CN218257606U

CN218257606U - Buffer device and self-moving robot

Info

Publication number: CN218257606U
Application number: CN202220136462.6U
Authority: CN
Inventors: 杨翔
Original assignee: Nanjing Geek+ Robot Co ltd
Current assignee: Nanjing Geek+ Robot Co ltd
Priority date: 2022-01-18
Filing date: 2022-01-18
Publication date: 2023-01-10
Anticipated expiration: 2032-01-18

Abstract

The present disclosure relates to a buffer device and a self-moving robot, the buffer device includes a base, a bearing portion and an elastic structure. The bearing part is connected to the base through a connecting rod assembly, one end of the connecting rod assembly is hinged to the base, and the other end of the connecting rod assembly is hinged to the bearing part; the elastic structure is positioned between the base and the bearing part and is configured to elastically support the bearing part above the base. This disclosure can make the relative position between base and the portion of bearing more nimble, can make the walking wheel of installing on the base adapt to more complicated road surface.

Description

Buffer device and self-moving robot

Technical Field

The disclosure relates to the field of robots, in particular to a buffer device and a self-moving robot.

Background

An Automated Guided Vehicle (AGV) is a transport Vehicle equipped with an electromagnetic or optical automatic guide device, capable of traveling along a predetermined guide path, and having safety protection and various carrying functions, and a carrier Vehicle that does not require a driver in industrial applications. The AGV uses a rechargeable battery as its power source.

Among the prior art, AGV often can meet the circumstances that ground is uneven at the operation in-process, so when AGV structural design, technical staff usually can use articulated or spring suspension isotructure to guarantee that all wheels are used subaerially to guarantee AGV's even running.

However, the guide pillar is used in the hinged or spring suspension structure, the guide pillar can be subjected to large unbalance loading force in practical application, the guide pillar can deviate under the action of the unbalance loading force, the deviation of the guide pillar can drive the hinge or the spring to swing, collision or friction can be generated between the guide pillar and the hinge or the spring in the process, and then abnormal sound is easy to occur.

SUMMERY OF THE UTILITY MODEL

The utility model provides a buffer and from mobile robot in order to solve the problem that exists among the prior art.

According to a first aspect of the present disclosure, there is provided a buffer device comprising: base, load-bearing part and elastic construction.

The bearing part is connected to the base through a connecting rod assembly, one end of the connecting rod assembly is hinged to the base, and the other end of the connecting rod assembly is hinged to the bearing part;

the elastic structure is positioned between the base and the bearing part and is configured to elastically support the bearing part above the base.

In one embodiment of the disclosure, the connecting rod assembly comprises at least two connecting rods, and the at least two connecting rods are respectively hinged at the positions of two opposite sides of the base and the bearing part.

In one embodiment of the disclosure, a first hinge seat is arranged on the base, and a second hinge seat is arranged on the bearing part; one end of the connecting rod is hinged with the first hinged seat, and the other end of the connecting rod is hinged with the second hinged seat.

In one embodiment of the present disclosure, the link is configured to be obliquely disposed between the base and the carrying portion.

In one embodiment of the disclosure, the connecting rod assembly comprises at least four connecting rods, and the at least four connecting rods are respectively positioned on the circumferential directions of the base and the bearing part.

In one embodiment of the present disclosure, the first limiting portion is configured to limit a predetermined maximum distance between the base and the carrying portion.

In one embodiment of the disclosure, the first position-limiting part is connected to the bearing part, and a free end of the first position-limiting part is configured to abut against the base when the bearing part floats to a preset maximum distance relative to the base;

or alternatively it is that,

the first limiting part is connected to the base, and the free end of the first limiting part is configured to abut against the bearing part when the bearing part floats to a preset maximum distance relative to the base.

In one embodiment of the present disclosure, the first limiting portion is configured to limit a preset minimum distance between the base and the carrying portion.

In one embodiment of the present disclosure, the second position-limiting portion is disposed at a lower end of the bearing portion, and is configured to abut with an upper end of the base when the bearing portion floats to a preset minimum distance relative to the base;

or it is that,

the second limiting part is arranged at the upper end of the base and is configured to abut against the lower end of the bearing part when the bearing part floats to a preset minimum distance relative to the base.

In one embodiment of the disclosure, at least one end of the resilient structure is configured to slide relative to the base or carrier.

In one embodiment of the disclosure, the lower end of the bearing part is provided with a mounting part, one end of the elastic structure is connected to the mounting part, and the other end of the elastic structure is configured to slide on the base;

or it is that,

the upper end of the base is provided with an installation part, one end of the elastic structure is connected to the installation part, and the other end of the elastic structure is configured to slide on the bearing part.

In one embodiment of the present disclosure, the elastic structure is a spring, and the mounting portion is a guide post; one end of the spring is sleeved on the guide post.

In one embodiment of the present disclosure, one end of the spring for sliding with the base or the carrying part is provided with a sliding part; the spring is in sliding fit with the base or the bearing part through the sliding part.

