WO2019227781A1 - 一种减震机构及可移动装置 - Google Patents

一种减震机构及可移动装置 Download PDF

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Publication number
WO2019227781A1
WO2019227781A1 PCT/CN2018/106305 CN2018106305W WO2019227781A1 WO 2019227781 A1 WO2019227781 A1 WO 2019227781A1 CN 2018106305 W CN2018106305 W CN 2018106305W WO 2019227781 A1 WO2019227781 A1 WO 2019227781A1
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WO
WIPO (PCT)
Prior art keywords
semi
open
shock absorbing
base
shaft body
Prior art date
Application number
PCT/CN2018/106305
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English (en)
French (fr)
Inventor
庄彬
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201880016542.4A priority Critical patent/CN110896647B/zh
Publication of WO2019227781A1 publication Critical patent/WO2019227781A1/zh

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F7/00—Vibration-dampers; Shock-absorbers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F2224/00—Materials; Material properties
    • F16F2224/02—Materials; Material properties solids
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F2232/00—Nature of movement
    • F16F2232/08—Linear

Definitions

  • the embodiment of the invention belongs to the technical field of shock absorption, and in particular relates to a shock absorption mechanism and a movable device adopting the shock absorption mechanism.
  • the application scenarios of the shock absorption mechanism generally include multi-directional shock absorption and unidirectional shock absorption.
  • the unidirectional shock absorption mechanism is an auxiliary mechanism for ensuring that the equipment obtains good buffering in a single shock absorption direction.
  • the unidirectional shock absorption mechanism needs to control the gap outside the shock absorption direction in order to obtain a better one-way shock absorption effect.
  • a seal sleeve, a limit ring or a hanging connecting piece is often used to isolate the gap in other directions. Or vibration to achieve unidirectional shock absorption.
  • the prior art has at least the following problems: the gap outside the direction of shock absorption introduced by the unidirectional shock absorption mechanism in actual work is uncontrollable, and the use of a seal sleeve, a limit ring or a connecting piece to control the shock
  • the clearance outside the direction of the earthquake is very limited, which will affect the effect of the one-way shock absorption and the stiffness of the part of the one-way shock absorption mechanism outside the direction of shock absorption.
  • an embodiment of the present invention provides a shock absorption mechanism to solve the problem that the clearance control in a direction other than the shock absorption direction in the prior art is limited, and an effective unidirectional shock absorption effect cannot be achieved.
  • a movable device using the shock absorbing mechanism is provided.
  • a shock absorbing mechanism provided by an embodiment of the present invention includes a base, a movable base, and a deformable shock absorbing member;
  • the shock absorbing member is elastically disposed between the base and the movable base;
  • the base and the movable base are movably connected through a first shaft body and a semi-open guide sleeve sleeved on the first shaft body;
  • the first shaft body can reciprocate in the semi-open sleeve, and the matching clearance between the first shaft body and the semi-open guide sleeve is adjustable.
  • the shock absorbing mechanism further includes an adjustment component, and the adjustment component is used to adjust the size of the first open groove of the semi-open guide sleeve.
  • the adjusting assembly includes a clamping member and a first locking member, and the first locking member cooperates with the clamping member to lock the semi-open guide sleeve.
  • the first shaft body is fixed on a side of the movable base body facing the base, the clamping member is a semi-open adjustment sleeve, and the first lock Pieces are screws;
  • the semi-open adjustment sleeve is disposed on the base, and the semi-open guide sleeve is sleeved inside the semi-open adjustment sleeve;
  • Both sides of the second open slot of the semi-open adjustment sleeve are locked together with the screw, and the size of the second open slot becomes smaller as the screw is tightened to make the first open The size of the groove becomes smaller accordingly.
  • At least the second open groove in the semi-open adjustment sleeve is partially or completely suspended from the base.
  • both sides of the first open groove of the semi-open guide sleeve are locked into a second locking member, and the size of the first open groove varies with the second lock.
  • the fasteners lock down and become smaller.
  • the semi-open guide sleeve is a semi-open linear bearing or a semi-open oil-free bearing.
  • a second shaft body parallel to the first shaft body is provided between the base and the movable base body, and the shock absorbing member and the second shaft body are provided.
  • the second shaft body is disposed on a side of the base facing the movable base body, and the shock absorbing member is sleeved on the second shaft body and communicates with Said base resisted;
  • the movable base body is provided with a mounting portion that cooperates with the second shaft body, and the shock absorbing member and the second shaft body are both partially located in the mounting portion.
  • the shock absorbing member includes a shock absorbing portion and a connecting portion, and the connecting portion is provided at an end of the shock absorbing portion close to the movable base body or separately provided at the shock absorbing portion. Both ends of the department
  • the mounting portion is an axial hole, and the connecting portion provided at an end of the shock absorbing portion near the movable base is located in the axial hole.
  • a flange is provided in the axial hole
  • connection portion includes a support portion and a stop portion, the support portion is received in an engaging hole formed by the flange, and the stop portion bears on the flange;
  • a limiting member is installed at an end of the second shaft body located in the axial hole, the limiting member is at least partially protruding from an end surface of the second shaft body, and the limiting member is used to fit the base
  • the seat defines a movement range of the movable seat body and the shock absorbing member.
  • the semi-open guide sleeve includes two or more, the shock absorbing member includes two or more, and each of the semi-open guide sleeve is sleeved with one In the first shaft body, the semi-open guide sleeve and the shock absorbing member are arranged at intervals and / or in a matrix.
  • the movable device provided by the embodiment of the present invention includes a main body and a power component connected to the main body, and the main body is further provided with the above-mentioned shock absorption mechanism, wherein the base is fixedly connected to the main body, The movable base is used for connecting a load.
  • the size of the inner and outer diameters of the semi-open guide sleeve can be adjusted, thereby realizing the The adjustment of the matching clearance between the first shaft body and the semi-open guide sleeve.
  • the unity of the movement direction of the first shaft body in the semi-open guide sleeve can be ensured, so that the base and the The relative movement between the movable bases is a movement in a single direction, thereby achieving an effective one-way shock absorption effect.
  • FIG. 1 is an overall schematic diagram of a shock absorbing mechanism according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a movable base provided by an embodiment of the present invention.
  • FIG. 3 is a partial exploded view of a shock absorbing mechanism according to an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of a shock absorbing mechanism with a part of the structure removed according to an embodiment of the present invention
  • FIG. 5 is a schematic structural diagram of a semi-open guide sleeve according to the present invention.
  • FIG. 6 is a schematic diagram of a shock absorbing member according to an embodiment of the present invention.
  • FIG. 7 is a cross-sectional view of a shock absorbing member according to an embodiment of the present invention.
  • FIG. 8 is a cross-sectional view of a vibration damping mechanism in a state according to an embodiment of the present invention.
  • FIG. 9 is an exploded schematic view of a shock absorbing mechanism according to an embodiment of the present invention.
  • FIG. 10 is a cross-sectional view of the shock absorbing mechanism in another state according to the embodiment of the present invention.
  • FIG. 11 is a partial schematic diagram of a movable device according to an embodiment of the present invention.
  • an embodiment herein means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the invention.
  • the appearances of this phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are they independent or alternative embodiments that are mutually exclusive with other embodiments. It is clearly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.
  • An embodiment of the present invention provides a shock absorbing mechanism, which includes a base, a movable base and a deformable shock absorbing member;
  • the shock absorbing member is elastically disposed between the base and the movable base;
  • the base and the movable base are movably connected through a first shaft body and a semi-open guide sleeve sleeved on the first shaft body;
  • the first shaft body can reciprocate in the semi-open sleeve, and the matching clearance between the first shaft body and the semi-open guide sleeve is adjustable.
  • an embodiment of the present invention further provides a movable device, which includes a main body and a power component connected to the main body.
