CN112628276A

CN112628276A - Robot complete machine with uniform-speed opening and closing hinge

Info

Publication number: CN112628276A
Application number: CN202011525689.1A
Authority: CN
Inventors: 杨云
Original assignee: Jinghailianke Ningbo Intelligent Equipment Co ltd
Current assignee: Jinghailianke Ningbo Intelligent Equipment Co ltd
Priority date: 2020-12-22
Filing date: 2020-12-22
Publication date: 2021-04-09

Abstract

The invention discloses a robot complete machine with hinges capable of being opened and closed at a constant speed, which comprises a computer main body, a display panel and two hinge mechanisms capable of being opened and closed at a constant speed; the constant-speed opening and closing hinge mechanism comprises a first hinge arm, a second hinge arm, a torsion spring, a damping body, a turnover guide cylinder, a magnet driving slide block, a push rod, a damping piston and a plurality of damping permanent magnets; magnetorheological fluid is arranged in the damping body; a spiral guide groove is formed in the overturning guide cylinder; the magnet driving slide block is provided with a connecting part and a plurality of sliding inclined wedge blocks made of ferromagnetic materials, and the push rod is movably clamped and matched with the spiral guide groove; the push rod is fixedly connected with the connecting part; the damping piston is provided with a plurality of damping through holes; the damping permanent magnets are respectively attached to the inclined surfaces of the sliding inclined wedges in a one-to-one correspondence manner; the invention realizes the real-time adjustment of the damping value, and the damping value is matched with the torsion of the torsion spring, thereby realizing the uniform opening and closing action; the display panel is better protected, and the service life of the display panel is prolonged.

Description

Robot complete machine with uniform-speed opening and closing hinge

Technical Field

The invention relates to a robot complete machine with hinges capable of being opened and closed at a constant speed.

Background

At present, the automatic opening and closing hinge is mostly reset through a torsion spring or a spring, and the speed of the opening and closing hinge is adjusted by matching with the damping action of a hydraulic damper so as to obtain relatively gentle opening and closing actions of the hinge. As can be seen from the formula F = KX of the spring force, the magnitude of the spring force is linearly related to the degree of compression thereof, and the greater the degree of compression, the greater the spring force, and the faster the hinge is opened. However, the damping of the existing damper for the hinge can not be adjusted in real time along with the elastic force of the spring, so that the opening and closing of the hinge can not be performed with uniform opening and closing motion.

Disclosure of Invention

The invention aims to overcome the defects and provide a complete robot capable of opening and closing the hinge at a constant speed.

In order to achieve the purpose, the invention adopts the following specific scheme:

a robot complete machine with constant-speed opening and closing hinges comprises a computer main body, a display panel and two constant-speed opening and closing hinge mechanisms arranged at intervals, wherein one side of the display panel is hinged with one side of the computer main body through the two constant-speed opening and closing hinge mechanisms.

Furthermore, each constant-speed opening and closing hinge mechanism comprises a first hinge arm, a second hinge arm, a torsion spring, a damping body, a turnover guide cylinder, a magnet driving slide block, a push rod, a damping piston and a plurality of damping permanent magnets;

the first hinge arm is fixedly connected to the computer main body and is provided with a first center hole and a plurality of magnet mounting holes which are uniformly distributed along the circumferential direction of the first center hole and respectively extend along the radial direction; the second hinge arm is fixedly connected to the display panel, the second hinge arm is arranged in central symmetry with the first hinge arm, and the second hinge arm is provided with a second central hole; the second central hole is coaxially arranged with the first central hole; the torsion spring is arranged between the first hinge arm and the second hinge arm, and two ends of the torsion spring are respectively connected with the first hinge arm and the second hinge arm; the damping body is fixedly arranged in the first central hole; the damping body is provided with a sealing ring at the end part close to the second hinge arm; a cavity is formed between the sealing ring and the damping body, and magnetorheological fluid is arranged in the cavity; the overturning guide cylinder is movably arranged in the second central hole, and the adjacent ends of the overturning guide cylinder and the damping body are mutually abutted or connected together through a bearing; a spiral guide groove is formed in the overturning guide cylinder; the magnet driving sliding block is provided with a connecting part and a plurality of sliding wedge blocks made of ferromagnetic materials, the sliding wedge blocks are arranged in one-to-one correspondence with the magnet mounting holes, one ends of the sliding wedge blocks are connected to the connecting part, and the other ends of the sliding wedge blocks respectively movably extend into the magnet mounting holes in one-to-one correspondence; one end of the push rod movably extends into the overturning guide cylinder and is movably clamped and matched with the spiral guide groove; the other end of the push rod penetrates through the damping body in an axial movable mode and then is fixedly connected with the connecting part of the magnetic body driving sliding block; the damping piston is fixedly sleeved on the push rod and is positioned in the cavity and divides the cavity into a left cavity and a right cavity; a plurality of damping through holes are formed in the damping piston; the damping permanent magnets are arranged in a one-to-one correspondence mode with the magnet mounting holes, the damping permanent magnets are arranged in the magnet mounting holes in a one-to-one correspondence mode in a sliding embedding mode, and the damping permanent magnets are respectively attached to the inclined surfaces of the sliding inclined wedge blocks in a one-to-one correspondence mode.