In one embodiment of the disclosure, the slider is an end cap mounted on the end of the spring, the end cap having an arcuate face that mates with the base or carrier.

In one embodiment of the present disclosure, the cushioning device is a chassis assembly.

According to a second aspect of the present disclosure, there is provided a self-moving robot comprising a walking wheel and a damping device as described above;

the walking wheel is installed on the base and is configured to drive the buffer device to walk.

The beneficial effect of this disclosure lies in, bearing part can be used for with treat the rigging equipment and be connected, treat that the rigging equipment can be for the major structure of self-moving robot, and the walking wheel passes through buffer and is connected the back with the major structure of robot, can drive whole self-moving robot walking through the mode that the walking wheel drove buffer and walks. Bearing part and base are together articulated through link assembly, and elastic construction is used for producing the elastic support power between base and bearing part, can be through elastic construction with bearing part elastic support in the top of base, utilize elastic construction's elastic support effect just can realize corresponding buffering effect.

Other features of the present disclosure and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the disclosure.

Fig. 1 is a side view of a cushioning device and road wheel provided in accordance with an embodiment of the present disclosure after attachment;

fig. 2 is a schematic perspective view of a rear view angle of the buffer device and the road wheel connected according to an embodiment of the disclosure;

fig. 3 is a schematic perspective view of another perspective view of the buffer device and the road wheel connected according to an embodiment of the disclosure;

fig. 4 is a schematic perspective view of a buffering device according to an embodiment of the disclosure;

FIG. 5 is a side view of a cushioning device provided in accordance with an embodiment of the present disclosure;

FIG. 6 isbase:Sub>A cross-sectional view taken in the direction A-A ofbase:Sub>A cushioning device provided in accordance with an embodiment of the present disclosure;

the one-to-one correspondence between component names and reference numbers in fig. 1 to 6 is as follows:

100. a buffer device; 110. a base; 111. a first hinge mount; 120. a bearing part; 121. a second hinged seat; 130. an elastic structure; 140. a connecting rod assembly; 141. a connecting rod; 142. a rotating shaft; 143. A shaft sleeve; 150. a first limiting part; 160. a second limiting part; 170. an installation part; 180. a sliding part; 200. and (4) a traveling wheel.

Detailed Description

Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of parts and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses.

Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be discussed further in subsequent figures.

Specific embodiments of the present disclosure are described below with reference to the accompanying drawings.

In this document, "upper", "lower", "front", "rear", "left", "right", and the like are used only to indicate relative positional relationships between relevant portions, and do not limit absolute positions of the relevant portions.

In this document, "first", "second", and the like are used only for distinguishing one from another, and do not indicate the degree and order of importance, and the premise that each other exists, and the like.

In this context, "equal", "same", etc. are not strictly mathematical and/or geometric limitations, but also include tolerances as would be understood by a person skilled in the art and allowed for manufacturing or use, etc.

As discussed in the background, the wheels on an AGV often rattle during operation due to the hinges or springs engaging the guide posts. Specifically, can the guide pillar receive big unbalance loading power in practical application, the condition of skew can appear in the guide pillar under this unbalance loading effect, and the skew of guide pillar can drive articulated or the spring swing, can produce collision or friction between this in-process guide pillar and articulated or the spring, and then takes place the abnormal sound easily.

Therefore, the buffer device and the self-moving robot can buffer vibration or jolt generated by the self-moving robot in the operation process, and can be used for buffering and reducing noise of two parts generating impact force during relative motion. This buffer can set up on from mobile robot, the walking wheel can cushion and fall making an uproar from mobile robot under the cooperation of elastic construction and link assembly, wherein, the elastic support effect of elastic construction can play the cushioning effect, link assembly's connection can guide and transmit the relative activity between mobile robot's major structure and the walking wheel, the sliding part on the spring that rejoins, can eliminate the torsional moment who produces because of the guide post skew effectively, make it convert the one-way effort that promotes sliding part and slide, reduce the possibility that distortion or collision each spare part appear, and then reduce the abnormal sound. It can be understood that the buffer device of the present disclosure can reduce abnormal sound of the walking wheels of the self-moving robot in the walking process.

For the sake of understanding, the following description will discuss a specific structure and an operation principle of the self-moving robot in detail when describing the buffer device of the present disclosure, and a separate explanation thereof will be omitted.

The buffer device of the present disclosure includes a base, a bearing portion, and an elastic structure. The base is used for mounting a travelling wheel or other components needing buffering, and the bearing part is connected to the base through the connecting rod assembly; the elastic structure is positioned between the base and the bearing part and is configured to elastically support the bearing part above the base.

When the buffer device works, the base and the bearing part can be suspended relatively under the matching of the elastic structure and the connecting rod assembly, the connecting rod assembly is used for improving the connection stability of the base and the bearing part, and the elastic structure is used for supporting the bearing part above the base in an elastic supporting mode. The arrangement can buffer the walking wheels and reduce abnormal sound of the walking wheels of the self-moving robot in the walking process.

