阅读说明：本技术 径向减震器、家用器具以及用于操作该家用器具的方法 (Radial damper, household appliance and method for operating the household appliance ) 是由 S·阿尔瓦雷斯拉努萨 A·埃斯卡廷巴尔迪扎尔 I·格拉西亚博拜德 J·格劳斯阿尔梅纳尔 F· 于 2021-04-28 设计创作，主要内容包括：本发明涉及一种用于家用器具的径向减震器,其包括第一联接杆和第二联接杆,所述第一联接杆包括第一端和与第一端相反的第二端,所述第二联接杆包括第一端和与第一端相反的第二端；所述联接杆能绕第二关节的第二旋转轴线相对于彼此运动；其中,第二联接杆的第一端借助于所述第二关节与所述第一联接杆的第一端连接；其中,所述第一联接杆的第二端能借助于由第一旋转轴线限定的第一关节连接至所述家用器具的壳体,所述第二联接杆的第二端能借助于由第三旋转轴线限定的第三关节连接至所述家用器具的桶；并且所述第一关节、第二关节和第三关节中的至少一个包括形状记忆材料。此外,本发明还涉及包括该径向减震器的家用器具以及用于操作家用器具的方法。(The present invention relates to a radial shock absorber for a household appliance, comprising a first coupling rod comprising a first end and a second end opposite to the first end, and a second coupling rod comprising a first end and a second end opposite to the first end; the coupling levers being movable relative to each other about a second axis of rotation of the second joint; wherein a first end of a second coupling rod is connected with a first end of the first coupling rod by means of the second joint; wherein the second end of the first coupling rod is connectable to the housing of the household appliance by means of a first joint defined by a first axis of rotation, and the second end of the second coupling rod is connectable to the tub of the household appliance by means of a third joint defined by a third axis of rotation; and at least one of the first joint, the second joint, and the third joint comprises a shape memory material. Furthermore, the invention relates to a household appliance comprising the radial damper and to a method for operating a household appliance.)

1. A radial shock absorber (8, 9) for a household appliance (1), comprising a first coupling rod (17) comprising a first end (19) and a second end (20) opposite to the first end (19), and a second coupling rod (18) comprising a first end (21) and a second end (22) opposite to the first end (21); the coupling levers (17, 18) being movable relative to each other about a second axis of rotation (15) of a second joint (11) (M2); wherein the first end (21) of the second coupling rod (18) is connected with the first end (19) of the first coupling rod (17) by means of the second joint (11) (M2); wherein the second end (20) of the first coupling lever (17) is connectable to the housing (2) of the household appliance (1) by means of a first joint (10) (M1) defined by a first axis of rotation (14), the second end (22) of the second coupling lever (18) is connectable to the tub (3) of the household appliance (1) by means of a third joint 12(M3) defined by a third axis of rotation (16),

characterized in that at least one of the first joint (10), the second joint (11) and the third joint (12) comprises a shape memory material (26).

2. A radial shock absorber (8, 9) as claimed in claim 1, wherein the shape memory material (26) is a shape memory polymer.

3. A radial shock absorber (8, 9) as set forth as in claim 2 wherein said shape memory polymer (26) is a physically cross-linked shape memory polymer.

4. A radial shock absorber (8, 9) as claimed in claim 3, wherein the physically cross-linked shape memory polymer (26) is selected from the following polymers: polyurethanes, polyethylene terephthalate (PET), polyethylene oxide (PEO), polynorbornene, and block copolymers comprising polystyrene and poly (1, 4-butadiene).

5. A radial shock absorber (8, 9) as set forth as in claim 2 wherein said shape memory polymer (26) is a chemically cross-linked shape memory polymer.

6. A radial shock absorber (8, 9) as claimed in claim 5, wherein the chemically cross-linked shape memory polymer (26) is selected from the following polymers: polyurethane and PEO-PET block copolymer.

7. A radial shock absorber (8, 9) as claimed in any one of claims 2 to 6, wherein the shape memory polymer (26) comprises a thermally and/or electrically conductive filler.

8. The radial shock absorber (8, 9) of any one of claims 1 to 7, wherein the first joint (10) (M1) comprises a shape memory material (26).

9. The radial shock absorber (8, 9) of any one of claims 1 to 8, wherein at least one of the first joint (10), the second joint (11) and the third joint (12) comprises a friction material (27) arranged between the first axis of rotation (14), the second axis of rotation (15) and/or the third axis of rotation (16) and the shape memory material (26).