  • the main body is further provided with the above-mentioned shock absorption mechanism, wherein the base and the The main body is fixedly connected, and the movable base is used to connect a load.
  • the inner and outer dimensions of the semi-open guide sleeve can be adjusted.
  • the adjustment of the matching clearance between the first shaft body and the semi-open guide sleeve By adjusting the clearance between the first shaft body and the semi-open guide sleeve according to the actual working condition of the shock absorbing mechanism, the unity of the movement direction of the first shaft body in the semi-open guide sleeve can be ensured, so that the base and the The relative movement between the movable bases is a movement in a single direction, thereby achieving an effective one-way shock absorption effect.
  • FIG. 1 is an overall structural diagram of a shock absorbing mechanism according to an embodiment of the present invention.
  • the shock absorbing mechanism includes a base 10 and a movable base 20.
  • the movable base 20 may be in a single direction. The upper part moves relative to the base 10, and when the shock absorbing mechanism is installed on the equipment that needs to be damped, the base 10 and the movable base 20 are fixedly connected to different structures, respectively, so that the number of connections to the movable base 20 can be reduced. Structural vibrations improve stability.
  • FIG. 2 is a schematic diagram of the movable base body 20
  • FIG. 3 is a schematic diagram of the shock absorbing mechanism in this embodiment after the movable base body 20 is removed.
  • the shock absorbing mechanism further includes a deformable shock absorbing member 30
  • the shock absorbing member 30 is elastically disposed between the base 10 and the movable base 20, and is used to cushion the base 10 and The relative movement of the movable base 20; the first shaft body 40 and the semi-open guide sleeve 50 are also disposed between the base 10 and the movable base 20, and the base 10 and the base
  • the movable base 20 is movably connected through the first shaft body 40 and a semi-open guide sleeve 50 sleeved on the first shaft body 40.
  • the first shaft body 40 may be in the semi-open sleeve.
  • the cylinder is reciprocated, and the fit clearance between the first shaft body 40 and the semi-open guide sleeve 50 is adjustable.
  • the positions of the first shaft body 40 and the semi-open guide sleeve 50 in the shock absorbing mechanism are opposite, and the first shaft body 40 may be disposed on the movable seat.
  • the semi-open guide sleeve 50 is disposed on the base 10; or the first shaft body 40 is disposed on the base 10, and the semi-open guide sleeve 50 is disposed on the movable base 20.
  • the first shaft body 40 is fixed on a side of the movable base body 20 facing the base 10
  • the semi-open guide sleeve 50 is disposed on the base.
  • the seat 10 faces a side of the movable seat body 20.
  • the semi-open guide sleeve 50 includes a shaft hole 51 and a first open groove 52 communicating with the shaft hole 51.
  • the shaft hole can be realized by adjusting the width of the slot of the first open groove 52.
  • the aperture of 51 is adjusted to adjust the matching clearance between the semi-open guide sleeve 50 and the first shaft body 40.
  • the cooperation between the first shaft body 40 and the semi-open guide sleeve 50 is adjusted. There are many ways to achieve the adjustment of the gap.
  • One possible implementation in this embodiment is to adjust by means of a tool external to the shock absorbing mechanism. For example, if the outer diameter of the first shaft body 40 is larger than the inner diameter of the shaft hole 51, the slot of the first open groove 52 can be enlarged by an external tool.
  • the semi-open guide sleeve 50 can be clamped by a clamping tool external to the shock absorbing mechanism to reduce the slot width of the first open groove 52, so that the diameter of the shaft hole 51 is reduced to the same as Until the outer diameter of the first shaft body 40 is matched.
  • the matching of the hole diameter of the shaft hole 51 and the outer diameter of the first shaft body 40 here means that the tolerance of the fit between the shaft hole 51 and the first shaft body 40 satisfies the axial movement of the first shaft body 40 in the shaft hole 51. Yes, at the same time, the radial movement of the first shaft body 40 in the shaft hole 51 does not occur, that is, the movement of the first shaft body 40 in the shaft hole 51 is a unidirectional movement.
  • the shaft hole 51 described below The matching of the inner diameter to the outer diameter of the first shaft body 40 is the same.
  • the damping mechanism further includes an adjusting component 60
  • the adjusting assembly 60 is used to adjust the size of the first open groove 52 of the semi-open guide sleeve 50.
  • the adjusting assembly 60 includes a clamping member 61 and a first locking member 62. The first locking member 62 cooperates with the clamping member 61 to lock the semi-open guide sleeve 50.
  • the clamping member 61 is a semi-open adjustment sleeve, and a second opening groove 611 is provided on a side of the semi-open adjustment sleeve to adjust the semi-open adjustment. Adjusting the inner diameter of the sleeve, the second opening groove 611 has two sides extending outward, and the two sides can be used to lock the first locking member 62, and the first locking member 62 can be For screws.
  • the semi-open adjustment sleeve may be disposed on the base 10, and the semi-open guide sleeve 50 is sleeved in the semi-open adjustment sleeve, and at the same time, the semi-open adjustment sleeve
  • the two sides of the second open slot 611 extending outward of the cylinder are locked together with the screw, and the size of the second open slot 611 becomes smaller as the screw is tightened, so that the first open slot 52 The size becomes smaller accordingly.
  • at least the second open slot 611 in the semi-open adjustment sleeve is partially or completely suspended from the base 10 to be able to adjust the second open slot 611.
  • Size (referring to the width of the notch), so as to adjust the inner diameter size of the semi-open adjustment sleeve, so as to adjust the diameter of the shaft hole 51 of the semi-open guide sleeve 50 in the semi-open adjustment sleeve The purpose of the size.
  • the semi-open guide sleeve 50 itself has an adjusting part for adjusting the width of the slot of the first open groove 52, as shown in FIG. 5, as an optional solution, the semi-open The first opening groove 52 of the guide sleeve 50 extends from both sides, and the two sides are locked into the second locking member 53 together. The distance between the two sides can be adjusted by the second locking member 53 to adjust the first side.
  • the size of the open slot 52 (referring to the width of the notch), for example, the size of the first open slot 52 becomes smaller as the second locking member 53 is locked.
  • the first open groove 52 in the semi-open adjustment sleeve is partially or completely suspended from the base 10.
  • the second locking member 53 may be a locking screw.
  • the quantity or corresponding position thereof is in addition to the content in the above-mentioned diagrams. In actual applications, corresponding adjustments can be made according to needs.
  • the semi-open guide sleeve 50 may be a semi-open linear bearing or a semi-open oil-free bearing.
  • shock absorbing member 30 there may also be various ways for disposing the shock absorbing member 30 between the base 10 and the movable base body 20.
  • the installation method of the shock absorbing member 30 will be described below.
  • the shock absorbing member 30 is not fixedly connected to the base 10 and the movable base 20, such as directly elastically abutting against the end surfaces of the base 10 and the movable base 20. This method is intuitive and will not be described here.
  • the shock absorbing member 30 is fixedly connected to one or two of the base 10 and the movable base 20, as shown in FIG. 6, the shock absorbing member 30 includes a shock absorbing portion. 31.
  • a connecting portion 32 provided at one end of the shock absorbing portion 31 near the movable base 20 or at both ends of the shock absorbing portion 31 (shown in FIG. 6 as the connection) (The parts 32 are provided at both ends of the shock absorbing part 30), and the connecting parts 32 of the shock absorbing member 30 may be fixedly connected to the base 10 and the movable base 20, respectively,
  • the movable base 20 can be elastically deformed when moving relative to the base 10 to realize a shock-absorbing function.
  • the shock-absorbing member 30 is also used to support the movable base 20 and to support the movable base while achieving the shock-absorbing function.
  • the 20 cooperates with the base 10 to limit the range of motion of the movable base 20.