In one embodiment of the present disclosure, a cushioning device includes a base, a load-bearing portion, and a resilient structure. The bearing part is connected to the base through a connecting rod assembly, one end of the connecting rod assembly is hinged to the base, and the other end of the connecting rod assembly is hinged to the bearing part; the elastic structure is positioned between the base and the bearing part and is configured to elastically support the bearing part above the base.

For better understanding, the self-moving robot of the present disclosure will be described in detail with reference to fig. 1 to 6, and the buffer device of the present disclosure will be described together.

Referring to fig. 1 to 6, an embodiment of the present disclosure provides a cushioning device 100 including a base 110, a bearing portion 120, and a resilient structure 130.

In the disclosed embodiment, the base 110 may be used to mount the road wheel 200 or other components as appropriate. The bearing part 120 is used for connecting with a device to be assembled, and the device to be assembled can be a main body structure of the self-moving robot. The walking wheel 200 is connected with the main body structure of the self-moving robot through the buffer device 100, when the walking wheel 200 walks, the walking wheel can drive the buffer device 100 to walk together with the walking wheel, and then the buffer device 100 drives the whole self-moving robot to walk along with the walking wheel 200. The elastic structure 130 is used for generating an elastic supporting force between the base 110 and the bearing part 120, in detail, the bearing part 120 is elastically supported above the base 110 by the elastic structure 130, and when the walking wheel 200 walks on an uneven ground, the elastic structure 130 can absorb the vibration generated by the walking of the walking wheel 200, so that the vibration of the main structure of the robot is reduced, and a buffering effect is achieved.

Specifically, the bearing part 120 is connected to the base 110 through a connecting rod assembly 140, one end of the connecting rod assembly 140 is hinged to the base 110, and the other end of the connecting rod assembly 140 is hinged to the bearing part 120; the elastic structure 130 is located between the base 110 and the carrying portion 120, and is configured to elastically support the carrying portion 120 above the base 110.

In the disclosed embodiment, the linkage assembly 140 is used to connect the base 110 and the carrier 120, and the linkage assembly 140 may define a maximum amount of relative displacement between the base 110 and the carrier 120; after the two ends of the connecting rod assembly 140 are respectively hinged to the base 110 and the carrying portion 120, the base 110 and the carrying portion 120 can swing relatively within a certain range, and the carrying portion 120 is suspended above the base 110 by the elastic structure 130. In detail, the link assembly 140 may enable the base 110 and the bearing portion 120 to relatively swing only in the corresponding direction, and the link 141 in the link assembly 140 has a certain rigidity, so that the track is not easily changed in the process of the relative swing of the base 110 and the bearing portion 120, and the connection stability is high; the elastic structure 130 is used for generating an elastic supporting force between the base 110 and the bearing portion 120, and when the base 110 and the bearing portion 120 vibrate relatively, the elastic structure 130 can buffer the vibration generated between the base 110 and the bearing portion 120, so as to reduce the relative vibration between the base 110 and the bearing portion 120, and play a role in buffering.

After the buffer device 100 is applied to the self-moving robot, the buffer device 100 can be installed between the main body structure of the self-moving robot and the walking wheels 200 to buffer the self-moving robot and reduce abnormal sound of the walking wheels 200 of the self-moving robot in the walking process.

It should be noted that the relative movement between the base 110 and the bearing part 120 in the present disclosure is not a mere approaching or departing from each other, or a relative translation, but a combined swing of two directions of translation. That is to say under the spacing of link assembly 140, base 110 and bearing part 120 of this disclosure can carry out relative swing, can make the relative position change between base 110 and the bearing part 120 more nimble like this for can reduce and even avoid appearing walking wheel 200 and go unstable condition in road surface depression place or protruding department when installing walking wheel 200. In detail, taking a road surface depression as an example, at least two traveling wheels 200 are arranged on a common device to be assembled, when one of the traveling wheels 200 drives into the road surface depression, the gravity borne by the traveling wheel 200 will be reduced, and at the moment, the elastic structure 130 on the traveling wheel 200 will recover to a certain length, under the driving of the connecting rod assembly 140, the traveling wheel 200 not only can move in the direction away from the device to be assembled, but also can move in the forward or backward direction, and the traveling wheel 200 can contact the position of the road surface depression close to the bottom in the process, so that the device to be assembled cannot incline, the stability of the device to be assembled is maintained, and the driving stability of the device to be assembled is ensured; at this time, the gravity borne by the other traveling wheels 200 is relatively increased, the elastic structures 130 of the traveling wheels 200 are compressed, the traveling wheels 200 not only move in the direction close to the equipment to be assembled but also move in the forward or backward direction under the driving of the connecting rod assembly 140, the traveling wheels 200 can be kept still in the height direction under the restriction of the road surface in the process, and the equipment to be assembled drives the traveling wheels 200 to move forward or backward in the process of compressing the elastic structures 130. The walking wheel 200 that drives into road surface depressed part at above-mentioned in-process can break away from road surface depressed part under the drive of other walking wheels 200, and the requirement to drive power is littleer and even can do not rely on drive power just can break away from road surface depressed part, and then can make walking wheel 200 when avoiding treating the rigging equipment appearance slope, improve and treat the stability that rigging equipment went, consequently can make and install and adapt to more complicated road surface at walking wheel 200, can smoothly travel on more complicated road surface. The driving force includes a driving force generated by a motor or a human power.