10. A radial shock absorber (8, 9) as claimed in claim 9, wherein the friction material (27) is a polymeric organic foam or a rubber material.

11. A radial damper (8, 9) according to any of claims 1 to 10, wherein the radial damper (8, 9) comprises a rotational movement limiting device (25).

12. A household appliance (1) comprising a radial shock absorber (8, 9) according to any one of claims 1 to 11.

13. The household appliance (1) according to claim 12, wherein the household appliance (1) is a washing machine or a washer-dryer.

14. Method for operating a household appliance (1) comprising a radial shock absorber (8, 9) according to any one of claims 1 to 11, wherein the friction between a first (14), a second (15) and/or a third (16) rotation axis in the first (10), second (11) and/or third joint (12) is adjusted accordingly by means of a change in the shape of the shape memory material (26) depending on the vibration situation of the household appliance (1).

15. Method according to claim 14, wherein the household appliance (1) is a washing machine or washer-dryer having a tub (3) and a laundry drum (4) arranged inside the tub (3) and rotatable about a horizontal axis (5), wherein at least one radial damper (8, 9) is arranged between the tub (3) and a casing (2) of the washing machine or washer-dryer.

Technical Field

The invention relates to a radial damper, a household appliance comprising a radial damper and a method for operating a household appliance. In particular, the present invention relates to a radial shock absorber for a household appliance, wherein the radial shock absorber comprises a first coupling rod comprising a first end and a second end opposite to the first end, and a second coupling rod comprising a first end and a second end opposite to the first end; the coupling levers are movable relative to each other about a second axis of rotation of a second joint (M2); wherein the first end of the second rod is connected with the first end of the first coupling rod by means of a second joint; and wherein the second end of the first coupling rod is connectable to the housing of the household appliance by means of a first joint (M1) defined by a first axis of rotation, and the second end of the second coupling rod is connectable to the tub of the household appliance by means of a third joint (M3) defined by a third axis of rotation, to a household appliance comprising the radial shock absorber and to a method for operating the household appliance.

Background

Household appliances for treating laundry usually comprise a rotating drum which rotates at different speeds during its use, for example in washing machines and dryers. The variation in the rotation speed is particularly noticeable in the washing machine. A washing machine generally comprises a tub in which a laundry drum is mounted, rotatable about a horizontal axis. During operation of the washing machine, the tub and the laundry drum may oscillate. Therefore, the tub is generally fixed to the casing of the washing machine by means of a suitable damping system. The shock absorber, which is usually connected to the bottom of the housing, may be, for example, a linear damper, such as an oil damper. In a damper, the two components of the shock absorber are coaxially aligned on their respective longitudinal axes and are movable relative to each other along these longitudinal axes.

As another type of shock absorber, a radial shock absorber is known. They usually have two coupling rods connected to each other by means of suitable joints. Therefore, they are also called articulated shock absorbers.

For example, publication WO 2018/109602 a discloses an articulated shock absorber of a household appliance, comprising a first coupling rod comprising a first end and a second end opposite to the first end, and a second coupling rod comprising a first end and a second end opposite to the first end, wherein the first end of the second coupling rod is connected with the first end of the first coupling rod by means of a first joint, and wherein the coupling rods are movable relative to each other about a first rotational axis of the first joint. The second end of the first coupling rod may be connected to the housing of the household appliance by means of a second joint defined by a second axis of rotation, the second end of the second coupling rod may be connected to the tub of the household appliance by means of a third joint defined by a third axis of rotation; and the coupling rod is arranged to prevent full rotation about the first axis.

However, the vibrations may differ during operation of the domestic appliance. Especially in washing machines or washer-dryers, the vibrations may differ in different washing programs. For example, the spin/dry speed may be different to accommodate different types of clothing. Furthermore, the rotational speed during the actual washing step is significantly lower.

It is therefore desirable to provide a household appliance that can adapt to varying vibration conditions.

Disclosure of Invention

Against this background, it is an object of the present invention to provide a vibration damper and a household appliance comprising the same, in which adaptation to different vibration conditions can be achieved.

According to the invention, this object is achieved by a radial damper, a household appliance and a method for operating a household appliance having the features of the independent claims. Preferred embodiments of the invention are described in detail in the respective dependent claims. Preferred embodiments of the radial shock absorber correspond to preferred embodiments of the household appliance and the method, respectively, even if they are not described in detail herein.

