A cantilever vibration reduction robot and vibration reduction testing system

Abstract

This invention provides a cantilever vibration-damping robot and a vibration-damping testing system, applied in the field of robot vibration reduction technology. The cantilever vibration-damping robot includes a common base and multiple robotic arms. Each robotic arm includes a passive arm segment, an active arm segment, and an end effector. The passive arm segment includes a first connecting end and a second connecting end. Within a first preset range at the first connecting end, a first damping alloy component is used to attenuate the vibration energy between the robotic arm and the common base; within a second preset range at the second connecting end, a second damping alloy component is used to attenuate the vibration energy of the robotic arm. The method for determining the target structural component group includes: acquiring multiple initial structural component groups of multiple initial cantilever vibration-damping robots; and determining the target structural component group based on the vibration information of the initial cantilever vibration-damping robots after being subjected to external excitation, the initial structural component groups, and the application strategy. This invention, through the first and second damping alloy components, ensures the flexibility of the cantilever vibration-damping robot while improving the vibration reduction effect.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot damping technology, in particular to a cantilever damping robot and a damping test system. BACKGROUND

[0002] Nowadays, surgical robots mostly adopt a structure form of multiple parallel mechanical arms to meet the complex operation in surgery, wherein each mechanical arm usually adopts a form of multiple joints in series to enhance the flexibility of the mechanical arm. However, in the actual use process, since the mechanical arm is mostly slender and adopts a cantilever structure, when a certain mechanical arm end collides with other objects, it often causes vibration of the whole mechanical arm and even other parallel mechanical arms, which is not conducive to guaranteeing the operation precision and stability, and is easy to cause safety accidents.

[0003] Most of the traditional cantilever robots adopt the way of adding dampers to improve the damping effect of the robot, but for the surgical robot with a slender cantilever, the additional dampers will cause the robot structure to be too complex and heavy, which is contrary to the design requirements of simplifying and lightening the structure of the surgical robot, and is not conducive to guaranteeing the flexibility of the robot. SUMMARY

[0004] The problem solved by the present application is how to guarantee the flexibility of the robot while improving the damping effect.

[0005] To solve the above problems, the present application provides a cantilever damping robot, comprising: a common base and multiple mechanical arms, the mechanical arm comprising a passive arm segment, an active arm segment and an execution end; the passive arm segment comprising a first connecting end and a second connecting end, the mechanical arm being fixedly connected or rotatably connected with the common base through the first connecting end, one end of the active arm segment being rotatably connected with the second connecting end, and the other end being rotatably connected with the execution end;

[0006] In a first predetermined range of the first connecting end, at least one structural member of the passive arm segment is made of damping alloy as a first damping alloy member, and in a second predetermined range of the second connecting end, at least one structural member of the passive arm segment is made of the damping alloy as a second damping alloy member, wherein the first damping alloy member is used to attenuate the vibration energy transmitted between the mechanical arm and the common base, and the second damping alloy member is used to attenuate the vibration energy of the mechanical arm;

[0007] The method for determining the target structural component group, which is composed of the structural components corresponding to the first damping alloy component and the second damping alloy component, includes: acquiring multiple initial structural component groups composed of the structural components corresponding to the first initial damping alloy component and the second initial damping alloy component in multiple preset initial cantilever vibration reduction robots; and determining the target structural component group based on the vibration information of the initial cantilever vibration reduction robot after being subjected to external excitation, the initial structural component groups, and the preset application strategy.

[0008] Optionally, the passive arm segment includes at least a first passive arm segment and a second passive arm segment connected to each other, wherein the connection end between the first passive arm segment and the common base is the first connection end, and the connection end between the second passive arm segment and the active arm segment is the second connection end.

[0009] Optionally, the damping alloy is an aluminum-zinc alloy.

[0010] Optionally, before obtaining the multiple initial structural component groups in the multiple preset initial cantilever vibration reduction robots, which are composed of structural components corresponding to the first initial damping alloy component and the second initial damping alloy component, the method further includes:

[0011] Multiple structural components made of the aforementioned damping alloy are constructed to obtain multiple test structural components, wherein the multiple test structural components correspond to multiple structural components of the passive arm segment within the first preset range and the second preset range;

[0012] Based on the multiple test structural components, multiple initial cantilever vibration reduction robots are constructed. Each initial cantilever vibration reduction robot includes the common base and multiple initial robotic arms with the same structure as the multiple robotic arms. Each initial robotic arm includes an initial passive arm segment with at least two test structural components, which serve as the first initial damping alloy component and the second initial damping alloy component, respectively. The initial structural component groups in each initial cantilever vibration reduction robot are different.

[0013] Optionally, the external excitation includes hammering excitation; before determining the target structural component group based on the vibration information of the initial cantilever vibration reduction robot after being subjected to external excitation, the initial structural component group, and the preset application strategy, the method further includes:

[0014] Take any one of the initial robotic arms of the initial cantilever vibration reduction robot as the target robotic arm, and the target robotic arms of the multiple initial cantilever vibration reduction robots correspond to each other;

[0015] When the target robotic arm is subjected to the hammer impact excitation, the vibration information is acquired, wherein the vibration information includes at least one of time-domain acceleration information, vibration decay time information, and self-power spectral density information.