  • a catching groove 33 may be formed between the shock absorbing portion 31 and the connecting portion 32.
  • the connecting portion 32 may include a supporting portion 321 and a stopping portion 322, and the supporting portions 321 are respectively The stopping portion 322 and the damping portion 31 are connected, and the supporting portion 321, the stopping portion 322 and the damping portion 31 cooperate to form the engaging groove 33.
  • the engaging slot 33 can be used for connecting the shock absorbing member 30 with the base 10 or the movable base 20, which will be described below.
  • FIG. 8 is a possible cross-sectional view of a shock absorbing mechanism
  • a parallel to the first shaft body 40 is further provided between the base 10 and the movable base 20.
  • the second shaft body 70 can be used to cooperate with other components in the shock absorbing mechanism to achieve the limit of the movable base 20.
  • the second shaft body 70 may be provided in cooperation with the shock absorbing member 30.
  • one end of the second shaft body 70 is fixedly disposed on the base 10 facing the movable base 20.
  • the shock absorbing member 30 is a hollow structure and is provided with a socket hole 34 to be sleeved on the second shaft body 70 and abut against the base 10.
  • the movable seat The body 20 is provided with a mounting portion 21 that cooperates with the second shaft body 70.
  • the shock absorbing member 30 and the second shaft body 70 are partially located in the mounting portion 21.
  • the mounting portion 21 is an axial hole.
  • the connecting portion 32 provided at an end of the shock absorbing portion 31 near the movable base 20 is located in the axial hole, wherein A flange 22 is provided in the axial hole.
  • the support portion 321 is received in an engaging hole formed by the flange 22, and the stop portion 322 bears on the flange 22.
  • the above-mentioned engaging groove 33 is engaged with the flange 22 to realize the connection between the movable seat body 20 and the shock absorbing member 30; on the other hand, the second shaft body 70 is located in the axial direction A limiting member 80 is installed at one end in the hole, and the limiting member 80 at least partially protrudes from an end surface of the second shaft body 70. The limiting member 80 is used to fit the second shaft body 70 and the base. 10 collectively defines a movement range of the movable base 20 and the shock absorbing member 30.
  • the limiting member 80 may be a screw with a larger convex edge, or a limiting piece fixed on the second shaft body 70 by a fastener 90.
  • the above-mentioned second shaft body 70 may be fixed on the movable base body 20, the above-mentioned mounting portion 21 is located on the base 10, and the above-mentioned shock absorbing member 30 and the second shaft body 70 are both partially located on this installation
  • the specific installation form in the portion 21 is similar to the installation manner when the second shaft body 70 is fixed on the base 10, and will not be described further here.
  • the shock absorbing member 30 may be a shock absorbing ball, a shock absorbing spring, a shock absorbing spring, and the like.
  • the semi-open guide sleeve 50 includes two or more, the shock absorbing member 30 includes two or more, and each of the semi-open guide sleeves 50 is provided with an inner sleeve.
  • the semi-open guide sleeve 50 and the shock absorbing member 30 are arranged at intervals and / or in a matrix.
  • each of the shock absorbing members 30 may be correspondingly provided with a second shaft body 70, and each of the semi-open guide sleeves 50 may be provided with a semi-open adjustment sleeve. As shown in FIG.
  • two adjustment components 60 and two second shaft bodies 70 are distributed in a matrix on the base 10, that is, two second shaft bodies 70 are oppositely disposed, and two adjustment components 60 are oppositely disposed. And two second shaft bodies 70 and two adjustment components 60 are arranged at intervals; each adjustment component 60 is provided with a semi-open guide sleeve 50, each semi-open guide sleeve 50 and a first shaft body 40 is matched; each second shaft body 70 is correspondingly provided with a shock absorbing member 30, and a mounting portion 21 is inserted to cooperate with the corresponding limiting member 80 and the fastener 90.
  • the two adjustment assemblies 60 are formed in a plane symmetry with respect to the central axes of the two second shaft bodies 70.
  • the shape of the end surface of the base 10 facing the movable base 20 may be circular or polygonal.
  • the shape of the end surface of the movable base 20 facing the base 10 is the same as that of the base.
  • the shape of the end surface of 10 is adapted.
  • the opposite sides of the base 10 and the movable base 20 may be triangles with rounded corners.
  • an end surface of the movable base 20 facing the base 10 further extends to the base 10 with a housing (not shown in the figure). After the shock absorbing mechanism is assembled, the housing may be Other components between the base 10 and the movable base 20 are substantially covered.
  • the assembly of the shock absorbing mechanism is described below with reference to FIGS. 8 to 10.
  • the structure of the shock absorbing mechanism used for the exemplary illustration includes a base 10, a movable base 20, and a first shaft provided on the movable base 20.
  • a limiting member 80 connected to the second shaft body 70 in the mounting portion 21 on the base body 20.
  • the mounting portion 21 is provided with a flange 22 therein, and the shock absorbing member 30 includes a connecting portion 32.
  • the diameter of the shaft hole 51 of the semi-open guide sleeve 50 is adjusted by the semi-open adjustment sleeve to match the outer diameter of the first shaft body 40 to ensure that the first shaft body 40 is in the semi-open guide sleeve.
  • the limiting member 80 is mounted on the second shaft body 70 through the mounting portion 21, so that the limiting member 80 and the flange 22 hold the connection portion 32 to complete the installation.
  • FIG. 8 shows the state where the movable base 20 moves to the extreme direction in the direction of A, and the distance between the movable base 20 and the base 10 is the largest at this time; The distance between the base 20 and the base 10 is the smallest; the working process of the damping mechanism includes a process of changing from the state of FIG. 8 to the state of FIG. 10 and a process of changing from the state of FIG. 10 to the state of FIG. 8.
  • the shock absorbing mechanism is to damp a load (such as an on-board gimbal) on a vehicle (such as an unmanned vehicle), and specifically load the load with the movable seat 20 of the shock absorbing mechanism.
  • the base 10 of the damping mechanism is fixed on the vehicle body of the vehicle.
  • the vehicle-mounted heads, shock absorption mechanisms, and unmanned vehicles are distributed from top to bottom in a spatial position.
  • the shock absorption mechanisms can be weakened. The impact of the unmanned vehicle's excitation from the uneven ground or wheels (such as Mecanum wheels) on the vehicle's head during the movement.
  • the shock absorbing mechanism and the vehicle-mounted head are in an initial stationary state, due to the weight of the vehicle-mounted head and the movable base 20, the shock-absorbing member 30 of the shock-absorbing mechanism is in a state of compression deformation in the initial state , That is, between the two extreme positions in A and B, or the extreme positions in the B direction.
  • the shock absorbing mechanism on the unmanned vehicle moves from the initial state (for example, the initial state is that the shock absorbing member 30 is located between two extreme positions in A and B) to FIG. 8
  • the compression amount of the shock absorbing member 30 will become smaller, or even the compression amount becomes zero.
  • the shock absorbing member 30 is fixedly connected to the base 10, there is such a possibility
  • the shock absorbing member 30 is in a state of tensile deformation in the state shown in FIG. 8.
  • the flange 22 in the mounting portion 21 presses the connecting portion 32 of the shock absorbing member 30 to make it abut against the stopper 80 which defines a movable seat body. 20 range of motion in the A direction.
  • the process of changing the shock absorbing mechanism from the state of FIG. 8 to the initial state is a reverse process of changing from the initial state to the state shown in FIG. 8.
  • the base 10 defines a movable range of the movable base 20 in the B direction.
  • the base 10 is used as a part of the limit.
  • a limit boss may be provided on the base 10 to limit the movement of the movable base 20 in the B direction. Bit.
  • the process of changing the shock absorbing mechanism from the state of FIG. 10 to the initial state is a reverse process of changing from the initial state to the state shown in FIG. 10.