Furthermore, the middle part of each damping permanent magnet is provided with a guide protruding part, each magnet mounting hole is respectively provided with a radial guide groove corresponding to the guide protruding part, and the guide protruding parts are connected with the radial guide grooves in a sliding mode.

Further in accordance with the present invention, the push rod includes a first portion and a second portion integrally formed and coaxially connected; one end of the first part, which is far away from the second part, movably extends into the overturning guide cylinder and is movably clamped with the spiral guide groove; the other end of the first part movably penetrates through the sealing ring and then extends into the damping body; one end of the second part, which is far away from the first part, movably penetrates out of the damping body and is fixedly connected with the connecting part of the magnet driving sliding block; the first part is symmetrically and convexly provided with a pair of sliding pins, the overturning guide cylinder is correspondingly provided with two spiral guide grooves, and the pair of sliding pins are movably embedded into the two spiral guide grooves one by one respectively; the cross section of the second part is of a polygonal structure.

Furthermore, the contact surface of each damping permanent magnet and the sliding wedge block is an inclined surface.

Furthermore, the two constant-speed opening and closing hinge mechanisms are arranged in a centrosymmetric manner.

Furthermore, two containing grooves are formed in one side of the computer main body at intervals, and the two constant-speed opening and closing hinge mechanisms are correspondingly arranged in the two containing grooves one by one.

The invention has the beneficial effects that: according to the invention, the damping value is adjusted in real time through the linkage fit among the damping body, the overturning guide cylinder, the magnet driving slide block, the push rod, the damping piston, the magnetorheological fluid and the damping permanent magnet, so that the torsion of the torsion spring is matched, and the constant-speed opening and closing action is realized.

The invention can better protect the display panel and is beneficial to prolonging the service life of the display panel.

Drawings

FIG. 1 is a perspective view of the present invention;

FIG. 2 is a perspective view of another aspect of the present invention;

FIG. 3 is a perspective view of the constant velocity opening and closing hinge mechanism of the present invention in a closed position;

FIG. 4 is an exploded schematic view of the constant velocity opening and closing hinge mechanism of the present invention in a closed position;

FIG. 5 is a perspective view of the constant velocity opening and closing hinge mechanism of the present invention in an open position;

FIG. 6 is a cross-sectional view of the constant velocity opening and closing hinge mechanism of the present invention in an open position;

FIG. 7 is a schematic view of the first hinge arm of the present invention;

FIG. 8 is a perspective view of a damped permanent magnet of the present invention;

description of reference numerals: a1, computer body; a11, a containing groove; a2, a display panel; a3, a constant-speed opening and closing hinge mechanism; 1. a first hinge arm; 11. a magnet mounting hole; 12. a radial guide groove; 2. a second hinge arm; 3. a torsion spring; 4. a damping body; 41. a seal ring; 5. turning over the guide cylinder; 51. a spiral guide groove; 6. a magnet-driven slider; 61. a connecting portion; 62. sliding the tapered wedge; 7. a push rod; 71. a first portion; 72. a second portion; 73. a slide pin; 8. a damping piston; 9. a damping permanent magnet; 91. a guide projection.

Detailed Description

The invention will be described in further detail with reference to the following figures and specific examples, without limiting the scope of the invention.

As shown in fig. 1 to 8, the robot complete machine with the constant speed opening and closing hinge in this embodiment includes a computer main body a1, a display panel a2, and two constant speed opening and closing hinge mechanisms a3 arranged at intervals, wherein one side of the display panel a2 is hinged to one side of the computer main body a1 through the two constant speed opening and closing hinge mechanisms a 3. During the actual use, through the linkage of two at the uniform velocity switching hinge mechanism a3 for display panel a2 can carry out at the uniform velocity upset motion relative to computer motherboard a1, can protect display panel a2 better, does benefit to the life of extension display panel a 2.