The present invention therefore relates to a radial shock absorber for a household appliance, comprising a first coupling rod (joint rod) comprising a first end and a second end opposite to the first end, and a second coupling rod comprising a first end and a second end opposite to the first end; the coupling levers are movable relative to each other about a second axis of rotation of a second joint (M2); wherein the first end of the second rod is connected with the first end of the first coupling rod by means of a second joint; wherein the second end of the first coupling rod is connectable to the housing of the household appliance by means of a first joint (M1) defined by a first axis of rotation, and the second end of the second coupling rod is connectable to the tub of the household appliance by means of a third joint (M3) defined by a third axis of rotation; and wherein at least one of the first joint, the second joint, and the third joint comprises a shape memory material.

Shape memory materials are characterized by the ability to recover their original shape from significant surface plastic deformation when a particular stimulus is applied. This is known as the shape memory effect. Various shape memory materials, particularly shape memory alloys and shape memory polymers, are known.

A shape memory alloy is an alloy that deforms when cooled and returns to its pre-deformed shape when heated. It is also known as memory metal, memory alloy, smart metal, smart alloy or muscle wire (muscle wire).

However, in a preferred embodiment of the invention, the shape memory material in the radial shock absorber is a shape memory polymer.

Shape memory polymers differ from shape memory alloys in that their glass transition or melt transition from the hard to the soft phase is responsible for the shape memory effect. In shape memory alloys, the martensite/austenite transformation is responsible for the shape memory effect. Shape memory polymers have many advantages that make them more attractive than shape memory alloys. They have high elastic deformability (in most cases up to 200%), lower cost, lower density, wide application temperatures that can be tailored to specific needs, easy processing, potential biocompatibility and biodegradability, and can exhibit mechanical properties superior to shape memory alloys.

Shape memory polymers are polymeric smart materials that have the ability to return from a deformed state (temporary shape) to an original (permanent) shape upon the induction of an external stimulus (trigger), such as a change in temperature or an electrical current. Shape memory polymers can retain two or, in some cases, three shapes, and the transition between them is typically caused by temperature. In addition to temperature changes, shape changes of shape memory polymers can also be triggered by electric or magnetic fields, light or solutions. Shape memory polymers cover a wide range of properties from stable to biodegradable, from soft to hard, from elastic to rigid, depending on the structural units that make up the shape memory polymer. Shape memory polymers include thermoplastic and thermoset (covalently crosslinked) polymeric materials.

Shape memory polymers have both a visible, current (temporary) form and a stored (permanent) form. Once the latter is manufactured by conventional methods, the material can be processed into another temporary form by heating, deformation, and finally cooling. The polymer retains this temporary shape until it is activated by a predetermined external stimulus to transform the shape into a permanent form. The effect is based on their molecular network structure, which comprises at least two separate phases. Phase T exhibiting the highest thermal transition_permIs the temperature that must be exceeded to establish physical cross-linking that results in a permanent shape. On the other hand, the switching section has a characteristic of being above a specific transition temperature T_transThe ability to soften and is responsible for the temporary shape. In some cases, this is the glass transition temperature T_gIn other cases, it is the melting temperature T_m. When the glass transition temperature T is exceeded_transAnd is maintained at T_permIn the following, the switching is activated by softening the switching segments, so that the material returns to its original (permanent) form. At T_transIn the following, the flexibility of the segments is at least partially limited. If T is selected_mTo design the shape memory polymer, when the switching section is at T_mThe above is stretched and then cooled to below T_mStrain-induced crystallization of the switching segment is induced. These crystallites form covalent network points that prevent the polymer from reorganizing its general helical structure. The ratio of hard segments to soft segments is generally in the range of 5/95 to 95/5, more preferably in the range of 20/80 to 80/20.

During the transition from the glassy state to the rubbery elastic state by, for example, thermal activation, the rotation around the segment bonds becomes increasingly unimpeded. This allows the chain to take on other possible, energetically equivalent configurations with a small amount of disentanglement. Thus, most shape memory polymers form compact random coils because this configuration is entropically superior to the stretched configuration.

Polymers having such an elastic state that the "number average molecular weight" is greater than 20000 are stretched in the direction of an applied external force. If a force is applied for a short time, the entanglement of the polymer chains with their neighboring chains will prevent large movement of the chains, and the sample will recover its original configuration after the force is removed. However, if force is applied for a long time, irreversible plastic deformation occurs due to slipping and disentangling of the polymer chains.