  • the shock absorbing member 30 can be repeatedly moved from the initial state in the B direction to the A direction and then the B direction, or from the initial state to the A direction and then the B direction to A The direction is repeated in such a way as to reduce the vibration such as the vehicle-mounted gimbal.
  • shock absorbing mechanism is to damp a load (such as a gimbal) on an aircraft (such as a drone), and specifically fix the load to the movable base 20 of the shock absorbing mechanism.
  • the base 10 of the shock absorbing mechanism is fixed on the fuselage of the aircraft.
  • the drones, vibration damping mechanisms, and gimbals are distributed from top to bottom in space. During the drone flight, the vibration damping mechanisms can reduce the impact of the gimbals. Shaking.
  • the shock absorbing mechanism and the head are in an initial stationary state, due to the weight of the head and the movable base 20, the shock absorbing member 30 of the shock absorbing mechanism is in a state of tensile deformation in the initial state. That is, between the two extreme positions in A and B or the extreme position in the A direction.
  • the shock absorbing mechanism on the drone when the shock absorbing mechanism on the drone is from the initial state (for example, the initial state is that the shock absorbing member 30 is located between two extreme positions in A and B) to FIG. 8
  • the state of the shock absorber 30 changes, the amount of stretching of the shock absorber 30 further increases.
  • the limiting member 80 limits the movement range of the movable base 20 in the A direction.
  • the base 10 defines a movable range of the movable base 20 in the B direction.
  • the base 10 is used as a part of the limit.
  • a limit boss may be provided on the base 10 to limit the movement of the movable base 20 in the B direction.
  • the shock absorbing member 30 can be moved from the initial state (including the extreme position in the A direction) in the B direction and then to the A direction and then to the B direction, or from the initial state in the A direction Then repeat the movement in the B direction and then the A direction to reduce the vibration such as the gimbal.
  • the connection relationship between the shock-absorbing member 30 and the base 10 and the movable base 20 in the shock-absorbing structure needs to be adjusted accordingly.
  • the shock absorbing member 30 when the movable base 20 is facing the center of gravity, the shock absorbing member 30 needs to be fixedly connected to the base 10, but when the movable base 20 is facing the opposite direction of the center of gravity, the shock absorbing member 30 may not be connected to the base 10 and movable.
  • the base 20 is fixedly connected.
  • the external shock is absorbed through the deformation of the shock absorbing member 30 to achieve a shock absorbing effect, and the unidirectional shock absorbing can be achieved by adjusting the semi-open guide sleeve 50.
  • the adjustable semi-open guide sleeve 50 can realize the cooperation between the first shaft body 40 and the semi-open guide sleeve 50 of the shock absorbing mechanism.
  • the adjustment of the clearance by adjusting the matching clearance according to the actual working condition of the shock absorption mechanism, can ensure the unity of the movement direction of the first shaft body 40 in the semi-open guide sleeve 50, so that the base 10 and the movable base 20
  • the relative motion is a motion in a single direction, thereby achieving an effective one-way shock absorption effect.
  • the mobile device includes a main body 1 and a power component (not shown) connected to the main body 1.
  • the main body 1 is further provided with the main body 1.
  • the base 10 is fixedly connected to the main body 1, and the movable base 20 is used to connect the load 3.
