Industrial robot joint active damping device and robot

Abstract

The invention discloses an industrial robot joint active damping device. The device comprises a shell, a stop ring part, a connecting element, an elastic element and an active damping and vibration reducing module, wherein the stop ring part is arranged on the inner side wall of the shell; the connecting element is matched and embedded in an inner ring of the stop ring part and capable of being rotated relative to the stop ring part; the elastic element is embedded in a cavity formed among the shell, the connecting element and the stop ring part, and is positioned on the right end surface of the stop ring part; and the active damping and vibration reducing module is sleeved in the cavity formed among the shell, the connecting element and the stop ring part, and is positioned on the left end surface of the stop ring part. The industrial robot joint active damping device can realize both damping and buffering to achieve an excellent effect of buffering vibration impact. The invention further provides a robot with the industrial robot joint active damping device.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to an active damping device for joints of an industrial robot, and also relates to a robot with the active damping device for joints of an industrial robot. Background technique [0002] With the transformation of my country's manufacturing industry from a manufacturing power to a manufacturing power, industrial robots play an irreplaceable role in it, but robots will inevitably produce vibrations during operation, especially during rapid acceleration and deceleration. At the same time, the impact of flutter generated by the robot arm when it stops is also great. If these vibrations are too large, it will not only cause damage to the parts and shorten its service life, but also further affect the performance of the whole machine and greatly reduce the reliability. In order to reduce the vibration generated when the robot is running, major manufacturers and scientific resear...

AI Technical Summary

Problems solved by technology

[0002] With the transformation of my country's manufacturing industry from a manufacturing power to a manufacturing power, industrial robots play an irreplaceable role in it, but robots will inevitably produce vibrations during operation, especially during rapid acceleration and deceleration. At the same time, the impact of flutter generated by the robot arm when it stops is also great. If these vibrations are too large, it will not only cause damage to the parts and shorten its service life, but also further affect the performance of the whole machine and greatly reduce the reliability.

In order to reduce the vibration generated when the robot is running, major manufacturers and scientific research institutes have adopted various vibration reduction methods. In summary, there are mainly three types: active, semi-active, and passive vibration reduction methods. Among them, active vibration reduction control is mainly through The control algorithm is used to reduce vibration, but the reliability is poor, and the algorithm combined with intelligent damping material reduces vibration relatively less; semi-active vibration damping control mainly reduces vibration by controlling additional vibration damping components such as motors, but the volume is large , complex structure and high cost; passive vibration reduction mainly uses rubber materials to reduce vibration. Although the structure is simple and the cost is low, there are disadvantages such as poor vibration reduction effect and unstable rubber material itself.

[0003] The patent with the application number 201711185460.6 discloses an elastic element used for flexible robot joints using metal rubber. This patent is mainly composed of outer ring, inner ring, metal rubber, etc., although it can also reduce vibration when the robot joint is driven. However, the real-time vibration reduction effect is relatively poor, and the vibration cannot be quickly attenuated, and the vibration buffering effect is not very good.

[0004] The patent with the application number 201711182977.X discloses a compact metal rubber elastic element for the joint force moment of the flexible robot. This patent is mainly composed of an outer ring, an inner ring, a metal rubber, and multiple resistive strain gauges. Although it can also reduce vibration , and use resistive strain gauges to measure the torque, but the vibration damping effect is limited, and the damping vibration speed is relatively slow

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