Specifically, the two constant speed opening and closing hinge mechanisms a3 are arranged in central symmetry. By the arrangement, the stress of the display panel a2 is balanced, and the structure is more attractive. In this embodiment, specifically, two accommodating grooves a11 are formed at one side of the computer main body a1 at intervals, and the two constant-speed opening and closing hinge mechanisms a3 are correspondingly arranged in the two accommodating grooves a11 one by one. So set up for the structure is compacter, and the volume is littleer.

Based on the above embodiments, further, each of the constant speed opening and closing hinge mechanisms a3 includes a first hinge arm 1, a second hinge arm 2, a torsion spring 3, a damping body 4, a turning guide cylinder 5, a magnet driving slider 6, a push rod 7, a damping piston 8, and a plurality of damping permanent magnets 9;

the first hinge arm 1 is fixedly connected to the computer main body a1, the first hinge arm 1 has a first center hole and a plurality of magnet mounting holes 11 uniformly distributed along the circumference of the first center hole and along the radial direction respectively; the second hinge arm 2 is fixedly connected to the display panel a2, the second hinge arm 2 is arranged in central symmetry with the first hinge arm 1, and the second hinge arm 2 has a second central hole; the second central hole is coaxially arranged with the first central hole; the torsion spring 3 is arranged between the first hinge arm 1 and the second hinge arm 2, and two ends of the torsion spring are respectively connected with the first hinge arm 1 and the second hinge arm 2; the damping body 4 is fixedly arranged in the first central hole; the damping body 4 has a sealing ring 41 at the end close to the second hinge arm 2; a cavity is formed between the sealing ring 41 and the damping body 4, and magnetorheological fluid (not shown in the figure) is arranged in the cavity; the overturning guide cylinder 5 is movably arranged in the second central hole, and one adjacent ends of the overturning guide cylinder 5 and the damping body 4 are mutually abutted or connected together through a bearing (not shown in the figure); a spiral guide groove 51 is formed in the overturning guide cylinder 5; the magnet driving slide block 6 is provided with a connecting part 61 and a plurality of sliding wedge blocks 62 made of ferromagnetic materials, the sliding wedge blocks 62 are arranged in one-to-one correspondence with the magnet mounting holes 11, one ends of the sliding wedge blocks 62 are connected to the connecting part 61, and the other ends of the sliding wedge blocks 62 respectively movably extend into the magnet mounting holes 11 in one-to-one correspondence; one end of the push rod 7 movably extends into the overturning guide cylinder 5 and is movably clamped and matched with the spiral guide groove 51; the other end of the push rod 7 is movably connected with the connecting part 61 of the magnet driving slide block 6 after penetrating through the damping body 4 along the axial direction; the damping piston 8 is fixedly sleeved on the push rod 7, and the damping piston 8 is positioned in the cavity and divides the cavity into a left cavity and a right cavity; a plurality of damping through holes are formed in the damping piston 8; the plurality of damping permanent magnets 9 and the plurality of magnet mounting holes 11 are arranged in a one-to-one correspondence manner, the plurality of damping permanent magnets 9 are slidably embedded in the plurality of magnet mounting holes 11 in a one-to-one correspondence manner, and are respectively attached to the inclined surfaces of the plurality of sliding inclined wedge blocks 62 in a one-to-one correspondence manner.

The working mode of the embodiment is as follows: initially, the open-close hinge robot is in a closed state, at the moment, the torsion force of the torsion spring 3 is in a minimum state, the connecting part 61 of the magnet driving sliding block 6 is far away from the first hinged arm 1, each damping permanent magnet 9 is far away from the outer surface of the damping body 4, namely, the distance between the damping permanent magnet 9 and the magnetorheological fluid in the damping body 4 is maximum, the magnetic field intensity of the magnetorheological fluid in the damping body 4 is minimum, and the viscosity of the magnetorheological fluid is in a minimum state, namely, the damping value of a damper formed by the damping body 4, the magnetorheological fluid, the damping piston 8 and the damping permanent magnets 9 is minimum; when the opening and closing hinge robot is opened, the torsion force of the torsion spring 3 is gradually increased, the second articulated arm 2 drives the overturning guide cylinder 5 to rotate, the spiral guide groove 51 in the overturning guide cylinder 5 pushes the push rod 7 to move, the push rod 7 drives the magnet driving slide block 6 to move towards the first articulated arm 1, each sliding inclined wedge block 62 on the magnet driving slide block 6 respectively pushes each damping permanent magnet 9 to move towards the outer surface of the damping body 4, namely, the distance between each damping permanent magnet 9 and magnetorheological fluid is reduced, the magnetic field intensity of the magnetorheological fluid is gradually enhanced, so that the viscosity of the magnetorheological fluid is increased, and the damping value is correspondingly gradually increased, so that the opening and closing hinge robot keeps an opening state; when the hinge robot needs to be closed, the opening state of the hinge robot is broken under an external acting force, so that the second articulated arm 2 is overturned towards the closing state, the overturning guide cylinder 5 is driven to rotate, the push rod 7 is pushed to move by utilizing the spiral guide groove 51, the push rod 7 drives the magnet driving slide block 6 to move away from the first articulated arm 1, each damping permanent magnet 9 is driven to move away from the magnetorheological fluid, the viscosity of the magnetorheological fluid is gradually reduced, namely the damping value is gradually reduced, the torsion spring 3 is in a releasing process, and the elasticity of the torsion spring 3 is reduced along with the reduction of the compression amount; therefore, in the opening or closing process of the hinge closing robot, the change of the damping value is matched with the change of the torsion spring 3, the real-time adjustment of the damping value is realized, and the hinge opening and closing robot is opened or closed in a constant speed mode.