  • the movable device may be an unmanned aerial vehicle, an unmanned vehicle, a moving robot, or an unmanned ship, etc.
  • the load 3 may be a gimbal or other equipment requiring vibration reduction.
  • an unmanned aerial vehicle may have shock absorption requirements in multiple directions, and preferably, the movable device in this embodiment may be an unmanned vehicle.
  • the adjustable gap between the first shaft body 40 of the shock absorbing mechanism and the semi-open guide sleeve 50 can be adjusted by using the semi-open guide sleeve 50 that can be adjusted.
  • the unity of the movement direction of the first shaft body 40 in the semi-open guide sleeve 50 can be ensured, so that the base 10 and the movable base 20
  • the relative movement is a movement in a single direction, so as to achieve an effective one-way shock absorption effect, thereby effectively reducing the vibration of the load in a single direction and ensuring the stability of the load.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
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Abstract

一种减震机构(2)和采用该减震机构(2)的可移动装置，其属于减震技术领域，其中减震机构(2)包括基座(10)、活动座体(20)和可变形的减震件(30)；减震件(30)弹性设置于基座(10)与活动座体(20)之间；基座(10)与活动座体(20)通过第一轴体(40)和套设于第一轴体(40)上的半开放式导向套筒(50)活动连接；第一轴体(40)可在半开放式套筒(50)内往复运动，第一轴体(40)与半开放式导向套筒(50)的配合间隙可调。该装置能够实现减震机构(2)的第一轴体(40)与半开放式导向套筒(50)的配合间隙的调节，保证第一轴体(40)在半开放式导向套筒(50)中运动方向的单一性，使得基座(10)与活动座体(20)之间的相对运动为单一方向上的运动，实现有效的单向减震效果。

Description

一种减震机构及可移动装置 技术领域
本发明实施例属于减震技术领域，尤其涉及一种减震机构和采用该减震机构的可移动装置。
背景技术
减震机构的应用场景一般有多方向减震和单向减震两种，其中单向减震机构是设备中用于保证设备在单一的减震方向上获得良好缓冲的辅助机构。
单向减震机构需要控制减震方向以外的间隙，以获得较好的单向减震效果，现有技术较常采用密封套、限位圈或悬空的连接片的方式隔绝其他方向上的间隙或震动，以实现单向减震。
然而，现有技术至少存在下述问题：单向减震机构在实际工作中所引入的减震方向以外的间隙是不可控的，而采用密封套、限位圈或连接片所能控制的减震方向以外的间隙很有限，这将影响单向减震效果，并影响单向减震机构在减震方向以外的部分的刚度。
发明内容
为了解决上述问题，本发明实施例提供一种减震机构，以解决现有技术中减震方向以外的方向上的间隙控制有限，无法实现有效的单向减震效果的问题。此外还提供了采用该减震机构的可移动装置。
本发明实施例采用了如下的技术方案。
一方面，本发明实施例提供的减震机构包括基座、活动座体和可变形的减震件；
所述减震件弹性设置于所述基座与所述活动座体之间；
所述基座与所述活动座体通过第一轴体和套设于所述第一轴体上的半开放式导向套筒活动连接；
所述第一轴体可在所述半开放式套筒内往复运动，所述第一轴体与所述半开放式导向套筒的配合间隙可调。
作为本发明一种可实施的方案，所述减震机构还包括调节组件，所述调节组件用于调节所述半开放式导向套筒的第一开放槽的大小。
作为本发明一种可实施的方案，所述调节组件包括夹持件和第一锁紧件，所述第一锁紧件与所述夹持件配合锁紧所述半开放式导向套筒。
作为本发明一种可实施的方案，所述第一轴体固定在所述活动座体面向所述基座的一面，所述夹持件为半开放式调节套筒，所述第一锁紧件为螺钉；
所述半开放式调节套筒设置于所述基座上，且所述半开放式导向套筒套设于所述半开放式调节套筒内；
所述半开放式调节套筒的第二开放槽的两侧边共同锁入所述螺钉，所述第二开放槽的大小随所述螺钉的锁紧而变小，以使所述第一开放槽的大小相应地变小。
作为本发明一种可实施的方案，所述半开放式调节套筒中至少所述第二开放槽部分或全部悬空于所述基座上。
作为本发明一种可实施的方案，所述半开放式导向套筒的第一开放槽的两侧边共同锁入第二锁紧件，所述第一开放槽的大小随所述第二锁紧件的锁紧而变小。
作为本发明一种可实施的方案，所述半开放式导向套筒为半开放式直线轴承或半开放式无油轴承。
作为本发明一种可实施的方案，所述基座与所述活动座体之间设有平行于所述第一轴体的第二轴体，所述减震件与所述第二轴体配合设置。
作为本发明一种可实施的方案，所述第二轴体设置在所述基座面向所述活动座体的一面上，所述减震件套设于所述第二轴体上并与所述基座抵持；
所述活动座体上设有配合所述第二轴体的安装部，所述减震件、所述第二轴体均部分位于所述安装部内。
作为本发明一种可实施的方案，所述减震件包括减震部、连接部，所述连接部设于所述减震部靠近所述活动座体的一端或分别设于所述减震部的两端；
所述安装部为轴向孔，设于所述减震部靠近所述活动座体的一端的所述连接部位于所述轴向孔内。
作为本发明一种可实施的方案，所述轴向孔内设置有凸缘；
所述连接部包括支撑部和止挡部，所述支撑部收容在所述凸缘环绕形成的卡合孔内，所述止挡部承靠在所述凸缘上；
所述第二轴体位于所述轴向孔内的一端安装有限位件，所述限位件至少部分凸出于所述第二轴体的端面，所述限位件用于配合所述基座限定所述活动座体以及所述减震件的运动范围。
作为本发明一种可实施的方案，所述半开放式导向套筒包括两个或以上，所述减震件包括两个或以上，每个所述半开放式导向套筒内套设有一个所述第一轴体，所述半开放式导向套筒与所述减震件呈间隔排列和/或矩阵排列。
另一方面，本发明实施例提供的可移动装置包括主体和与所述主体连接的动力组件，所述主体上还设置有上述的减震机构，其中所述基座与所述主体固定连接，所述活动座体用于连接负载。
根据本发明实施例提供的减震机构和可移动装置，由于半开放式导向套筒的半开放式结构，则半开放式导向套筒的内外径尺寸可调节，由此能够实现减震机构的第一轴体与半开放式导向套筒的配合间隙的调节。通过根据减震机构的实际工作状况来调整第一轴体与半开放式导向套筒的配合间隙，可以保证第一轴体在半开放式导向套筒中运动方向的单一性，使得基座与活动座体之间的相对运动为单一方向上的运动，从而实现有效的单向减震效果。
附图说明
为了更清楚地说明本发明中的方案，下面将对实施例描述中所需要使用的附图作一个简单介绍，显而易见地，下面描述中的附图是本发明的一 些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明实施例提供的减震机构的整体示意图；
图2为本发明实施例提供的活动座体的示意图；
图3为本发明实施例提供的减震机构的部分爆炸图；
图4为本发明一种实施例中减震机构去掉部分结构后的示意图；
图5为本发明半开放式导向套筒的一种结构示意图；
图6为本发明实施例提供的减震件的示意图；
图7为本发明实施例提供的减震件的剖视图；
图8为本发明实施例中减震机构在一种状态下的剖视图；
图9为本发明实施例提供的减震机构的爆炸示意图；
图10为本发明实施例中减震机构在另一种状态下的剖视图；
图11为本发明实施例提供的可移动装置的局部示意图。
附图标记说明：
附图中采用同样的附图标记标识的地方表示同一个部件上功能相同的部分，仅在位置上存在不同。
1               主体
2               减震机构
3               负载
10              基座