Thus, in a preferred embodiment of the invention, a cross-linked shape memory polymer is used. Crosslinking in these polymers prevents polymer chains from sliding and flowing. According to the invention, chemically and physically crosslinked shape memory polymers can be advantageously used.

Examples of suitable physically crosslinked shape memory polymers are polyurethanes, block copolymers of polyethylene terephthalate (PET) and polyethylene oxide (PEO), block copolymers comprising polystyrene and poly (1, 4-butadiene), ABA triblock copolymers made from poly (2-methyl-2-oxazoline) and polytetrahydrofuran or linear, amorphous polynorbornenes. Physical crosslinking is usually achieved by hydrogen bonding.

Thus, in a preferred embodiment of the radial shock absorber of the present invention, the shape memory polymer is a physically cross-linked shape memory polymer. The physically cross-linked shape memory polymer is preferably selected from the group consisting of the polymers polyurethane, polyethylene terephthalate (PET), polyethylene oxide (PEO), polynorbornene, and block copolymers comprising polystyrene and poly (1, 4-butadiene).

In a more preferred alternative embodiment of the invention, a chemically crosslinked shape memory polymer is used. That is, the main limitation of physically cross-linked polymers is irreversible deformation due to creep during memory design.

In a preferred embodiment of the radial damper, the chemically cross-linked shape memory polymer is selected from the group consisting of polyurethane and PEO-PET block copolymer.

Chemical crosslinking can be achieved during synthesis by polymerization of suitable monomers in the presence of multifunctional crosslinkers (3 or more than 3 functional units). Alternatively, subsequent chemical crosslinking of the linear or branched polymer may be achieved. Depending on the polymer, various options are available, for example crosslinking via uv light. For example, chemically crosslinked polyurethanes can be produced by using an excess of diisocyanate or by using crosslinking agents such as glycerol or trimethylolpropane. The introduction of covalent cross-linking improves creep, increasing recovery temperature and recovery window. As another example, PEO-PET block copolymers may be crosslinked by using maleic anhydride, glycerol, or dimethyl 5-isophthalate as a crosslinking agent.

In a preferred embodiment of the invention, an electric current is used to activate the shape memory effect of the shape memory polymer. This is particularly possible when the shape memory polymer is used in combination with a conductive filler, such as carbon nanotubes, Short Carbon Fibers (SCF), carbon black, or metallic nickel powder. These conductive shape memory polymers are typically prepared by chemical surface modification of multi-walled carbon nanotubes (MWNTs) in a mixed solvent of nitric and sulfuric acids, with the aim of improving the interfacial bonding between the polymer and the conductive filler. The shape memory effect in these types of shape memory polymers is related to the filler content and the degree of surface modification of the MWNTs, wherein the surface modified form exhibits good energy conversion efficiency and improved mechanical properties.

In the present invention, the shape change of the shape memory polymer is preferably achieved by means of a temperature change or an electric current. Thus, in a preferred embodiment of the radial damper, the shape memory polymer comprises a thermally and/or electrically conductive filler. The filler includes metal nanoparticles, metal nanowires, carbon fibers, nanoparticles of metal oxides, silica nanoparticles, alumina nanoparticles, carbon nanotubes, carbon nanofibers, graphite, carbon black, and boron/aluminum compounds.

The change in temperature may be achieved by arranging the heating means close to the radial shock absorber, in particular close to one or more joints comprising a shape memory material. The heating means may be, for example, a blower that provides warm or hot air that may suitably act on the damper. The heating device is preferably connected to a control device of the household appliance, so that the heating and shape memory material and thus the shape and its influence on the friction in the radial shock absorber can be adjusted to the specific vibration situation by means of the control device.

With the application of heat, the shape memory polymer is typically heated to a temperature of 50 ℃ to 80 ℃, preferably 60 ℃ to 70 ℃.

Similarly, the current sources may be arranged at the respective joints. The current source is then preferably also connected to the control device of the household appliance. The current flowing through the shape memory material, in particular the shape memory polymer, and thus the shape of the shape memory material and its effect on the friction in the radial shock absorber can thus be adjusted to the specific vibration situation by the control device.