The damping body 4, the overturning guide cylinder 5, the magnet driving slide block 6, the push rod 7, the damping piston 8, the magnetorheological fluid and the damping permanent magnet 9 are in linkage fit, real-time adjustment of a damping value is achieved, and the damping value is matched with the torsion force of the torsion spring 3, so that uniform opening and closing actions are achieved.

Based on the above embodiment, further, a guide protrusion 91 is disposed in the middle of each damping permanent magnet 9, each magnet mounting hole 11 is provided with a radial guide groove 12 corresponding to the guide protrusion 91, and the guide protrusion 91 is slidably connected to the radial guide groove 12. So set up for damping permanent magnet 9 is stable under the cooperation of direction protruding portion 91 and radial guide way 12 and is removed, guarantees the homogeneity in magnetic field, can also prevent damping permanent magnet 9's axial skew simultaneously.

Based on the above embodiment, further, the push rod 7 includes a first portion 71 and a second portion 72 that are integrally formed and coaxially connected; one end of the first part 71, which is far away from the second part 72, movably extends into the overturning guide cylinder 5 and is movably clamped with the spiral guide groove 51; the other end of the first part 71 movably penetrates through the sealing ring 41 and then extends into the damping body 4; one end of the second part 72, which is far away from the first part 71, is movably connected with the connecting part 61 of the magnet driving slider 6 after penetrating out of the damping body 4. By the arrangement, the overturning guide cylinder 5 is in linkage fit with each damping permanent magnet 9, and the damping value is adaptive to the torsion of the torsion spring 3.

Based on the above embodiment, further, the first portion 71 is symmetrically provided with a pair of sliding pins 73 in a protruding manner, the turning guide cylinder 5 is correspondingly provided with two spiral guide grooves 51, and the pair of sliding pins 73 are respectively and movably embedded into the two spiral guide grooves 51 in a one-to-one correspondence manner. With the arrangement, the sliding pin 73 is matched with the spiral guide groove 51, so that the push rod 7 moves axially, the rotary motion is converted into linear motion, and the damping permanent magnet 9 slides radially in the magnet mounting hole 11.

Based on the above embodiment, further, the cross section of the second portion 72 is a polygonal structure. So set up, can effectively prevent the relative motion between push rod 7 and the damping body 4, the structure is more reliable.

Based on the above embodiment, further, the contact surface of each damping permanent magnet 9 with the sliding wedge 62 is an inclined surface. Thus, the two inclined surfaces are matched with each other, so that the inclined surface of the damping permanent magnet 9 is always attached to the inclined surface of the sliding inclined wedge block 62, and the radial movement of the damping permanent magnet 9 is realized.

The above description is only a preferred embodiment of the present invention, and all equivalent changes or modifications of the structure, characteristics and principles described in the present patent application are included in the protection scope of the present patent application.

Claims

1. The utility model provides a complete machine of at uniform velocity switching hinge robot which characterized in that: the computer comprises a computer body (a1), a display panel (a2) and two constant-speed opening and closing hinge mechanisms (a3) which are arranged at intervals, wherein one side of the display panel (a2) is hinged with one side of the computer body (a1) through the two constant-speed opening and closing hinge mechanisms (a 3).