20              活动座体
21              安装部
22              凸缘
30              减震件
31              减震部
32              连接部
321             支撑部
322             止挡部
33              卡接槽
34              套接孔
40              第一轴体
50              半开放式导向套筒
51              轴孔
52              第一开放槽
53              第二锁紧件
60              调节组件
61              夹持件
611             第二开放槽
62              第一锁紧件
70              第二轴体
80              限位件
90              紧固件
具体实施方式
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同；本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明；本发明的说明书和权利要求书及上述附图说明中的术语“包括”和“具有”以及它们的任何变形，意图在于覆盖不排他的包含。本发明的说明书和权利要求书或上述附图中的术语“第一”、“第二”等是用于区别不同对象，而不是用于描述特定顺序。
在本文中提及“实施例”意味着，结合实施例描述的特定特征、结构或特性可以包含在本发明的至少一个实施例中。在说明书中的各个位置出现该短语并不一定均是指相同的实施例，也不是与其它实施例互斥的独立的或备选的实施例。本领域技术人员显式地和隐式地理解的是，本文所描述的实施例可以与其它实施例相结合。
本发明实施例提供一种减震机构，其包括基座、活动座体和可变形的减震件；
所述减震件弹性设置于所述基座与所述活动座体之间；
所述基座与所述活动座体通过第一轴体和套设于所述第一轴体上的半开放式导向套筒活动连接；
所述第一轴体可在所述半开放式套筒内往复运动，所述第一轴体与所述半开放式导向套筒的配合间隙可调。
基于上述减震机构，本发明实施例还提供一种可移动装置，其包括主体和与所述主体连接的动力组件，所述主体上还设置有上述的减震机构，其中所述基座与所述主体固定连接，所述活动座体用于连接负载。
根据本发明实施例提供的减震机构和可移动装置，由于半开放式导向套筒的半开放式结构，则半开放式导向套筒的内外径尺寸可调节，由此能够实现减震机构中第一轴体与半开放式导向套筒的配合间隙的调节。通过根据减震机构的实际工作状况来调整第一轴体与半开放式导向套筒的配合间隙，可以保证第一轴体在半开放式导向套筒中运动方向的单一性，使得基座与活动座体之间的相对运动为单一方向上的运动，从而实现有效的单向减震效果。
为了使本技术领域的人员更好地理解本发明方案，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述。
参阅图1至图3，其中图1为本发明实施例提供的一种减震机构的整体结构图，所述减震机构包括基座10和活动座体20，活动座体20可在单一方向上相对于基座10运动，当减震机构安装在需要减震的设备上时，基座10与活动座体20分别与不同的结构固定连接，可以降低连接在所述活动座体 20上的结构的震动，提高稳定性。图2为活动座体20的示意图，图3为本实施例中的减震机构去掉活动座体20后的示意图，在本实施例中，所述减震机构还包括可变形的减震件30，以及第一轴体40和半开放式导向套筒50，所述减震件30弹性设置于所述基座10与所述活动座体20之间，用于缓冲所述基座10与所述活动座体20的相对运动；所述第一轴体40与半开放式导向套筒50也设置在所述基座10与所述活动座体20之间，所述基座10与所述活动座体20通过所述第一轴体40和套设于所述第一轴体40上的半开放式导向套筒50活动连接，所述第一轴体40可在所述半开放式套筒内往复运动，所述第一轴体40与所述半开放式导向套筒50的配合间隙可调。
在本发明实施例中，所述第一轴体40与所述半开放式导向套筒50在减震机构中的位置是相对的，可以是所述第一轴体40设置在所述活动座体20上，而所述半开放式导向套筒50设置于所述基座10上；也可是所述第一轴体40设置在所述基座10上，而所述半开放式导向套筒50设置于所述活动座体20上。在本实施例中，如图2所示，所述第一轴体40固定在所述活动座体20面向所述基座10的一面，所述半开放式导向套筒50设置于所述基座10面向所述活动座体20的一面。
进一步地，由图3可知，所述半开放式导向套筒50包括轴孔51和与该轴孔51连通的第一开放槽52，通过调节第一开放槽52的槽口宽度可实现轴孔51的孔径调整，以此调节半开放式导向套筒50与第一轴体40的配合间隙，在本实施例中，所述第一轴体40与所述半开放式导向套筒50的配合间隙的调节的实现方式可以有多种。
本实施例中一种可能的实现方式是借助减震机构外部的工具调整，比如若第一轴体40外径大于所述轴孔51内径，可通过外部工具扩大第一开放槽52的槽口宽度，使所述轴孔51的孔径增加到与所述第一轴体40的外径匹配为止；若第一轴体40外径小于所述轴孔51内径，则将第一轴体40插入半开放式导向套筒50后，可借助减震机构外部的夹紧工具夹持半开放式导向套筒50，缩小第一开放槽52的槽口宽度，使得轴孔51的孔径减小到与所述第一轴体40的外径匹配为止。这里说的轴孔51的孔径与第一轴体40的外径匹配 是指轴孔51与第一轴体40的配合公差满足所述第一轴体40在轴孔51中做轴向运动的需要，同时第一轴体40在轴孔51中不会出现径向的偏移运动，即第一轴体40在轴孔51中的运动为单向的运动，下文中所说的轴孔51内径与第一轴体40外径匹配亦与此相同。
本实施例中另一种可能的实现方式是在减震机构中额外设置用于调节半开放式导向套筒50的部件或组件，如图4所示，所述减震机构还包括调节组件60，所述调节组件60用于调节所述半开放式导向套筒50的第一开放槽52的大小，可选的，所述调节组件60包括夹持件61和第一锁紧件62，所述第一锁紧件62与所述夹持件61配合锁紧所述半开放式导向套筒50。
作为本发明的可选方案，所述夹持件61为半开放式调节套筒，所述半开放式调节套筒的侧边上设有第二开放槽611，以用于调节所述半开放式调节套筒的内径尺寸，所述第二开放槽611向外延伸有两侧边，该两侧边可以用于锁入所述第一锁紧件62，所述第一锁紧件62可为螺钉。所述半开放式调节套筒可设置于所述基座10上，且所述半开放式导向套筒50套设于所述半开放式调节套筒内，同时，所述半开放式调节套筒的第二开放槽611向外延伸的两侧边共同锁入所述螺钉，所述第二开放槽611的大小随所述螺钉的锁紧而变小，以使所述第一开放槽52的大小相应地变小。作为本发明一种可实施的方案，所述半开放式调节套筒中至少所述第二开放槽611部分或全部悬空于所述基座10上，以能够调节所述第二开放槽611的大小(指槽口宽度)，从而调节所述半开放式调节套筒的内径尺寸，进而达到调节所述半开放式调节套筒内的所述半开放式导向套筒50的轴孔51的孔径大小的目的。
本实施例中又一种可能的实现方式是半开放式导向套筒50自身具备调节第一开放槽52槽口宽度的调节部，如图5，作为一种可选的方案，所述半开放式导向套筒50的第一开放槽52延伸出两侧边，该两侧边共同锁入第二锁紧件53，通过第二锁紧件53可以调整俩侧边的间距，从而调整第一开放槽52的大小(指槽口宽度)，比如第一开放槽52的大小随所述第二锁紧件53的锁紧而变小。作为本发明一种可实施的方案，与所述半开放式调节套筒一样，所述半开放式调节套筒中至少所述第一开放槽52部分或全部悬空于所述基座10上。可选的，所述第二锁紧件53可以是锁紧螺钉。
其中，对于第一锁紧件62和/或第二锁紧件53，其数量或相应位置除了上述图示中的内容，在实际应用中，可以根据需要进行相应的调整。
在本发明上述实施例中，所述半开放式导向套筒50可为半开放式直线轴承或半开放式无油轴承。
在本发明实施例中，所述减震件30在所述基座10和所述活动座体20之间的设置方式也可以有多种，下面对减震件30的安装方式进行说明。
在一种安装方式中，所述减震件30与所述基座10和所述活动座体20不固定连接，如直接弹性抵持于所述基座10和活动座体20的端面，这种方式直观，此处不展开说明。
在另一种安装方式中，所述减震件30与所述基座10和活动座体20中的一个或两个固定连接，如图6所示，所述减震件30包括减震部31、连接部32，所述连接部32设于所述减震部31靠近所述活动座体20的一端或分别设于所述减震部31的两端(图6所示为所述连接部32设于所述减震部30的两端)，所述减震件30的连接部32可以分别与所述基座10和活动座体20固定连接，所述减震件30在所述活动座体20相对于基座10运动时可发生弹性形变，实现减震功能，所述减震件30在实现减震功能的同时还用于支撑所述活动座体20、以及在活动座体20运动时配合基座10共同限定所述活动座体20的运动范围。