[0016] Optionally, determining the target structural component group based on the vibration information of the initial cantilever vibration reduction robot after being subjected to external excitation, the initial structural component group, and the preset application strategy includes:

[0017] Based on the vibration information and the preset screening strategy, the target vibration information is obtained;

[0018] The initial structural component group corresponding to the target vibration information is used as the alternative structural component group;

[0019] The target structural component group is determined based on the application strategy and the candidate structural component group, wherein the application strategy includes selecting the candidate structural component group with the largest structural size corresponding to the test structural component as the target structural component group.

[0020] Optionally, obtaining the target vibration information based on the vibration information and a preset screening strategy includes:

[0021] When the vibration information is the time-domain acceleration information, the time-domain acceleration information whose first decay time required when the acceleration is less than a preset acceleration threshold is less than a first time threshold is taken as the target vibration information.

[0022] Optionally, obtaining the target vibration information based on the vibration information and a preset filtering strategy further includes:

[0023] When the vibration information is the vibration decay time information, the vibration decay time information where the second decay time required when the vibration amplitude is less than the preset first amplitude threshold is less than the second time threshold is taken as the target vibration information.

[0024] Optionally, obtaining the target vibration information based on the vibration information and a preset filtering strategy further includes:

[0025] When the vibration information is the self-power spectral density information, the self-power spectral density information whose vibration amplitude at a preset natural frequency is less than a preset second amplitude threshold is taken as the target vibration information.

[0026] This invention attenuates the vibration energy transmitted between the robotic arm and the common base through a first damping alloy component, thus isolating the vibration transmission between the robotic arm and the common base and achieving vibration isolation between multiple robotic arms. A second damping alloy component attenuates the vibration energy of a single robotic arm, achieving vibration reduction for that single robotic arm. Based on this, a target structural component group composed of structural components corresponding to the first and second damping alloy components is further determined. By acquiring multiple preset initial structural component groups composed of structural components corresponding to the first and second initial damping alloy components in multiple initial cantilever vibration-damping robots, various combinations of at least two structural components made of damping alloys are obtained, providing a basis for subsequently determining the target structural component group. The vibration information of different initial cantilever vibration-damping robots after being subjected to external excitation can reflect the vibration reduction effect achievable by different initial structural component groups using damping alloys, providing an accurate quantitative reference for selecting the target structural group. Combining the vibration information with preset application strategies improves the rationality of the target structural component group selection, which is beneficial to ensuring the stable operation of the cantilever vibration-damping robot. This invention achieves good vibration reduction without the need for additional vibration dampers or other vibration reduction mechanisms, which helps ensure the lightweight and flexibility of the cantilever vibration reduction robot.

[0027] The present invention also provides a vibration reduction testing system, characterized in that it is applied to the cantilever vibration reduction robot described above, the vibration reduction testing system comprising:

[0028] The excitation module is used to apply external excitation to multiple initial cantilever vibration-damping robots;

[0029] The acquisition module is used to acquire vibration information of the initial cantilever vibration reduction robot after it is subjected to the external excitation.

[0030] The vibration reduction testing system provided by this invention has the same advantages as the cantilever vibration reduction robot compared to the prior art, which will not be repeated here. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the structure of the cantilever vibration reduction robot according to an embodiment of the present invention;

[0032] Figure 2 This is another structural schematic diagram of the cantilever vibration reduction robot according to an embodiment of the present invention;

[0033] Figure 3 This is a comparison diagram of the time-domain acceleration changes of the control cantilever robot and the initial cantilever vibration reduction robot R1 in this embodiment of the invention;

[0034] Figure 4 This is a schematic diagram of the time-domain acceleration variation of the initial cantilever vibration reduction robot R2 according to an embodiment of the present invention;

[0035] Figure 5This is a schematic diagram of the time-domain acceleration variation of the initial cantilever vibration reduction robot R3 according to an embodiment of the present invention;

[0036] Figure 6 This is a schematic diagram of the self-power spectral density change of the initial cantilever vibration reduction robot R4 in an embodiment of the present invention;

[0037] Figure 7 This is a schematic diagram of the self-power spectral density change of the initial cantilever vibration reduction robot R5 in an embodiment of the present invention.

[0038] Explanation of reference numerals in the attached figures:

[0039] 1-Common base; 2-Robotic arm; 21-Passive arm segment; 22-Active arm segment; 23-Actuating end; 211-First passive arm segment; 212-Second passive arm segment; C1-First connecting end; C2-Second connecting end. Detailed Implementation

[0040] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Although some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the accompanying drawings and embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.

[0041] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0042] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc., mentioned in this invention are used only to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0043] It should be noted that the terms "a" and "a plurality of" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0044] like Figure 1 As shown, an embodiment of the present invention provides a cantilever vibration reduction robot, including: a common base 1 and multiple robotic arms 2. Each robotic arm 2 includes a passive arm segment 21, an active arm segment 22, and an end effector 23. The passive arm segment 21 includes a first connecting end C1 and a second connecting end C2. The robotic arm 2 is fixedly or rotatably connected to the common base 1 through the first connecting end C1. One end of the active arm segment 22 is rotatably connected to the second connecting end C2, and the other end is rotatably connected to the end effector 23.

