Damping joint for main manipulator

A main operator and damping technology, applied in the field of robotic arms, can solve problems such as the inability of its own properties to be uniform and constant, the inability to accurately adjust the size of the friction force, the difficulty and uncertainty of implementation, etc., so as to improve the safety of use and enhance the operation. Feel the effect of eliminating the error of the action

Pending Publication Date: 2019-02-22
SUZHOU KANGDUO ROBOT
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this method requires particularly strict dimensional accuracy of components and gaskets, and its own properties cannot achieve unif

Method used

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  • Damping joint for main manipulator
  • Damping joint for main manipulator
  • Damping joint for main manipulator

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0037] Example 1

[0038] Combine Figure 1-3 , Figure 5-6 As shown, this embodiment provides a damping joint for a master manipulator, including: a first link 1; a second link 4, the second link 4 is rotatably connected with the first link 1; a rotating shaft assembly, The rotating shaft assembly includes a key shaft 5 and a bearing 9. The key shaft 5 penetrates the first connecting rod 1 and the second connecting rod 4 and is locked and fixed in the axial direction, and the key shaft 5 includes a fixedly connected spline section 51 and a cylindrical section 52 The spline section 51 is connected with the second connecting rod 4 by key, the cylindrical section 52 is connected with the first connecting rod 1 through the bearing 9; the damping assembly, the damping assembly includes the first rotary damping 11, the first rotary damping 11 is sleeved on the key shaft On the cylindrical section 52 of 5, the first rotation damper 11 includes a housing 112 and a rotating body 111. The...

Example Embodiment

[0048] Example 2

[0049] Combine Figure 1-2 , Figure 4 As mentioned, the difference between this embodiment and the foregoing embodiment is that the damping assembly further includes a first gear 2, a second gear 8, and a second rotation damper 3. The first gear 2 and the second gear 8 mesh with each other, and the second rotation damper 3 includes a relatively rotatable housing 32 and a rotating shaft 31, the housing 32 is fixed to the first connecting rod 1, the first gear 2 and the second gear 8 are respectively keyed to the rotating shaft 31 and the spline segment 51; the second gear 8 is keyed by the shaft 5 rotates in linkage and transmits the rotation to the first gear 2. The first gear 2 drives the rotation shaft 31 to rotate, and the rotation shaft 31 and the housing 32 rotate relative to each other to generate braking torque.

[0050] The second rotary damper 3 has the same working principle as the first rotary damper 11. It also has a housing 32 in which damping grea...

Example Embodiment

[0055] Example 3

[0056] The difference between this embodiment and the above-mentioned embodiment is that the number of the first rotary damper 11 and the special-shaped axle clamps 12 is multiple, and the plurality of special-shaped axle clamps 12 and the first rotary damper 11 are sequentially arranged in the bearing chamber of the first connecting rod 1. To adjust the torque value of the damping joint.

[0057] As in figure 2 One or more groups of special-shaped shaft clamps 12 and first rotary dampers 11 are then passed under the first rotary dampers 11 to realize the series connection of multiple first rotary dampers 11, and the damping of the main manipulator joint can be further adjusted.

[0058] Preferably, the number of the second rotary dampers 3 is multiple, and the multiple second rotary dampers 3 are distributed on the first connecting rod 1 at intervals, and are meshed in series through a plurality of first gears 2 to adjust the torque of the damping joint value. ...

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Abstract

The invention provides a damping joint for a main manipulator. The damping joint comprises a first connecting rod, a second connecting rod, a rotary shaft assembly and a damping assembly, wherein thesecond connecting rod is rotatably connected with the first connecting rod; the rotary shaft assembly comprises a key shaft and a bearing; the key shaft penetrates through the first connecting rod andthe second connecting rod and is locked and fixed in the axial direction; the key shaft comprises a spline section and a cylindrical section which are fixedly connected; the spline section is in keyconnection with the second connecting rod; the cylindrical section is fixedly connected with the first connecting rod through the bearing; the damping assembly comprises a first rotary damper; the cylindrical section of the key shaft is sleeved with the first rotary damper; the rotary damper comprises a shell and a rotary body which rotate relatively. The shell and the first connecting rod are fixed. The rotary body and the key shaft are fixed. The first connecting rod drives the second connecting rod to rotate through the key shaft. The key shaft drives the rotary body to rotate synchronously. The rotary body and the shell rotate relatively to achieve the damping effect. According to the damping joint provided by the invention, the rotary damper is arranged in the joint structure of the main manipulator to achieve the stable damping effect, and the operation precision of the main manipulator is ensured.

Description

technical field [0001] The invention relates to the technical field of mechanical arms, in particular to a damping joint for a master operator. Background technique [0002] With the development of science and technology, robots are more and more widely used in people's production and life, and various robots and mechanical arms are convenient for production and life. When we operate the robot arm, we will face the problem of highly flexible joint rotation. It is inevitable that there will be vibration during operation, and it will be difficult to achieve precision due to inertia in the case of "emergency stop" and other actions. position. If a doctor operates a highly sensitive joint device during a medical operation, abnormal shaking may cause medical accidents. [0003] The damping effect of the existing main manipulator joints is achieved by means of friction between the relative moving parts of the joints or by adding friction materials, designing elastic structures, ...

Claims

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Application Information

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IPC IPC(8): B25J17/02
CPCB25J17/02
Inventor 杨文龙张家兴王建国
Owner SUZHOU KANGDUO ROBOT
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