可选的，所述减震部31和连接部32之间可形成卡接槽33，进一步参阅图7，所述连接部32可包括支撑部321和止挡部322，所述支撑部321分别连接所述止挡部322和所述减震部31，所述支撑部321、止挡部322和减震部31配合形成所述卡接槽33。在本实施例中，卡接槽33可用于减震件30与基座10或活动座体20的连接，对此下文将进行相关说明。
在本发明进一步的实施例中，参阅图8，其为减震机构一种可能的剖视图，所述基座10与所述活动座体20之间还设有平行于所述第一轴体40的第二轴体70，该第二轴体70可用于与减震机构中的其他部件配合实现对活动 座体20的限位。
进一步地，所述第二轴体70可与所述减震件30配合设置，结合图2，所述第二轴体70的一端固定设置在所述基座10面向所述活动座体20的一面上，结合图7，所述减震件30为中空结构，设置有套接孔34，以套设于所述第二轴体70上并与所述基座10抵持，所述活动座体20上设有配合所述第二轴体70的安装部21，所述减震件30、所述第二轴体70均部分位于所述安装部21内。
作为可选方案，所述安装部21为轴向孔，一方面，设于所述减震部31靠近所述活动座体20的一端的所述连接部32位于所述轴向孔内，其中所述轴向孔内设置有凸缘22，结合图7，所述支撑部321收容在所述凸缘22环绕形成的卡合孔内，所述止挡部322承靠在所述凸缘22上，即上文所述的卡接槽33与凸缘22卡接，实现所述活动座体20与减震件30的连接；另一方面，所述第二轴体70位于所述轴向孔内的一端安装有限位件80，所述限位件80至少部分凸出于所述第二轴体70的端面，所述限位件80用于配合所述第二轴体70和基座10共同限定所述活动座体20以及所述减震件30的运动范围。
可选的，所述限位件80可以是带有较大凸边的螺钉，也可以通过紧固件90固定在所述第二轴体70上的限位片。
当然，上述的第二轴体70可以是固定在活动座体20上，而上述的安装部21位于所述基座10上，上述的减震件30和第二轴体70均部分位于该安装部21内，具体的安装形式与第二轴体70固定在基座10上时的安装方式相似，在此不再展开说明。
在上述实施例中，所述减震件30可以是减震球或者减震弹簧、减震弹片等。
在上述实施例中，所述半开放式导向套筒50包括两个或以上，所述减震件30包括两个或以上，每个所述半开放式导向套筒50内套设有一个所述第一轴体40，所述半开放式导向套筒50与所述减震件30呈间隔排列和/或矩阵排列。相应的，每个所述减震件30可对应配合设置有一个第二轴体70，每个所述半开放式导向套筒50可配合设置一个半开放式调节套筒。如图9所示， 图中两个调节组件60和两个第二轴体70在所述基座10上呈矩阵分布，即两个第二轴体70相对设置，两个调节组件60相对设置，且两个第二轴体70及两个调节组件60间隔排布；每个调节组件60中设置一个半开放式导向套筒50，每个半开放式导向套筒50与一个第一轴体40配合；每个第二轴体70对应设置一个减震件30，并插入一个安装部21与对应的限位件80及紧固件90相配合。可选的，所述两个调节组件60相对于所述两个第二轴体70的中心轴线形成平面对称。
在本实施例中，所述基座10面向所述活动座体20的端面的形状可为圆形或者多边形，所述活动座体20面向所述基座10的端面的形状与所述基座10的端面的形状相适配，如图9所示，所述基座10以及所述活动座体20的向对面均可以为具有圆角设计的三角形。进一步地，所述活动座体20面向所述基座10的端面还向所述基座10延伸出一壳体(图中未标识)，当所述减震机构装配之后，所述壳体可基本包覆所述基座10和所述活动座体20之间的其他部件。
下面结合图8至图10对减震机构的装配进行示例性说明，用于示例性说明的减震机构的结构包括基座10、活动座体20，设置于活动座体20上的第一轴体40，设置于基座10上的半开放式导向套筒50、半开放式调节套筒和第二轴体70，套设于第二轴体70上的减震件30，在所述活动座体20上的安装部21内与第二轴体70连接的限位件80。
所述安装部21内设凸缘22，所述减震件30包括连接部32。
其简易装配过程包括：
将半开放式导向套筒50置于半开放式调节套筒中，并将减震件30套设于所述第二轴体70上；
通过半开放式调节套筒调节半开放式导向套筒50的轴孔51孔径与所述第一轴体40的外径相适配，以保证第一轴体40在所述半开放式导向套筒50内运动方向的单一性；
将所述第一轴体40插入所述半开放式导向套筒50，并使第二轴体70和减震件30部分地穿过所述安装部21内的凸缘22；
在所述第二轴体70上通过所述安装部21安装所述限位件80，使所述限位件80与所述凸缘22卡持所述连接部32，完成安装。
进一步地，结合图8和图10对减震机构的在不同应用场景下的工作过程说明如下。
图8和图10示出了减震机构的两种工作状态。其中图8为活动座体20沿A方向向极限运动的状态，此时活动座体20与基座10的距离最大；图10为活动座体20沿B方向向极限运动的状态，此时活动座体20与基座10的距离最小；所述减震机构的工作过程包括从图8状态向图10状态变化的过程和从图10状态向图8状态变化的过程。
具体的，所述减震机构一种可能的应用场景为对车辆(比如无人车)上的负载(比如车载云台)进行减震，具体将负载与所述减震机构的活动座体20固定连接，同时将所述减震机构的基座10固定于所述车辆的车身上。以无人车、车载云台为例，在空间位置上所述车载云台、减震机构和无人车从上至下分布，在无人车在行进过程中，所述减震机构可减弱无人车在运动过程中，来自凹凸不平的地面或车轮(如麦克纳姆轮)本身的激励对车载云台的影响。无人车、减震机构和车载云台处于初始静止状态时，由于所述车载云台和活动座体20的本身的重量，初始状态下所述减震机构的减震件30处于压缩形变状态，即A、B中两个极限位置之间，或B方向的极限位置上。
那么，在所述减震机构的工作过程中，当无人车上的减震机构从初始状态(如初始状态为减震件30位于A、B中两个极限位置之间)向图8所示的状态变化时，减震件30的压缩量将变小，甚至压缩量变为零，特别地，在所述减震件30与所述基座10固定连接的情况下，存在这样的可能性，所述减震件30在图8所示状态下处于拉伸形变状态。在图8状态下，所述安装部21内的凸缘22压迫所述减震件30的连接部32，使其抵紧所述限位件80，所述限位件80限定了活动座体20沿A方向的运动范围。所述减震机构从图8状态向初始状态变化的过程为从初始状态向图8所示的状态变化的逆过程。
当无人车上的减震机构从初始状态向图10所示状态变化时，减震件30的压缩量将进一步变大，直到所述活动座体20抵顶于所述基座10上，所述基座10限定了所述活动座体20沿B方向的活动范围。在此图例中所述基座 10是作为限位的一部分，在其他实施例中也可在所述基座10上设置限位凸台，对所述活动座体20沿B方向的运动进行限位。所述减震机构从图10状态向初始状态变化的过程为从初始状态向图10所示的状态变化的逆过程。
可以理解，在上述减震过程中，减震件30可由初始状态沿B方向运动再至A方向运动再至B方向如此反复运动，或由初始状态沿A方向运动再至B方向运动再至A方向如此反复运动，以减弱诸如车载云台受到的震动。
所述减震机构另一种可能的应用场景为对飞行器(比如无人机)上的负载(比如云台)进行减震，具体将所述负载与所述减震机构的活动座体20固定连接，同时将所述减震机构的基座10固定于所述飞行器的机身上。以无人机、云台为例，在空间位置上所述无人机、减震机构和云台从上至下分布，在无人机飞行过程中，所述减震机构可减弱云台受到的震动。无人机、减震机构和云台处于初始静止状态时，由于所述云台和活动座体20的本身的重量，初始状态下所述减震机构的减震件30处于拉伸形变状态，即A、B中两个极限位置之间或A方向的极限位置上。
那么，在所述减震机构的工作过程中，当无人机上的减震机构从初始状态(如初始状态为减震件30位于A、B中两个极限位置之间)向图8所示的状态变化时，减震件30的拉伸量进一步增加，在图8状态下，所述安装部21内的凸缘22压迫所述减震件30的连接部32，使其抵紧所述限位件80，限位件80限定了活动座体20沿A方向的运动范围。
当无人机上的减震机构从初始状态向图10所示状态变化时，减震件30的拉伸量将变小，甚至拉伸量变为0，直到所述活动座体20抵顶于所述基座10上，特别地，存在这样的可能性，所述减震件30在图10所示状态下处于压缩形变状态。所述基座10限定了所述活动座体20沿B方向的活动范围。在此图例中基座10是作为限位的一部分，在其他实施例中也可在基座10上设置限位凸台，对活动座体20沿B方向的运动进行限位。
可以理解，在上述减震过程中，减震件30可由初始状态(包括A方向的极限位置)沿B方向运动再至A方向运动再至B方向如此反复运动，或由初始状态沿A方向运动再至B方向运动再至A方向如此反复运动，以减弱诸 如云台受到的震动。
需要说明的是，根据减震结构的不同应用场景，减震结构中减震件30与基座10以及活动座体20的连接关系需要进行相应的调整。其中，当活动座体20朝向重心方向时，减震件30需要与基座10固定连接，但当活动座体20朝向重心方向的相反方向时，减震件30可以不与基座10以及活动座体20固定连接。