[0045] Within a first preset range of the first connecting end C1, at least one structural component of the passive arm segment 21 is made of a damping alloy as a first damping alloy component. Within a second preset range of the second connecting end C2, at least one structural component of the passive arm segment 21 is made of a damping alloy as a second damping alloy component. The first damping alloy component is used to attenuate the vibration energy transmitted between the robotic arm 2 and the common base 1, and the second damping alloy component is used to attenuate the vibration energy of the robotic arm 2.

[0046] The method for determining the target structural component group, which is composed of the structural components corresponding to the first and second damping alloy components, includes: acquiring multiple initial structural component groups composed of the structural components corresponding to the first and second initial damping alloy components in multiple preset initial cantilever vibration reduction robots; and determining the target structural component group based on the vibration information of the initial cantilever vibration reduction robot after being subjected to external excitation, the initial structural component groups, and the preset application strategy.

[0047] Specifically, a common base 1 of a cantilever vibration-damping robot used in surgery is generally equipped with multiple robotic arms 2. Each robotic arm 2 consists of a passive arm segment 21, an active arm segment 22, and an end effector 23 connected sequentially. The passive arm segment 21 represents the arm segment that does not move frequently and mainly serves a supporting function; the active arm segment 22 represents the arm segment that needs to move frequently and mainly serves to adjust the position of the end effector 23; the end effector 23 represents the part of the surgical procedure that carries the end-effector instrument. The type of instrument corresponding to the end effector 23 varies depending on the robotic arm 2. The passive arm segment 21 includes a first connecting end C1 and a second connecting end C2. The robotic arm 2 is fixedly or rotatably connected to the common base 1 through the first connecting end C1 of the passive arm segment 21, and the second connecting end C2 is rotatably connected to one end of the active arm segment 22. The other end of the active arm segment 22 is rotatably connected to the end effector 23.

[0048] Specifically, the robotic arm 2 and the common base 1 can be fixedly connected or rotatably connected. When the robotic arm 2 and the common base 1 are fixedly connected, the first connecting end C1 represents any point on the part of the passive arm segment 21 that is fixedly connected to the common base 1. The rotatable connection between the robotic arm 2 and the common base 1 can be achieved through the movable joint between them. In this case, the first connecting end C1 represents any point on the part of the passive arm segment 21 that is connected to the movable joint between them. Preferably, the first connecting end C1 is selected as the point on the connection part that is farthest or closest to the second connecting end C2. In the robotic arm 2, the rotatable connection between the passive arm segment 21 and the active arm segment 22 can also be indirectly achieved through the movable joint between them. The second connecting end C2 referred to in this invention represents any point on the part of the passive arm segment 21 that is connected to the movable joint between them. Preferably, the second connecting end C2 is selected as the point on the connection part that is farthest or closest to the first connecting end C1.

[0049] Specifically, the damping alloy referred to in this invention refers to an alloy capable of converting vibration energy into its own internal energy to achieve vibration attenuation, such as manganese-copper alloy, nickel-titanium alloy, and aluminum-zinc alloy. The first preset range referred to in this invention represents a spherical range with the first connecting end C1 as the center and a preset distance as the radius. The second preset range referred to in this invention represents a spherical range with the second connecting end C2 as the center and a preset distance as the radius. The preset distance can be determined based on the actual length of the passive arm segment 21; for example, the preset distance can be equal to one-fifth of the overall length of the passive arm segment 21. Within the first preset range of the first connecting end C1, at least one structural component of the passive arm segment 21 is made of a damping alloy, serving as the first damping alloy component. Since the damping alloy can convert vibration energy into its own internal energy, the first damping alloy component can absorb the transmission of vibration between the robotic arm 2 and the common base 1. On the one hand, it prevents the vibration of the robotic arm 2 from being transmitted to other robotic arms 2 through the common base 1 due to a collision at the end of the robotic arm 2. On the other hand, it can absorb the vibration of other robotic arms 2 transmitted by the common base 1, preventing the vibration of other robotic arms 2 from being transmitted to the robotic arm 2, thereby achieving a vibration isolation effect among multiple robotic arms 2. Within the second preset range of the second connection end C2, at least one structural component of the passive arm segment 21 is made of damping alloy, serving as the second damping alloy component. Because the robot's end effector 23 needs to contact other objects during actual operation, it is susceptible to collisions or interference, which can cause vibrations in the cantilever structure. For a cantilever vibration-damping robot, the passive arm segment 21, which mainly plays a supporting role, is closer to the installation position (i.e., the common base 1) than the active arm segment 22 and the end effector 23. Although the vibration amplitude of the passive arm segment 21 is smaller near the first connecting end C1 and the second connecting end C2, its load is larger and its deformation is greater. Therefore, within the second preset range of the second connecting end C2, the damping alloy component can convert more internal energy per unit time, resulting in a better effect on attenuating the vibration energy of the robotic arm 2. Due to the amplification effect of the cantilever, a small vibration amplitude at the passive arm segment 21 can cause a large vibration amplitude at the end effector 23. The first and second damping alloy components can quickly reduce the vibration amplitude at the passive arm segment, thereby quickly stabilizing the end effector 23 and achieving a better vibration reduction effect for the individual robotic arm 2.