Upon application of an electric current or heat, the shape memory material, in particular the shape memory polymer, will deform and thus exert a force to certain areas of the axis of rotation of the respective joint in which it is used. In a preferred embodiment of the invention, a friction material is used which is arranged between its axis of rotation in the respective joint and, for example, a shape memory polymer. In this case, the force will be applied to some areas of the friction material, for example, an organic polymer foam. In any case, the movement of the coupling rod, which is usually a metal arm, will be subject to a greater resistance and thus will adjust the friction of the system.

In a preferred radial shock absorber, therefore, at least one of the first joint, the second joint and the third joint comprises a friction material arranged between the first rotation axis, the second rotation axis and/or the third rotation axis and the shape memory material. The friction material is preferably a polymer organic foam or a rubber material.

In a particularly preferred embodiment of the radial shock absorber, the first joint (M1) comprises a shape memory material, in particular a shape memory polymer.

The radial shock absorber preferably comprises a rotational movement limiting means, such as described in publication WO 2018/109602 a.

Furthermore, the invention relates to a household appliance comprising a radial damper as defined above.

In a preferred embodiment, the household appliance is a washing machine or a washer-dryer. Washing machines and washer-dryers generally comprise a tub and a laundry drum arranged inside the tub and rotatable about a horizontal axis. According to the present invention, at least one radial damper, preferably two radial dampers, are generally arranged between the tub and the casing of the washing machine or washer-dryer. For this purpose, the radial shock absorbers are usually connected via suitable coupling rod receivers in the housing bottom.

Furthermore, the invention relates to a method for operating a household appliance comprising a radial shock absorber as defined above, wherein the friction with the first, second and/or third axis of rotation in the respective first (M1), second (M2) and/or third joint (M3) is adjusted by means of a shape change of the shape memory material according to a vibration condition of the household appliance.

In a preferred embodiment of the method, the household appliance is a washing machine or washer-dryer having a tub and a laundry drum arranged within the tub and rotatable about a horizontal axis, wherein at least one radial damper, preferably two radial dampers, are arranged between the tub and a housing of the washing machine or washer-dryer.

The present invention has many advantages. Firstly, the operation of the shock absorber is adapted to different vibration conditions which may occur, for example, in domestic appliances. Vibration conditions may vary, especially in washing machines, which usually differ from washing program to washing program. This adaptation is basically achieved in that the friction in the shock absorber used can be changed so that the corresponding mechanical movement can be converted to friction to a different extent and thus to heat which can be conducted and spread elsewhere.

Further, in case that the home appliance is a washing machine or a washer-dryer, the damper of the present invention can reduce an acting force of the tub when performing the rotation/spin-drying, and can reduce noise, vibration and vibration. Furthermore, the invention enables the shock absorber to be cheaper.

The damper of the present invention essentially and in a preferred embodiment provides a smart actuator based on shape memory polymer that will improve the dampers currently used in the industry, for example, making better use of the free space around the tub of a washing machine or dryer. The radial shock absorber may be smaller than conventional shock absorbers and may allow a larger bucket to be designed and placed in a location where conventional shock absorbers are forbidden.

Drawings

The present invention will be described in more detail hereinafter with reference to fig. 1 to 5.

Fig. 1 is a schematic view of relevant parts of a non-limiting embodiment of a household appliance according to the present invention, here configured as a washing machine.

Fig. 2 shows an enlarged portion of the washing machine of fig. 1, in which an embodiment of the radial damper of the present invention is shown in detail.

Fig. 3 shows the radial shock absorber of the present invention with a first joint (M1), a second joint (M2) and a third joint (M3).

Fig. 4 shows an enlarged detail of the radial shock absorber of the invention, i.e. the first articulation (M1) with a part of the first coupling rod in the shown state in which the shape memory polymer has not undergone a shape change.

Fig. 5 shows an enlarged detail of the radial shock absorber of the present invention, i.e. unlike that shown in fig. 4, the first knuckle (M1) with a portion of the first coupling rod is in a state where the shape memory polymer has changed shape due to the application of heat or electric current.

Detailed Description

Fig. 1 is a schematic view of relevant parts of a non-limiting embodiment of a household appliance according to the present invention, here configured as a washing machine 1. The washing machine of fig. 1 comprises a tub 3, in which tub 3 a laundry drum 4 is rotatably mounted about a horizontal axis 5. The laundry drum 4 is driven by a motor 7. 6 is clothes. The vibrations during the operation of the washing machine 1 are damped by using the two radial shock absorbers 8 and 9 of the present invention. The two radial shock absorbers 8 and 9 are each connected at one end to the bottom 23 of the casing 2. At the other end, the two radial dampers 8 and 9 are connected to the outer tub 3, respectively. Two springs 13 are also used to stabilize the outer tub 3. Also visible in fig. 1 are the three joints 10, 11 and 12 of the radial shock absorber 8.