上述状态变化过程中，通过减震件30的形变来吸收外部震动，起到减震效果，配合调节半开放式导向套筒50即可实现单向减震。
根据本发明实施例提供的减震机构，与现有技术相比，采用可调节的半开放式导向套筒50能够实现减震机构的第一轴体40与半开放式导向套筒50的配合间隙的调节，通过根据减震机构的实际工作状况来调整配合间隙，可以保证第一轴体40在半开放式导向套筒50中运动方向的单一性，使得基座10与活动座体20之间的相对运动为单一方向上的运动，从而实现有效的单向减震效果。
参阅图11，图示为本发明实施例提供的可移动装置的局部视图，其包括主体1和与所述主体1连接的动力组件(图中未示出)，所述主体1上还设置有上述的减震机构2，其中所述基座10与所述主体1固定连接，所述活动座体20用于连接负载3。在本实施例中，所述可移动装置可以是无人飞行器、无人车、运动机器人或无人船等，所述负载3可以是云台或其他需要减震的设备。
其中，相对来说，无人飞行器可能存在多个方向的减震需求，则优选的，本实施例中的所述可移动装置可以是无人车。
根据本发明实施例提供的可移动装置，结合图1至10，采用可调节的半开放式导向套筒50能够实现减震机构的第一轴体40与半开放式导向套筒50的配合间隙的调节，通过根据减震机构的实际工作状况来调整配合间隙，可以保证第一轴体40在半开放式导向套筒50中运动方向的单一性，使得基座10与活动座体20之间的相对运动为单一方向上的运动，从而实现有效的单向减震效果，从而有效降低负载在单一方向上的震动，保证负载的稳定性。
显然，以上所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例，附图中给出了本发明的较佳实施例，但并不限制本发明的专利范围。本发明可以以许多不同的形式来实现，相反地，提供这些实施例的目的是使对本发明的公开内容的理解更加透彻全面。尽管参照前述实施例对本发明进行了详细的说明，对于本领域的技术人员来而言，其依然可以对前述各具体实施方式所记载的技术方案进行修改，或者对其中部分技术特征进行等效替换。凡是利用本发明说明书及附图内容所做的等效结构，直接或间接运用在其他相关的技术领域，均同理在本发明专利保护范围之内。

Claims (24)

  1. 一种减震机构，其特征在于，包括：
    基座、活动座体和可变形的减震件；
    所述减震件弹性设置于所述基座与所述活动座体之间；
    所述基座与所述活动座体通过第一轴体和套设于所述第一轴体上的半开放式导向套筒活动连接；
    所述第一轴体可在所述半开放式套筒内往复运动，所述第一轴体与所述半开放式导向套筒的配合间隙可调。
  2. 根据权利要求1所述的减震机构，其特征在于，所述减震机构还包括调节组件，所述调节组件用于调节所述半开放式导向套筒的第一开放槽的大小。
  3. 根据权利要求2所述的减震机构，其特征在于，所述调节组件包括夹持件和第一锁紧件，所述第一锁紧件与所述夹持件配合锁紧所述半开放式导向套筒。
  4. 根据权利要求3所述的减震机构，其特征在于，所述第一轴体固定在所述活动座体面向所述基座的一面，所述夹持件为半开放式调节套筒，所述第一锁紧件为螺钉；
    所述半开放式调节套筒设置于所述基座上，且所述半开放式导向套筒套设于所述半开放式调节套筒内；
    所述半开放式调节套筒的第二开放槽的两侧边共同锁入所述螺钉，所述第二开放槽的大小随所述螺钉的锁紧而变小，以使所述第一开放槽的大小相应地变小。
  5. 根据权利要求4所述的减震机构，其特征在于，所述半开放式调节套筒中至少所述第二开放槽部分或全部悬空于所述基座上。
  6. 根据权利要求1所述的减震机构，其特征在于，所述半开放式导 向套筒的第一开放槽的两侧边共同锁入第二锁紧件，所述第一开放槽的大小随所述第二锁紧件的锁紧而变小。
  7. 根据权利要求1至6中任一项所述的减震机构，其特征在于，所述半开放式导向套筒为半开放式直线轴承或半开放式无油轴承。
  8. 根据权利要求1至6中任一项所述的减震机构，其特征在于，所述基座与所述活动座体之间设有平行于所述第一轴体的第二轴体，所述减震件与所述第二轴体配合设置。
  9. 根据权利要求8所述的减震机构，其特征在于，所述第二轴体设置在所述基座面向所述活动座体的一面上，所述减震件套设于所述第二轴体上并与所述基座抵持；
    所述活动座体上设有配合所述第二轴体的安装部，所述减震件、所述第二轴体均部分位于所述安装部内。
  10. 根据权利要求9所述的减震机构，其特征在于，所述减震件包括减震部、连接部，所述连接部设于所述减震部靠近所述活动座体的一端或分别设于所述减震部的两端；
    所述安装部为轴向孔，设于所述减震部靠近所述活动座体的一端的所述连接部位于所述轴向孔内。
  11. 根据权利要求10所述的减震机构，其特征在于，所述轴向孔内设置有凸缘；
    所述连接部包括支撑部和止挡部，所述支撑部收容在所述凸缘环绕形成的卡合孔内，所述止挡部承靠在所述凸缘上；
    所述第二轴体位于所述轴向孔内的一端安装有限位件，所述限位件至少部分凸出于所述第二轴体的端面，所述限位件用于配合所述基座限定所述活动座体以及所述减震件的运动范围。
  12. 根据权利要求1至6中任一项所述的减震机构，其特征在于，所述半开放式导向套筒包括两个或以上，所述减震件包括两个或以上，每个所述半开放式导向套筒内套设有一个所述第一轴体，所述半开放式导向套筒与所述减震件呈间隔排列和/或矩阵排列。
  13. 一种可移动装置，包括主体和与所述主体连接的动力组件，其特征在于，所述主体上还设置有减震机构，所述减振机构包括基座、活动座体和可变形的减震件；
    所述减震件弹性设置于所述基座与所述活动座体之间；
    所述基座与所述活动座体通过第一轴体和套设于所述第一轴体上的半开放式导向套筒活动连接；
    所述第一轴体可在所述半开放式套筒内往复运动，所述第一轴体与所述半开放式导向套筒的配合间隙可调；
    其中所述基座与所述主体固定连接，所述活动座体用于连接负载。
  14. 根据权利要求13所述的可移动装置，其特征在于，所述减震机构还包括调节组件，所述调节组件用于调节所述半开放式导向套筒的第一开放槽的大小。
  15. 根据权利要求14所述的可移动装置，其特征在于，所述调节组件包括夹持件和第一锁紧件，所述第一锁紧件与所述夹持件配合锁紧所述半开放式导向套筒。
  16. 根据权利要求15所述的可移动装置，其特征在于，所述第一轴体固定在所述活动座体面向所述基座的一面，所述夹持件为半开放式调节套筒，所述第一锁紧件为螺钉；
    所述半开放式调节套筒设置于所述基座上，且所述半开放式导向套筒套设于所述半开放式调节套筒内；
    所述半开放式调节套筒的第二开放槽的两侧边共同锁入所述螺钉，所述第二开放槽的大小随所述螺钉的锁紧而变小，以使所述第一开放槽的大小相应地变小。
  17. 根据权利要求16所述的可移动装置，其特征在于，所述半开放式调节套筒中至少所述第二开放槽部分或全部悬空于所述基座上。
  18. 根据权利要求13所述的可移动装置，其特征在于，所述半开放式导向套筒的第一开放槽的两侧边共同锁入第二锁紧件，所述第一开放槽的大小随所述第二锁紧件的锁紧而变小。
  19. 根据权利要求13至18中任一项所述的可移动装置，其特征在于，所述半开放式导向套筒为半开放式直线轴承或半开放式无油轴承。
  20. 根据权利要求13至18中任一项所述的可移动装置，其特征在于，所述基座与所述活动座体之间设有平行于所述第一轴体的第二轴体，所述减震件与所述第二轴体配合设置。
  21. 根据权利要求20所述的可移动装置，其特征在于，所述第二轴体设置在所述基座面向所述活动座体的一面上，所述减震件套设于所述第二轴体上并与所述基座抵持；
    所述活动座体上设有配合所述第二轴体的安装部，所述减震件、所述第二轴体均部分位于所述安装部内。
  22. 根据权利要求21所述的可移动装置，其特征在于，所述减震件包括减震部、连接部，所述连接部设于所述减震部靠近所述活动座体的一端或分别设于所述减震部的两端；
    所述安装部为轴向孔，设于所述减震部靠近所述活动座体的一端的所述连接部位于所述轴向孔内。
  23. 根据权利要求22所述的可移动装置，其特征在于，所述轴向孔内设置有凸缘；
    所述连接部包括支撑部和止挡部，所述支撑部收容在所述凸缘环绕形 成的卡合孔内，所述止挡部承靠在所述凸缘上；
    所述第二轴体位于所述轴向孔内的一端安装有限位件，所述限位件至少部分凸出于所述第二轴体的端面，所述限位件用于配合所述基座限定所述活动座体以及所述减震件的运动范围。
  24. 根据权利要求13至18中任一项所述的可移动装置，其特征在于，所述半开放式导向套筒包括两个或以上，所述减震件包括两个或以上，每个所述半开放式导向套筒内套设有一个所述第一轴体，所述半开放式导向套筒与所述减震件呈间隔排列和/或矩阵排列。
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