According to an embodiment of the present disclosure, the link assembly 140 of the present disclosure includes at least two links 141, and the at least two links 141 are respectively hinged at positions on opposite sides of the base 110 and the carrying portion 120.

In the embodiment of the present disclosure, the at least two connecting rods 141 may have at least two connecting positions on the base 110 and the carrying portion 120, so that the connecting effect between the base 110 and the carrying portion 120 may be better, and the connection stability between the base 110 and the carrying portion 120 may be improved through the synchronous transmission of the at least two connecting rods 141. The moving direction of the corresponding end of each connecting rod 141 is the same, so as to avoid the locking phenomenon when the base 110 and the carrying part 120 move relatively.

According to an embodiment of the present disclosure, referring to fig. 5 and 6, a first hinge seat 111 is disposed on the base 110, and a second hinge seat 121 is disposed on the bearing part 120; one end of the connecting rod 141 is hinged with the first hinge base 111, and the other end is hinged with the second hinge base 121.

In the embodiment of the present disclosure, the first hinge seat 111 is used to rotatably connect the connecting rod 141 to the base 110, and the second hinge seat 121 is used to rotatably connect the connecting rod 141 to the bearing part 120, so that the base 110 and the bearing part 120 can be more stably and reliably connected by the cooperation of the first hinge seat 111 and the second hinge seat 121.

Further, first articulated seat 111 and the articulated seat 121 of second all include fixed part and two otic placode structures that link firmly, and two otic placode structures set up with interval, and every otic placode is structural all to be provided with the rotation connecting hole, rotates and is provided with pivot 142 in the connecting hole, and the tip of connecting rod 141 is in between two otic placodes, and pivot 142 passes the tip and two rotation connecting holes of connecting rod 141. The connecting rod 141 is rotatably connected to the hinge base through a rotating shaft 142. One rotating shaft 142 can simultaneously pass through two hinged seats and two corresponding connecting rods 141 according to requirements.

Further, referring to fig. 4, the rotation connection position of the rotating shaft 142 may be sleeved with a bushing 143, and the bushing 143 may reduce or even prevent mutual abrasion between the rotating shaft 142 and the hinge seat, on the one hand, and on the other hand, may improve the damping effect of the damping device through the damping generated by the bushing 143. The damping device comprises a rotating shaft 142 of the damping device, a shaft sleeve 143, a connecting rod assembly 140 and a hinge seat, wherein the rotating shaft 142 of the damping device generates damping through the shaft sleeve 143 when rotating relative to the hinge seat, in particular, the shaft sleeve 143 between the rotating shaft 142 and the hinge seat generates relative friction in the relative rotation process of the rotating shaft 142 and the hinge seat, specifically, the friction between the shaft sleeve 143 and the rotating shaft 142, the friction between the shaft sleeve 143 and the hinge seat, or both the friction and the connecting rod assembly 140 generate certain resistance in the transmission process, certain damping can be generated for the transmission of the connecting rod assembly 140, and the vibration can be reduced through the part of damping, so that the damping effect is realized; when the shaft sleeve 143 is made of rubber, the elasticity of the rubber can be utilized to generate stronger damping, and a stronger damping effect can be achieved; the boss 143 can further improve the shock absorbing effect and can further reduce the collision sound. The sleeve 143 may also be a plastic sleeve, or a sleeve made of other materials. The sleeve 143 may specifically include a rubber sleeve, a plastic sleeve, a nylon sleeve, or a sleeve made of other polymer materials.

According to one embodiment of the present disclosure, the link 141 of the present disclosure is configured to be obliquely disposed between the base 110 and the carrier 120.

In the embodiment of the present disclosure, when the connecting rod 141 is vertically located between the base 110 and the bearing portion 120, the connecting rod 141 between the base 110 and the bearing portion 120 may be rigidly supported, and at this time, the base 110 and the bearing portion 120 may not be close to or far away from each other, and at this time, when the base 110 and the bearing portion 120 vibrate relatively, the base 110 and the bearing portion 120 will generate rigid impact through the connecting rod 141, and the elastic structure 130 will not have a buffering effect. Therefore, in the present embodiment, the connecting rod 141 is configured to be obliquely disposed between the base 110 and the bearing portion 120, at this time, an included angle between each of the base 110 and the bearing portion 120 and the connecting rod 141 is an acute angle, both ends of the connecting rod 141 have a relative rotation allowance, the connecting rod 141 drives the base 110 and the bearing portion 120 to approach or separate from each other in the rotation process, and compress or stretch the elastic structure 130, so that when the connecting rod 141 is inclined, the base 110 and the bearing portion 120 can move relative to each other, and further, the base 110 and the bearing portion 120 can be ensured to approach or separate from each other, thereby avoiding the possibility of rigid support occurring in the connecting rod 141, and enabling the connecting rod 141 to cooperate with the elastic structure 130 to achieve a buffering effect.

