the second fixing plate 2, and the amplitudes of the centers of the first fixing plate 1 and the second fixing plate 2 are small, so that the amplitudes of the base 300 transmitted to the second fixing plate 2 and the first fixing plate 1 transmitted to the to-be-damped piece 200 are relatively small, and vibration can be effectively reduced. Optionally, the flexible gasket 5 is provided with a third fixing hole 50 opposite to the second fixing hole 20 for a fastener to pass through, so that the flexible gasket 5 is clamped between the second fixing plate 2 and the base 300.
Referring to fig. 4, an embodiment of the present invention further provides a robot, the robot includes the vibration damping device 100 in any of the above embodiments, further includes a member to be damped 200 and a base 300, the member to be damped 200 is fixedly connected to the first fixing plate 1, and the base 300 is fixedly connected to the second fixing plate 2. Alternatively, the base 300 is a body of the robot, the member to be damped 200 is a pan/tilt head, and the damping device 100 can be used for pan/tilt head damping.
In the robot of the above embodiment, the damping device 100 includes the first fixing plate 1 for being fixedly connected with the member to be damped 200, the second fixing plate 2 for being fixedly connected with the base 300 of the robot, the rigid rope damper 3 and the flexible damper 4, and both ends of the rigid rope damper 3 and both ends of the flexible damper 4 are respectively fixed to the first fixing plate 1 and the second fixing plate 2. When the base 300 vibrates, the strands of rigid wires in the rigid rope damper 3 rub against each other to dissipate vibration energy, and the rigid rope damper 3 can deform slightly to damp the influence of the vibration of the base 300 on the to-be-damped piece 200. However, when the acceleration of the robot is large, such as sudden braking or sudden acceleration, the rigid rope damper 3 tends to roll, and the flexible damper 4 can support the first fixed plate 1 and the second fixed plate 2, thereby reducing the deformation of the rigid rope damper 3. In addition, the rigid rope damper 3 is suitable for low-frequency damping, the flexible damper 4 is suitable for high-frequency damping, and the combination of the rigid rope damper 3 and the flexible damper 4 can enlarge the frequency range of the damping device 100 of the member to be damped 200 and improve the damping effect.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A vibration damping device, comprising:
the first fixing plate is used for being fixedly connected with a piece to be damped;
the second fixing plate is fixedly connected with the base;
the two ends of the rigid rope shock absorber are respectively and fixedly connected to the first fixing plate and the second fixing plate; and
and two ends of the flexible damper are respectively and fixedly connected to the first fixing plate and the second fixing plate.
2. The vibration damping device according to claim 1, wherein: the rigid rope damper comprises a first fixing strip, a second fixing strip and a rigid rope connected between the first fixing strip and the second fixing strip.
3. The vibration damping device according to claim 1, wherein: the number of the rigid rope dampers is two or more, and each rigid rope damper is arranged around the center of the member to be damped.
4. The vibration damping device according to claim 3, wherein: the number of the rigid rope shock absorbers is four, and the four rigid rope shock absorbers are connected end to form a quadrilateral.
5. The vibration damping device according to claim 3, wherein: the number of the flexible vibration dampers is two or more, and each flexible vibration damper is arranged around the center of the member to be damped.
6. The vibration damping device according to claim 5, wherein: the number of the flexible vibration absorbers is eight;
the connecting lines of the four flexible vibration absorbers are arranged in a quadrilateral shape, and the other four flexible vibration absorbers are respectively arranged at the middle points of all side lengths of the quadrilateral shape; or,
and the flexible vibration dampers are circumferentially and uniformly distributed by taking the center of the part to be damped as a circle center.
7. The vibration damping device according to claim 5, wherein: each of the flexible dampers surrounds an outer periphery of each of the rigid rope dampers.
8. The vibration damping device according to any one of claims 1 to 7, wherein: and a flexible gasket for vibration reduction is arranged on one side of the second fixing plate, which faces away from the first fixing plate.
9. The vibration damping device according to any one of claims 1 to 7, wherein: the rigid rope shock absorber is a steel wire rope shock absorber, and the flexible shock absorber is a rubber column shock absorber.
10. Robot, its characterized in that: the vibration damping device according to any one of claims 1 to 9, further comprising a member to be damped fixed to the first fixed plate and a base fixed to the second fixed plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921927395.4U CN211343849U (en) | 2019-11-07 | 2019-11-07 | Vibration damping device and robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921927395.4U CN211343849U (en) | 2019-11-07 | 2019-11-07 | Vibration damping device and robot |
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| CN211343849U true CN211343849U (en) | 2020-08-25 |
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| CN201921927395.4U Active CN211343849U (en) | 2019-11-07 | 2019-11-07 | Vibration damping device and robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112664614A (en) * | 2020-12-25 | 2021-04-16 | 山东大学 | Double-layer floating raft vibration reduction device and method |
| CN113251284A (en) * | 2021-06-11 | 2021-08-13 | 宋夏 | Shooting vehicle |
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2019
- 2019-11-07 CN CN201921927395.4U patent/CN211343849U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112664614A (en) * | 2020-12-25 | 2021-04-16 | 山东大学 | Double-layer floating raft vibration reduction device and method |
| CN113251284A (en) * | 2021-06-11 | 2021-08-13 | 宋夏 | Shooting vehicle |
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