Fig. 2 shows an enlarged portion of the washing machine of fig. 1, wherein an embodiment of the radial shock absorbers 8, 9 of the present invention is shown in detail.

The radial shock absorber 8, 9 for the washing machine 1 comprises a first coupling rod 17 comprising a first end 19 and a second end 20 opposite to the first end 19, and a second coupling rod 18 comprising a first end 21 and a second end 22 opposite to the first end 21. The coupling levers 17, 18 are movable relative to each other about a second axis of rotation (rotational axis) 15 of the second joint 11 (M2). Furthermore, the first end 21 of the second coupling rod 18 is connected with the first end 19 of the first coupling rod 17 by means of the second joint 11 (M2). The second end 20 of the first coupling link 17 is connected to the housing 2 of the laundry washing machine 1 via the coupling link receptacle 24, in particular the laundry washing machine bottom 23, by means of a first joint 10(M1) defined by a first axis of rotation (rotation shaft) 14; the second end 22 of the second coupling rod 18 is here connected to the tub 3 of the laundry washing machine 1 by means of a third joint 12(M3) defined by a third axis of rotation (rotation shaft) 16. At least one of the first joint 10, the second joint 11 and the third joint 12 comprises a shape memory material, but is not shown in detail here. A rotational movement limiting element 25 is also shown.

Fig. 3 shows the radial damper 8, 9 of the invention with a first joint 10(M1), a second joint 11(M2) and a third joint 12 (M3). In this non-limiting embodiment of the radial shock absorber of the present invention, the shape memory polymer 26 is disposed in the first joint 10 (M1). In particular, the first joint 10 includes a friction material 27 disposed between the first axis of rotation 14 and the shape memory polymer 26. The shape memory polymer 26 is here in its original state, which is the undeformed state. No particular force is exerted on the friction material 27. That is, the friction of the friction material 27 is not particularly affected. The term "friction material" is used herein to indicate that it is this material that provides some resistance to rotation, for example about the first axis of rotation, such that the kinetic energy of the vibrating tub can be converted into heat.

Fig. 4 shows an enlarged detail of the radial shock absorber 8, 9 of the invention, i.e. the first joint (M1) with a part of the first coupling rod 17 is in the shown state where the shape memory polymer 26 has not changed shape due to e.g. heat or current. Similar to fig. 3, the first joint 10 includes a friction material 27 disposed between the first rotational axis 14 and the shape memory polymer 26. Shape memory polymer 26 is in its original, undeformed state. Therefore, no particular force is exerted on the friction material 27. That is, the friction of the friction material 27 is not particularly affected. The term "friction material" is used herein to indicate that it is this material that provides some resistance to rotation about the first axis of rotation so that the kinetic energy of the vibrating drum can be converted into heat.

Fig. 5 shows an enlarged detail of the radial shock absorber 8, 9 of the present invention, namely the first joint 10 (M1). Unlike that shown in FIG. 4, the first joint 10(M1) having a portion of the first coupling link 17 is in a state where the shape memory polymer undergoes a shape change due to the application of heat or electric current. Fig. 5 therefore shows how the friction with the first axis of rotation 14, for example in the first joint 10, can be adjusted by means of a change in the shape of the shape memory material 26 as a function of the vibration situation of the household appliance.

List of reference numerals:

1 a household appliance; washing machine

2 (of a household appliance)

3 barrel

4 clothes drum

5 axis of rotation of the drum

6 clothes

7 drive motor

8 (first) articulated shock absorber

9 (second) articulated shock absorber

10 first joint (M1)

11 second joint (M2)

12 third joint (M3)

13 spring

14 first axis of rotation

15 second axis of rotation

16 third axis of rotation

17 first coupling link

18 second connecting rod

19 first end of the first coupling rod

20 second end of the first coupling link

21 first end of the second coupling rod

22 second end of the second coupling rod

23 bottom of the housing

24 coupling rod receiving part

25 rotational movement limiting element

26 a shape memory material; shape memory polymers

27 Friction material