It should be noted that the connecting rod 141 arranged obliquely can ensure that the relative swing between the base 110 and the bearing part 120 is a single-side swing, so that a more stable buffering effect is achieved, and a rigid supporting situation does not occur. The inclined arrangement of the connecting rod 141 can be realized by cooperation of the elastic force of the elastic structure 130, and the following first limiting portion 150 can also be arranged for direct limiting (see the first limiting portion 150 in fig. 1 to 3 in particular). The above-mentioned unilateral swinging means that the base 110 and the carrying part 120 do not pass through a swinging midline in the relative swinging process, that is, the distance between the base 110 and the carrying part 120 is always smaller than the distance between the axes of the first hinge shaft and the second hinge shaft, so as to prevent the base 110 and the carrying part 120 from reaching the dead point of the link mechanism when moving relatively to each other and causing a jamming phenomenon or a reverse movement. The swing center line refers to a straight line where the link 141 is located when the link 141 is vertically between the base 110 and the carrier 120.

According to an embodiment of the present disclosure, the link assembly 140 of the present disclosure includes at least four links 141, and the at least four links 141 are respectively located in the circumferential direction of the base 110 and the bearing part 120.

In the embodiment of the present disclosure, the provision of at least four links 141 may further improve the stability of the connection between the base 110 and the bearing part 120. The number of the links 141 may be four as required, and in the case that the base 110 has a square structure, the four links 141 may be respectively hinged at four corners of the base 110.

Further, in order to improve the fitting stability of the link assembly 140 and the elastic structure 130, at least four links 141 may be wound around the periphery of the elastic structure 130. The transmission directions of at least four connecting rods 141 are consistent.

According to an embodiment of the present disclosure, the damping device 100 of the present disclosure further includes a first limiting portion 150, and the first limiting portion 150 is configured to limit a preset maximum distance between the base 110 and the bearing portion 120.

In the embodiment of the present disclosure, the first position-limiting part 150 may limit a flying height between the base 110 and the carrying part 120, where the flying height refers to a relative flying height between the base 110 and the carrying part 120. It should be noted that the preset maximum distance is a maximum distance between the base 110 and the carrying portion 120 corresponding to the range of the preset buffering effect of the buffering device 100, and does not refer to a limit distance between the base 110 and the carrying portion 120 when the connecting rod 141 is perpendicular to the base 110 or the carrying portion 120. The buffering effect is set according to actual requirements, and the elastic range of the elastic structure 130, the length of the connecting rod 141, and the like all affect the buffering effect.

According to an embodiment of the present disclosure, the first position-limiting portion 150 of the present disclosure is connected to the bearing portion 120, and a free end of the first position-limiting portion 150 is configured to abut with the base 110 when the bearing portion 120 floats to a preset maximum distance with respect to the base 110.

Of course, it is obvious to those skilled in the art that, based on the above disclosure, the first position-limiting portion 150 may also be connected to the base 110, and the free end of the first position-limiting portion 150 is configured to abut against the bearing portion 120 when the bearing portion 120 floats to a preset maximum distance relative to the base 110.

In the embodiment of the present disclosure, the first limiting portion 150 is used for limiting a relative swing range of the base 110 and the bearing portion 120. The first limiting portion 150 may be disposed on the base 110 or the supporting portion 120 as needed. The method is specifically set according to actual needs.

Specifically, during the cushioning process of the cushioning device 100, the base 110 and the carrying portion 120 may be relatively close to or relatively far from each other. The first position-limiting portion 150 is used for limiting a relative distance range between the base 110 and the carrying portion 120, when the relative distance between the base 110 and the carrying portion 120 reaches a preset maximum distance, the base 110 or the carrying portion 120 will abut against the first position-limiting portion 150, the base 110 and the carrying portion 120 cannot be further away, and in a direction in which the base 110 and the carrying portion 120 are relatively away, the base 110 and the carrying portion 120 are in a relatively locked state, and at this time, the base 110 and the carrying portion 120 can only move relatively close to each other. Such an arrangement can prevent the distance between the base 110 and the carrier 120 from reaching a threshold distance and deflecting to the other side of the swing centerline. The buffering effect of the buffering device 100 is ensured, the generation of rigid impact is avoided, and abnormal sound caused by the rigid impact can be avoided.

It should be noted that, a cushion pad may be disposed at the abutting position corresponding to the first limiting portion 150 as required, and the cushion pad may be a rubber pad, so as to further reduce abnormal sound. The cushion pad may also be provided on the base 110 or the carrying portion 120.