[0050] In one embodiment, the target structural component group referred to in this invention represents a combination of at least two structural components corresponding to the first damping alloy component and the second damping alloy component; the initial structural component group referred to in this invention represents a combination of at least two structural components corresponding to the first initial damping alloy component and the second initial damping alloy component. The target structural component group and the initial structural component group can be represented by a combination of structural component codes, for example, the target structural component group is represented as: structural component A1 and structural component B2. The vibration information referred to in this invention may include the vibration amplitude, vibration frequency, vibration time, etc., of the initial cantilever vibration reduction robot after being subjected to external excitation. Since multiple structural components are included in the first preset range of the first connecting end C1 and the second preset range of the second connecting end C2, it is necessary to further determine which structural components the damping alloy is specifically applied to, that is, the target structural component group composed of the structural components corresponding to the first damping alloy component and the second damping alloy component needs to be further determined. The initial combination composed of the corresponding structural components of the first initial damping alloy component and the second initial damping alloy component in each initial cantilever vibration reduction robot is different, and the corresponding vibration reduction effect is also different. By acquiring vibration information of different initial cantilever vibration-damping robots after being subjected to external excitation, and combining this information with their corresponding initial structural component groups and a preset application strategy, the target structural component group can be determined. For example, the first preset range of the first connecting end C1 contains two structural components, A1 and A2, and the second preset range of the second connecting end C2 contains two structural components, B1 and B2. Based on this, at least four initial cantilever vibration-damping robots can be established, corresponding to at least four initial structural component groups: A1 and B1; A1 and B2; A2 and B1; A2 and B2. The preset application strategy may include selecting the initial structural component group with the smallest vibration amplitude or the fewest structural components as the target structural component group. The vibration amplitude of the above four initial cantilever vibration-damping robots after being subjected to the same external excitation can be acquired. Assuming that the initial structural component group A2 and B2 has the smallest vibration amplitude, this initial structural component group can be selected as the target structural component group, determining that the first damping alloy component in the cantilever vibration-damping robot corresponds to structural component A2, and the second damping alloy component corresponds to structural component B2.

[0051] It should be understood that, unlike existing technologies that use viscoelastic materials at the joints of the robotic arm 2 for vibration damping, this embodiment does not require additional parts or consider assembly issues after adding parts. Viscoelastic materials are prone to aging and lose their vibration damping effect within a certain period of time, and their dynamic mechanical properties are not controllable, which is detrimental to the long-term stable operation of the robotic arm 2. In this embodiment, only the structural components near the first connecting end C1 and the second connecting end C2 of the passive arm segment 21 need to be replaced with damping alloy materials to achieve vibration damping for a single robotic arm 2 and vibration isolation for multiple robotic arms 2, ensuring assembly accuracy and excellent mechanical properties, which is beneficial for the long-term stable operation of the cantilever vibration damping robot. At the same time, in this embodiment, the structural components near the first connecting end C1 and the second connecting end C2 of the passive arm segment 21 have a greater degree of deformation than the components at the joints, and the vibration attenuation effect of using damping alloy is better, which is beneficial to improving vibration damping efficiency. Compared to a cantilever robot made entirely of damping alloy, this embodiment only requires a minimum of two structural components made of damping alloy to achieve a better vibration reduction effect. This helps reduce vibration reduction costs and also helps ensure the structural rigidity of the robotic arm 2, avoiding the problem of insufficient structural strength caused by using damping alloy throughout.

[0052] In this embodiment, the first damping alloy component is used to attenuate the vibration energy transmitted between the robotic arm 2 and the common base 1, and can isolate the transmission of vibration between the robotic arm 2 and the common base 1, thereby achieving vibration isolation between multiple robotic arms 2. The second damping alloy component is used to attenuate the vibration energy of the robotic arm 2, thereby achieving vibration reduction for a single robotic arm 2. Based on this, a target structural component group composed of the structural components corresponding to the first and second damping alloy components is further determined. By obtaining multiple initial structural component groups composed of the structural components corresponding to the first and second initial damping alloy components in multiple preset initial cantilever vibration reduction robots, multiple combinations of at least two structural components made of damping alloy are obtained, providing a basis for subsequent determination of the target structural component group. The vibration information of different initial cantilever vibration reduction robots after being subjected to external excitation can reflect the vibration reduction effect that different initial structural component groups can achieve, providing an accurate quantitative reference for the selection of the target structural group. Based on the vibration information and combined with preset application strategies, the rationality of the selection of the target structural component group is improved, which is conducive to ensuring the stable operation of the cantilever vibration reduction robot. This invention achieves good vibration reduction without the need for additional vibration dampers or other vibration reduction mechanisms, which helps ensure the lightweight and flexibility of the cantilever vibration reduction robot.

[0053] Optionally, such as Figure 2 As shown, the passive arm segment 21 includes at least a first passive arm segment 211 and a second passive arm segment 212 that are connected to each other. The connection end of the first passive arm segment 211 to the common base 1 is the first connection end C1, and the connection end of the second passive arm segment 212 to the active arm segment 22 is the second connection end C2.