2. The uniform-speed opening and closing hinge robot complete machine as claimed in claim 1, wherein: each constant-speed opening and closing hinge mechanism (a3) comprises a first hinge arm (1), a second hinge arm (2), a torsion spring (3), a damping body (4), a turnover guide cylinder (5), a magnet driving slide block (6), a push rod (7), a damping piston (8) and a plurality of damping permanent magnets (9);

the first hinge arm (1) is fixedly connected to the computer main body (a1), the first hinge arm (1) is provided with a first central hole and a plurality of magnet mounting holes (11) which are uniformly distributed along the circumference of the first central hole and respectively extend along the radial direction;

the second hinge arm (2) is fixedly connected to the display panel (a2), the second hinge arm (2) is arranged in central symmetry with the first hinge arm (1), and the second hinge arm (2) is provided with a second central hole; the second central hole is coaxially arranged with the first central hole;

the torsion spring (3) is arranged between the first hinged arm (1) and the second hinged arm (2), and two ends of the torsion spring are respectively connected with the first hinged arm (1) and the second hinged arm (2);

the damping body (4) is fixedly arranged in the first central hole; the end of the damping body (4) close to the second hinge arm (2) is provided with a sealing ring (41); a cavity is formed between the sealing ring (41) and the damping body (4), and magnetorheological fluid is arranged in the cavity;

the overturning guide cylinder (5) is movably arranged in the second central hole, and one adjacent ends of the overturning guide cylinder (5) and the damping body (4) are mutually abutted or connected together through a bearing; a spiral guide groove (51) is formed in the overturning guide cylinder (5);

the magnet driving slide block (6) is provided with a connecting part (61) and a plurality of sliding wedge blocks (62) made of ferromagnetic materials, the sliding wedge blocks (62) are arranged in one-to-one correspondence with the magnet mounting holes (11), one ends of the sliding wedge blocks (62) are connected to the connecting part (61), and the other ends of the sliding wedge blocks (62) respectively movably extend into the magnet mounting holes (11) in one-to-one correspondence;

one end of the push rod (7) movably extends into the overturning guide cylinder (5) and is movably clamped and matched with the spiral guide groove (51); the other end of the push rod (7) penetrates through the damping body (4) in an axial direction and then is fixedly connected with a connecting part (61) of the magnet driving slide block (6);

the damping piston (8) is fixedly sleeved on the push rod (7), and the damping piston (8) is positioned in the cavity and divides the cavity into a left cavity and a right cavity; a plurality of damping through holes are formed in the damping piston (8);

the damping permanent magnets (9) are arranged in a one-to-one correspondence mode with the magnet mounting holes (11), the damping permanent magnets (9) are arranged in the magnet mounting holes (11) in a one-to-one sliding embedding mode, and the damping permanent magnets are respectively attached to the inclined surfaces of the sliding inclined wedge blocks (62) in a one-to-one correspondence mode.

3. The uniform-speed opening and closing hinge robot complete machine as claimed in claim 2, wherein: every the middle part of damping permanent magnet (9) all is equipped with direction protruding portion (91), every magnet mounting hole (11) correspond respectively direction protruding portion (91) are equipped with radial guide way (12), direction protruding portion (91) with radial guide way (12) sliding connection.

4. The uniform-speed opening and closing hinge robot complete machine as claimed in claim 2, wherein: the push rod (7) comprises a first part (71) and a second part (72) which are integrally formed and coaxially connected; one end of the first part (71), which is far away from the second part (72), movably extends into the overturning guide cylinder (5) and is movably clamped with the spiral guide groove (51); the other end of the first part (71) movably penetrates through the sealing ring (41) and then extends into the damping body (4); one end of the second part (72), which is far away from the first part (71), movably penetrates out of the damping body (4) and then is fixedly connected with the connecting part (61) of the magnet driving slide block (6); the first part (71) is symmetrically provided with a pair of sliding pins (73) in a protruding manner, the overturning guide cylinder (5) is correspondingly provided with two spiral guide grooves (51), and the pair of sliding pins (73) are respectively movably embedded into the two spiral guide grooves (51) in a one-to-one correspondence manner; the cross section of the second part (72) is a polygonal structure.

5. The uniform-speed opening and closing hinge robot complete machine as claimed in claim 2, wherein: and the contact surface of each damping permanent magnet (9) and the sliding wedge block (62) is an inclined surface.

6. The complete robot with the uniform-speed opening and closing hinge as claimed in claims 1 to 5, wherein: the two constant-speed opening and closing hinge mechanisms (a3) are arranged in central symmetry.

7. The complete robot with the uniform-speed opening and closing hinge as claimed in claims 1 to 5, wherein: two containing grooves (a11) are formed in one side of the computer main body (a1) at intervals, and the two constant-speed opening and closing hinge mechanisms (a3) are arranged in the two containing grooves (a11) in a one-to-one correspondence mode.