In one embodiment of the present disclosure, the first position-limiting portion 150 includes an extending portion and a position-limiting portion connected to each other, one end of the extending portion is fixedly connected to the base 110, the position-limiting portion is connected to a free end of the extending portion, and the free end of the position-limiting portion is used for abutting against the bearing portion 120. Alternatively, one end of the extending portion is fixedly connected to the carrying portion 120, the limiting portion is connected to the free end of the extending portion, and the free end of the limiting portion is used for abutting against the base 110. The extending portion and the limiting portion may cooperate to form an L-shaped structure, and a free end of the L-shaped structure is used to abut against the base 110 or the bearing portion.

According to an embodiment of the present disclosure, the damping device 100 of the present disclosure further includes a second limiting portion 160, and the second limiting portion 160 is configured to limit a preset minimum distance between the base 110 and the bearing portion 120.

In the embodiment of the disclosure, the arrangement of the second position-limiting portion 160 may also limit the flying height between the base 110 and the carrying portion 120, where the flying height refers to the relative flying height between the base 110 and the carrying portion 120. It should be noted that the preset minimum distance is to ensure that the buffer device 100 corresponds to the minimum distance between the base 110 and the carrying portion 120 within the preset buffer effect range, and does not refer to the minimum limit distance when the base 110 and the carrying portion 120 approach each other, and the second limiting portion 160 is mainly used for protecting the elastic structure 130, so as to avoid the damage to the elastic structure 130 compressed to the limit during the process of the base 110 and the carrying portion 120 approaching each other, that is, the preset minimum distance is always greater than the corresponding thickness of the elastic structure 130 at the compression limit. The buffering effect is set according to actual requirements, and the range of the elastic force of the elastic structure 130, the length of the connecting rod 141, and the like all affect the buffering effect.

According to an embodiment of the present disclosure, the second position-limiting portion 160 of the present disclosure is disposed at a lower end of the bearing portion 120, and is configured to abut with an upper end of the base 110 when the bearing portion 120 floats to a preset minimum distance with respect to the base 110. Of course, it is obvious to those skilled in the art that, based on the above disclosure, the second limiting portion 160 may also be disposed at the upper end of the base 110, which is configured to abut against the lower end of the bearing portion 120 when the bearing portion 120 floats to a preset minimum distance relative to the base 110.

In the embodiment of the present disclosure, the second limiting portion 160 is used for limiting a relative swing range of the base 110 and the bearing portion 120. The second limiting portion 160 may be disposed on the base 110 or the supporting portion 120 as needed. The method is specifically set according to actual needs. The number of the second position-limiting portions 160 may be two, and the two second position-limiting portions 160 are respectively located at two opposite sides of the elastic structure 130.

Specifically, during the cushioning process of the cushioning device 100, the base 110 and the carrying portion 120 may be relatively close to or relatively far away from each other. The second position-limiting portion 160 is used for limiting a relatively approaching range of the base 110 and the carrying portion 120, when the relatively approaching distance of the base 110 and the carrying portion 120 reaches a preset minimum distance, the base 110 or the carrying portion 120 will abut against the second position-limiting portion 160, the base 110 and the carrying portion 120 cannot approach continuously, and in a relatively approaching direction of the base 110 and the carrying portion 120, the base 110 and the carrying portion 120 are in a relatively locked state, and at this time, the base 110 and the carrying portion 120 can only move relatively away. Such an arrangement may prevent the distance between the base 110 and the carrying part 120 from reaching a limit distance and damaging the elastic structure 130. The buffering effect of the buffering device 100 is ensured, the damage of the elastic structure 130 is avoided, the service life of the elastic structure 130 is prolonged, and the abnormal sound caused by the impact when the base 110 and the bearing part 120 approach each other can be avoided.

It should be noted that, a cushion pad may be disposed at the abutting position corresponding to the second limiting portion 160 as required, and the cushion pad may be a rubber pad, so as to further reduce abnormal sound. The cushion pad may also be provided on the base 110 or the carrying portion 120.

According to an embodiment of the present disclosure, at least one end of the elastic structure 130 of the present disclosure is configured to slide with respect to the base 110 or the carrying part 120.

In the embodiment of the present disclosure, after the elastic structure 130 slides relative to the base 110 or the bearing portion 120, the elastic structure 130 can be prevented from being distorted and deflected, and then the elastic structure 130 is prevented from being damaged due to distortion and deflection, and the elastic structure 130 can provide stable support for the bearing portion 120 in the direction of the elastic supporting force thereof, so as to ensure the elastic supporting effect of the elastic structure 130, and the stable elastic support can make the buffering effect more stable.

According to an embodiment of the present disclosure, the lower end of the bearing part 120 of the present disclosure is provided with a mounting part 170, one end of the elastic structure 130 is connected to the mounting part 170, and the other end is configured to slide on the base 110.

Of course, it is obvious to those skilled in the art from the above disclosure that the upper end of the base 110 is provided with the mounting part 170, one end of the elastic structure 130 is connected to the mounting part 170, and the other end is configured to slide on the bearing part 120.