[0054] In this embodiment, the cantilever vibration reduction robot is generally a multi-joint robot, and its passive arm segment 21 includes at least a first passive arm segment 211 and a second passive arm segment 212 that are connected to each other. For this type of cantilever vibration reduction robot, the connection end between the first passive arm segment 211 and the common base 1 is the first connection end C1, and the connection end between the second passive arm segment 212 and the active arm segment 22 is the second connection end C2, which helps to ensure the vibration reduction effect of the cantilever vibration reduction robot.

[0055] Optionally, the damping alloy is an aluminum-zinc alloy.

[0056] In this embodiment, the selection of damping alloy in the cantilever vibration reduction robot also needs to take into account factors such as ease of processing and structural strength. Considering that the density, tensile strength and yield strength are comparable, aluminum-zinc alloy with higher damping, lower density and higher strength is preferred. This ensures structural strength while helping to reduce the weight of the cantilever vibration reduction robot itself.

[0057] Optionally, before obtaining multiple initial structural component groups in the multiple preset initial cantilever vibration reduction robots, which consist of structural components corresponding to the first initial damping alloy component and the second initial damping alloy component, the method further includes:

[0058] Multiple structural components made of damping alloy are constructed to obtain multiple test structural components, wherein the multiple test structural components correspond to multiple structural components of the passive arm segment 21 within the first preset range and the second preset range;

[0059] Based on multiple test structural components, multiple initial cantilever vibration reduction robots are constructed. Each initial cantilever vibration reduction robot includes a common base 1 and multiple initial robotic arms with the same structure as multiple robotic arms 2. Each initial robotic arm includes an initial passive arm segment with at least two test structural components, which serve as the first initial damping alloy component and the second initial damping alloy component, respectively. The initial structural component groups in each initial cantilever vibration reduction robot are different.

[0060] Specifically, multiple test structural components made of damping alloy are constructed, corresponding to multiple structural components of the passive arm segment 21 within the first and second preset ranges. Multiple initial cantilever vibration-damping robots are then constructed based on these test structural components. The initial cantilever vibration-damping robot referred to in this invention has the same structure as the cantilever vibration-damping robot of this invention, the only difference being that the damping alloy in the initial cantilever vibration-damping robot can be combined in many ways. To determine which structural components of the initial passive arm segment are specifically applied to the damping alloy (i.e., to determine the target structural component group), vibration tests can be performed on different initial structural component groups to obtain vibration information for quantitative analysis. For example, the passive arm segment 21 within the first and second preset ranges contains three structural components. Based on this, three test structural components made of damping alloy are constructed, corresponding to structural component A1 within the first preset range and two structural components B1 and B2 within the second preset range, respectively. Corresponding to the passive arm segment 21 of the robotic arm 2, each initial robotic arm's initial passive arm segment includes at least one test structural component as a first initial damping alloy component within the first preset range, and at least one test structural component within the second preset range corresponding to the initial passive arm segment serves as a second initial damping alloy component. Therefore, three different initial cantilever vibration reduction robots can be constructed, with the corresponding three initial structural component groups being: A1 and B1; A1 and B2; and A1, B1, and B2.

[0061] It should be understood that since the only difference between different initial cantilever vibration reduction robots is the corresponding initial structural component group, multiple different initial cantilever vibration reduction robots can be obtained by simply replacing the test structural components corresponding to different initial structural component groups in the same initial cantilever vibration reduction robot. This reduces costs while improving the efficiency of acquiring vibration information.

[0062] In this embodiment, multiple test structural components correspond to multiple structural components of the passive arm segment 21 within the first and second preset ranges. Based on this, multiple initial cantilever vibration reduction robots can provide accurate and reliable basis for the determination of subsequent target structural component groups, thereby improving the rationality of damping alloy application.

[0063] Optionally, the external excitation includes hammering excitation; before determining the target structural component group based on the vibration information of the initial cantilever vibration reduction robot after being subjected to external excitation, the initial structural component group, and the preset application strategy, the following is also included:

[0064] Take any one of the initial robotic arms of the initial cantilever vibration reduction robot as the target robotic arm, and the target robotic arms of multiple initial cantilever vibration reduction robots correspond to each other;

[0065] When the target robotic arm is subjected to hammer excitation, vibration information is acquired, including at least one of time-domain acceleration information, vibration decay time information, and self-power spectral density information.

[0066] Specifically, the hammering excitation referred to in this invention means the excitation applied to the robotic arm 2 using an excitation hammer. Hammering excitation is more consistent with the collisions experienced by the robotic arm 2 during actual operation and can more accurately simulate real vibration conditions. Since cantilever vibration reduction robots mostly adopt planar structures, the excitation direction is mainly vertical and lateral. Any one of the robotic arms 2 of the initial cantilever vibration reduction robot is used as the target robotic arm to receive the hammering excitation. Multiple initial cantilever vibration reduction robots have corresponding target robotic arms. For example, the initial cantilever vibration reduction robot has three initial robotic arms arranged from top to bottom on a common base 1, namely initial robotic arm 1, initial robotic arm 2, and initial robotic arm 3. If initial robotic arm 3 is selected as the target robotic arm, then the target robotic arm in different initial cantilever vibration reduction robots is initial robotic arm 3, which helps to ensure the rationality of the vibration signal. When the target robotic arm is subjected to a hammer impact, vibration information can be obtained through a detection device. For example, an acceleration detection device or a displacement detection device can be set at the same position at the initial execution end of the three initial robotic arms. When the target robotic arm is subjected to a hammer impact, the acceleration signal or displacement signal is acquired. By combining the acquisition time of the above signals, time-domain acceleration information, vibration decay time information, or self-power spectral density information can be obtained. The position where the target robotic arm is subjected to a hammer impact can correspond to any point on the passive arm segment 21, the active arm segment 22, or the execution end 23 of robotic arm 2. Preferably, to ensure the consistency of vibration testing, the initial execution end corresponding to the execution end 23 is selected as the position receiving the hammer impact.

[0067] In this embodiment, the hammer excitation is more consistent with the collisions experienced by the robotic arm 2 in actual operation, and can more accurately simulate the real vibration situation. It can simultaneously determine the vibration reduction effect of the test structure on a single initial robotic arm and the vibration isolation effect between multiple initial robotic arms, which is conducive to ensuring the rationality of the target structure group.

[0068] Optionally, based on the vibration information of the initial cantilever vibration reduction robot after being subjected to external excitation, the initial structural component group, and the preset application strategy, the target structural component group is determined, including:

[0069] Based on vibration information and a preset screening strategy, target vibration information is obtained;

[0070] The initial structural component group corresponding to the target vibration information is used as the alternative structural component group;

[0071] The target structural component group is determined based on the application strategy and the alternative structural component groups. The application strategy includes selecting the alternative structural component group with the largest structural size corresponding to the tested structural component as the target structural component group.

[0072] Specifically, vibration information can reflect the vibration reduction effect of different initial structural component groups on a single robotic arm 2 and the vibration isolation effect between multiple robotic arms 2. Based on the vibration information and a preset screening strategy, initial structural component groups with poor vibration reduction effects can be eliminated, and the initial structural component groups corresponding to the target vibration information are used as candidate structural component groups, which facilitates the selection of appropriate combinations of damping alloy application structural components. The application of damping alloys in robotic arms 2 requires consideration not only of their vibration reduction effect but also of factors such as the size, quantity, ease of processing, and structural strength requirements of the structural components. The initial structural component group with the best vibration reduction effect is not necessarily the optimal combination. For example, if the application strategy requires high structural strength and low vibration reduction cost, and if the candidate structural component groups include two groups, with the first group containing three test structural components and the second group containing two test structural components, the second group is preferred as the target structural component group considering structural strength and vibration reduction cost. For example, if the application strategy requires the structural components of the damping alloy to be simple and highly reliable, then the initial structural component group corresponding to the test structural component with a simple structure and large structural size can be selected as the target structural component group. This increases the length of the vibration energy transmission path through the first and second damping alloy components, resulting in better vibration reduction.

[0073] In this embodiment, based on vibration information and a preset screening strategy, initial structural component groups with poor vibration reduction effects can be eliminated, ensuring the vibration reduction effect of the target structural component group. Furthermore, by combining this with an application strategy to determine the target structural component group, the rationality of the selection is ensured, which helps to balance the vibration reduction effect and structural strength of the cantilever vibration reduction robot, thereby ensuring the long-term operational stability of the cantilever vibration reduction robot.

[0074] Optionally, based on vibration information and a preset filtering strategy, target vibration information is obtained, including:

[0075] When the vibration information is time-domain acceleration information, the time-domain acceleration information whose first decay time required when the acceleration is less than the preset acceleration threshold is less than the first time threshold is taken as the target vibration information.

[0076] Specifically, the time-domain acceleration information referred to in this invention represents the vibration generated by the target robotic arm (such as the initial end effector) of the initial cantilever vibration reduction robot after being subjected to hammer excitation, and the acceleration corresponding to the initial end effector at different times. The rapid decay of the acceleration indicates a good vibration reduction effect.

[0077] Optionally, to facilitate a more intuitive qualitative evaluation of whether different initial structural component groups have a vibration reduction effect, a control cantilever robot without damping alloys can be constructed. For example... Figure 3As shown in the figure, the horizontal axis represents the acquisition time, and the vertical axis represents the acceleration. Curve S1 represents the time-domain acceleration information corresponding to the target manipulator of the reference cantilever robot, and curve S2 represents the time-domain acceleration information corresponding to the target manipulator of the initial cantilever vibration reduction robot R1. The acceleration of curve S2 decreases rapidly compared to the acceleration of curve S1. Therefore, it can be seen that the use of damping alloy near the first connecting end C1 and the second connecting end C2 in this embodiment can achieve a better vibration reduction effect.