In the embodiment of the present disclosure, the mounting portion 170 is used to fix the elastic structure 130, and after the elastic structure 130 is fixed by the mounting portion 170, the elastic structure 130 can be more stably mounted, so as to avoid the elastic structure 130 from being accidentally disengaged. The elastic structure 130 may be welded to the mounting portion 170 as needed, or one end of the elastic structure 130 may be fixed to the mounting portion 170 by a snap structure, a pin hole structure, or the like. The mounting portion 170 may be mounted at a lower end of the bearing portion 120, after the elastic structure 130 is connected to the mounting portion 170, the elastic structure 130 extends to a direction close to the base 110 and abuts against the base 110, and during a movement of the base 110 and the bearing portion 120 relatively close to or away from each other, an end of the elastic structure 130 facing away from the mounting portion 170 will slide relative to the base 110. The mounting portion 170 may also be mounted at the upper end of the base 110, after the elastic structure 130 is connected to the mounting portion 170, the elastic structure 130 extends toward the direction close to the bearing portion 120 and abuts against the bearing portion 120, and during the movement of the base 110 and the bearing portion 120 relatively close to or away from each other, one end of the elastic structure 130 away from the mounting portion 170 slides relative to the bearing portion 120; the elastic structure 130 can eliminate the influence of the torsion force applied to the elastic structure 130 in the sliding process, and the elastic supporting direction of the elastic structure 130 is always kept in the vertical direction, so that the stability of the buffering effect is kept.

It should be noted that the torsion is generated during the relative lateral deviation of the base 110 and the carrying portion 120, and as long as the elastic structure 130 can perform the reverse compensation for the lateral deviation, the torsion can be reduced or even eliminated.

According to one embodiment of the present disclosure, the resilient structure 130 of the present disclosure is a spring, and the mounting portion 170 is a guide post; one end of the spring is sleeved on the guide post.

In embodiments of the present disclosure, the spring may be a compression spring. The guide post is used for installing the spring, cup joints after the guide post in the one end of spring, can make the connection of spring and guide post more stable, and is supplementary in modes such as cooperation welding, joint, bonding, can further improve the connection stability of spring and guide post, prevents that the accident of spring from breaking away from. At least one spring can be arranged according to the requirement, and the number of the springs is the same as that of the guide posts and corresponds to that of the guide posts one by one.

According to one embodiment of the present disclosure, one end of the spring of the present disclosure, which is used to slide with the base 110 or the carrying part 120, is provided with a sliding part 180; the spring is slidably engaged with the base 110 or the carrier 120 through the slide 180.

In the disclosed embodiment, the sliding part 180 may be configured to enable the spring to be slidably fitted with the base 110 or the bearing 120. The influence of torsion on the spring can be eliminated in the sliding process, the elastic supporting direction of the spring is always kept in the vertical direction, and the stability of the buffering effect is further kept.

In one embodiment according to the present disclosure, the sliding portion 180 of the present disclosure is an end cap mounted on the end of the spring, the end cap having an arc-shaped surface cooperating with the base 110 or the bearing 120.

In the disclosed embodiment, the end caps are used to ensure that the spring can be slidably fitted with the base 110 or the carrier 120. The arc-shaped surface on the end cover can reduce the friction force in the sliding fit process of the spring and the base 110 or the bearing part 120, further eliminate the influence of the torsion on the spring, keep the elastic support direction of the spring the same and further keep the stability of the buffering effect. The arc-shaped surface can be set to be a smooth surface as required, or a smooth layer is coated on the arc-shaped surface, or the friction force during the sliding fit process of the spring and the base 110 or the bearing part 120 can be further reduced by coating lubricating oil on the arc-shaped surface.

In accordance with one embodiment of the present disclosure, the cushioning device 100 of the present disclosure is a chassis assembly.

In the embodiment of the present disclosure, after the damping device 100 is configured as a chassis component, it can better cooperate with the walking wheel 200, and the walking wheel 200 can realize the damping function of the walking wheel 200 by using the cooperation of the connecting rod assembly 140 and the elastic structure 130 in the process of walking on the road surface. Due to the matching of the connecting rod assembly 140 and the elastic structure 130, the walking wheel 200 has more degrees of freedom while the walking wheel 200 is buffered, so that the walking wheel 200 can adapt to more complex road surfaces and is not easy to generate abnormal sound.

The embodiment of the present disclosure further provides a self-moving robot, including a walking wheel 200 and the above-mentioned buffer device 100;

the traveling wheels 200 are mounted on the base 110 and configured to drive the buffer device 100 to travel.

In the embodiment of the present disclosure, after the buffer device 100 is applied to the self-moving robot, the buffer device 100 may be installed between the main structure of the self-moving robot and the traveling wheels 200, buffer the self-moving robot, and reduce abnormal noise of the traveling wheels 200 of the self-moving robot during traveling.