[0078] In one embodiment, the acceleration threshold can be set according to the actual structure and mass of the initial cantilever vibration reduction robot. In this embodiment, the acceleration threshold should be less than 1m / m. 2 Preferably, the acceleration threshold is equal to 0.5 m / m. 2 The first time threshold should be less than 6 seconds; preferably, the first time threshold is equal to 5 seconds. Figure 4 As shown in the figure, the horizontal axis represents the acquisition time, and the vertical axis represents the acceleration. Curve S3 in the figure represents the time-domain acceleration information generated by the target manipulator of the initial cantilever vibration reduction robot R2 after being excited by the hammer. Figure 5 As shown in the figure, the horizontal axis represents the acquisition time, and the vertical axis represents the acceleration. Curve S4 in the figure represents the time-domain acceleration information of the target manipulator of the initial cantilever vibration damping robot R3 after being subjected to hammer excitation. Under the same hammer excitation, when the acceleration decays to 0.5m / m 2 The required decay time for curve S3 is 6.3s, and for curve S4 it is 4.6s. Therefore, the vibration information of the initial cantilever vibration-damping robot R3 after being subjected to hammer excitation can be used as the target vibration information.

[0079] In this embodiment, time-domain acceleration information can be used to quantitatively analyze the vibration reduction effect of the initial cantilever vibration reduction robot. Vibration information whose acceleration can decay to below the preset acceleration threshold within the first time threshold is used as target vibration information. This helps to eliminate initial structural component groups with poor vibration reduction effect and ensure the vibration reduction effect of subsequent target structural component groups.

[0080] Optionally, obtaining target vibration information based on vibration information and a preset filtering strategy further includes:

[0081] When the vibration information is vibration decay time information, the vibration decay time information where the second decay time required when the vibration amplitude is less than the preset first amplitude threshold is less than the second time threshold is taken as the target vibration information.

[0082] Specifically, the vibration decay time information referred to in this invention represents the vibration generated by the target robotic arm (such as the initial end effector) of the initial cantilever vibration damping robot after being subjected to hammer excitation, and the vibration amplitude of its end effector 23 at different times. The vibration amplitude can be obtained through a displacement detection device, and the rapid decay of the vibration amplitude indicates a good vibration damping effect. The first amplitude threshold and the second time threshold can be set according to the structural dimensions, mass, etc. of the initial cantilever vibration damping robot. Preferably, in this embodiment, the first amplitude threshold is equal to 0.05m, and the second time threshold is equal to 5s.

[0083] In this embodiment, vibration decay time information can be used to quantitatively analyze the vibration reduction effect of the initial cantilever vibration reduction robot. Vibration information whose vibration amplitude can decay to below the preset first amplitude threshold within the second time threshold is used as target vibration information. This helps to eliminate initial structural component groups with poor vibration reduction effect and ensure the vibration reduction effect of subsequent target structural component groups.

[0084] Optionally, obtaining target vibration information based on vibration information and a preset filtering strategy further includes:

[0085] When the vibration information is self-power spectral density information, the self-power spectral density information with a vibration amplitude at a preset natural frequency that is less than a preset second amplitude threshold is taken as the target vibration information.

[0086] Specifically, the acceleration signal can be converted into an autopower spectral density. For example, by sending the acceleration signal to a spectrum analysis device, the autopower spectral density can be obtained, and then the vibration reduction effect of different initial structural component groups with different natural frequencies of the initial cantilever vibration reduction robot can be analyzed. The natural frequency can be obtained through testing. Preferably, in this embodiment, the natural frequencies of the initial cantilever vibration reduction robot are 25Hz and 40Hz. The second amplitude threshold can be set according to the structural dimensions and mass of the initial cantilever vibration reduction robot. Preferably, in this embodiment, the second amplitude threshold is equal to 0.1m at 25Hz and 40Hz. Figure 6 As shown in the figure, the horizontal axis represents frequency, and the vertical axis represents vibration amplitude. Curve group S5 in the figure represents the self-power spectral density information of the five initial manipulators of the initial cantilever vibration damping robot R4 after the target manipulator is excited by a hammer impact. Figure 7 As shown in the figure, the horizontal axis represents frequency, and the vertical axis represents vibration amplitude. Curve group S6 in the figure represents the self-power spectral density information of the five initial manipulators of the initial cantilever vibration damping robot R5 after the target manipulator is subjected to hammer excitation. Figure 6 and Figure 7As can be seen, the peak values ​​of the vibration amplitude of curve group S6 at the natural frequencies of around 25Hz and 40Hz are reduced by more than half compared to curve group S5. The vibration amplitudes of curve group S6 at 25Hz and 40Hz are both less than 0.1m. Therefore, the vibration information of the initial cantilever vibration reduction robot R5 after being subjected to hammer excitation can be used as the target vibration information.

[0087] It should be understood that the initial cantilever vibration reduction robots R1, R2, R3, R4, and R5 mentioned above have the same structure, the only difference being the initial structural component group in the initial cantilever vibration reduction robot.

[0088] In this embodiment, the self-power spectral density information can be used to quantitatively analyze the vibration reduction effect of the initial cantilever vibration reduction robot. The self-power spectral density information with vibration amplitude less than a preset second amplitude threshold at a preset natural frequency is used as the target vibration information. This helps to eliminate the initial structural component group with poor vibration reduction effect and ensure the vibration reduction effect of the subsequent target structural component group.

[0089] One embodiment of the present invention provides a vibration reduction testing system, applied to the cantilever vibration reduction robot described above. The vibration reduction testing system includes:

[0090] The excitation module is used to apply external excitation to multiple initial cantilever vibration-damping robots;

[0091] The acquisition module is used to acquire vibration information of the initial cantilever vibration reduction robot after it is subjected to external excitation.