Specifically, the base 110 may be used to mount the road wheel 200 or other desired components. The bearing part 120 is used for being connected with equipment to be assembled, the equipment to be assembled can be a main structure of the self-moving robot, and after the walking wheel 200 is connected with the main structure of the robot through the buffer device 100, the whole self-moving robot can be driven to walk in a mode that the walking wheel 200 drives the buffer device 100 to walk. The elastic structure 130 is used for generating an elastic supporting force between the base 110 and the carrying part 120, the carrying part 120 can be elastically supported above the base 110 through the elastic structure 130, and a corresponding buffering effect can be achieved by utilizing the elastic supporting effect of the elastic structure 130. And then the self-moving robot is buffered, and abnormal sound of the walking wheel 200 of the self-moving robot in the walking process is reduced.

The buffering device disclosed by the invention can be applied to self-moving robots, and can also be applied to other scenes suitable for buffering, which are not listed here.

Having described embodiments of the present disclosure, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or technical improvements to the market, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present disclosure is defined by the appended claims.

Claims

1. A cushioning device, comprising:

a base (110);

the bearing part (120), the bearing part (120) is connected to the base (110) through a connecting rod assembly (140), one end of the connecting rod assembly (140) is hinged to the base (110), and the other end of the connecting rod assembly (140) is hinged to the bearing part (120);

a resilient structure (130), the resilient structure (130) being located between the base (110) and the carrier (120) and being configured to resiliently support the carrier (120) above the base (110).

2. A damping device according to claim 1, characterized in that said connecting rod assembly (140) comprises at least two connecting rods (141), at least two of said connecting rods (141) being hinged at respective positions on opposite sides of said base (110) and of said load-bearing part (120).

3. A damping device according to claim 2, characterized in that said base (110) is provided with a first articulated seat (111) and said carrying portion (120) is provided with a second articulated seat (121); one end of the connecting rod (141) is hinged with the first hinged seat (111), and the other end of the connecting rod is hinged with the second hinged seat (121).

4. A damping device according to claim 3, characterized in that the connecting rod (141) is configured to be arranged obliquely between the base (110) and the carrying section (120).

5. The damping device according to claim 1, characterized in that the connecting rod assembly (140) comprises at least four connecting rods (141), at least four connecting rods (141) being located in the circumferential direction of the base (110), respectively the carrier (120).

6. The cushioning device according to claim 1, further comprising a first limiting portion (150), the first limiting portion (150) being configured to limit a preset maximum distance between the base (110) and the carrying portion (120).

7. The damping device according to claim 6, characterized in that the first limiting portion (150) is connected to the carrier portion (120), a free end of the first limiting portion (150) being configured to abut against the base (110) when the carrier portion (120) floats to a preset maximum distance relative to the base (110);

or it is that,

the first limiting part (150) is connected to the base (110), and the free end of the first limiting part (150) is configured to abut against the bearing part (120) when the bearing part (120) floats to a preset maximum distance relative to the base (110).

8. The cushioning device according to claim 1, further comprising a second limiting portion (160), the second limiting portion (160) being configured to limit a preset minimum distance between the base (110) and the carrying portion (120).

9. The damping device according to claim 8, characterized in that the second stopper (160) is provided at a lower end of the carrier (120) and configured to abut with an upper end of the base (110) when the carrier (120) floats to a predetermined minimum distance with respect to the base (110);

or, alternatively, the number of the first and second,

the second limiting part (160) is arranged at the upper end of the base (110) and is configured to abut against the lower end of the bearing part (120) when the bearing part (120) floats to a preset minimum distance relative to the base (110).

10. Cushioning device according to claim 1, characterized in that at least one end of the resilient structure (130) is configured to slide relative to the base (110) or the carrier (120).

11. A damping device according to claim 10, characterized in that the lower end of the carrying section (120) is provided with a mounting section (170), one end of the resilient structure (130) being connected to the mounting section (170) and the other end being configured to slide on the base (110);

or it is that,

an installation part (170) is arranged at the upper end of the base (110), one end of the elastic structure (130) is connected to the installation part (170), and the other end of the elastic structure is configured to slide on the bearing part (120).

12. A fender according to claim 11 wherein the resilient structure (130) is a spring and the mounting portion (170) is a guide post; one end of the spring is sleeved on the guide post.

13. A buffering device according to claim 12, wherein one end of the spring for sliding with the base (110) or the carrying portion (120) is provided with a sliding portion (180); the spring is slidably fitted with the base (110) or the bearing part (120) through the sliding part (180).

14. A buffer device according to claim 13 wherein the sliding part (180) is an end cap mounted on the end of the spring, the end cap having an arcuate face for engaging with the base (110) or the carrier (120).

15. A cushioning apparatus according to any one of claims 1 to 14, wherein the cushioning apparatus is a chassis assembly.

16. A self-moving robot comprising a walking wheel (200) and a damping device as claimed in any one of claims 1 to 15;

the walking wheel (200) is mounted on the base (110) and configured to drive the buffer device to walk.