[0092] Specifically, the excitation module is used to apply external excitation to multiple initial cantilever vibration-damping robots. For example, an excitation hammer can be used to apply hammering excitation to multiple initial cantilever vibration-damping robots. The acquisition module is used to acquire the vibration information of the initial cantilever vibration-damping robots after being subjected to external excitation. For example, the time-domain acceleration information or vibration decay time information of the initial cantilever vibration-damping robots after being subjected to external excitation can be acquired through an acceleration detection device or a velocity detection device. Alternatively, the acceleration information can be input into a spectrum analysis device to obtain the corresponding self-power spectral density information.

[0093] The vibration reduction testing system in this embodiment has essentially the same beneficial effects as the cantilever vibration reduction robot, and will not be described in detail here.

[0094] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A cantilever damping robot characterized by, The application relates to a public base (1) and a plurality of mechanical arms (2), the mechanical arm (2) comprising a passive arm segment (21), an active arm segment (22) and an execution end (23); the passive arm segment (21) comprising a first connecting end (C1) and a second connecting end (C2), the mechanical arm (2) being fixedly connected or rotationally connected with the public base (1) through the first connecting end (C1), one end of the active arm segment (22) being rotationally connected with the second connecting end (C2), and the other end being rotationally connected with the execution end (23); within a first preset range of the first connecting end (C1), at least one structural member of the passive arm segment (21) is made of damping alloy as a first damping alloy member, and within a second preset range of the second connecting end (C2), at least one structural member of the passive arm segment (21) is made of the damping alloy as a second damping alloy member, wherein the first damping alloy member is used for damping the vibration energy transmitted between the mechanical arm (2) and the public base (1), and the second damping alloy member is used for damping the vibration energy of the mechanical arm (2); wherein the determination method of a target structural member group composed of the corresponding structural members of the first damping alloy member and the second damping alloy member comprises the following steps: constructing a plurality of structural members made of the damping alloy to obtain a plurality of test structural members, wherein the plurality of test structural members correspond to the plurality of structural members of the passive arm segment (21) within the first preset range and the second preset range; based on the plurality of test structural members, a plurality of initial cantilever damping robots are constructed, wherein the initial cantilever damping robot comprises the public base (1) and a plurality of initial mechanical arms which are structurally identical to the plurality of mechanical arms (2), each initial mechanical arm comprising an initial passive arm segment having at least two test structural members as a first initial damping alloy member and a second initial damping alloy member; a plurality of initial structural member groups composed of the corresponding structural members of the first initial damping alloy member and the second initial damping alloy member in a plurality of preset initial cantilever damping robots are obtained, and the initial structural member groups in each initial cantilever damping robot are different; based on the vibration information of the initial cantilever damping robot after being subjected to external excitation, the initial structural member groups and a preset application strategy, the target structural member group is determined, comprising the following steps: based on the vibration information and a preset screening strategy, target vibration information is obtained; the initial structural member group corresponding to the target vibration information is taken as a candidate structural member group; based on the application strategy and the candidate structural member group, the target structural member group is determined, wherein the application strategy comprises taking the candidate structural member group with the largest structural size of the test structural members as the target structural member group. ​ ​ ​ 2. The cantilevered vibration damping robot according to claim 1, characterized by, The passive arm segment (21) comprises at least a first passive arm segment (211) and a second passive arm segment (212) connected with each other, the first passive arm segment (211) is connected with the first connection end (C1) of the common base (1), and the second passive arm segment (212) is connected with the second connection end (C2) of the active arm segment (22).

3. The cantilevered damping robot of claim 1, wherein, The damping alloy is an aluminum-zinc alloy.

4. The cantilevered vibration damping robot according to claim 1, characterized by, Before determining the target structure component group based on the vibration information of the initial cantilever damping robot after being subjected to external excitation, the initial structure component group, and a preset application strategy, the external excitation comprises a hammering excitation. Any one of the initial mechanical arms of the initial cantilever damping robot is taken as a target mechanical arm, and the target mechanical arms of the plurality of initial cantilever damping robots correspond to each other. When the target mechanical arm is subjected to the hammering excitation, the vibration information is obtained, wherein the vibration information comprises at least one of time-domain acceleration information, vibration decay time information, and self-power spectral density information.

5. The cantilevered vibration damping robot according to claim 4, characterized by The target vibration information is obtained based on the vibration information and a preset screening strategy, comprising: When the vibration information is the time-domain acceleration information, the time-domain acceleration information, in which a first decay time required when an acceleration is less than a preset acceleration threshold value is less than a first time threshold value, is taken as the target vibration information.

6. The cantilevered vibration damping robot according to claim 4, wherein The target vibration information is obtained based on the vibration information and a preset screening strategy, further comprising: When the vibration information is the vibration decay time information, the vibration decay time information, in which a second decay time required when a vibration amplitude is less than a preset first amplitude threshold value is less than a second time threshold value, is taken as the target vibration information.

7. The cantilevered vibration damping robot according to claim 4, wherein The target vibration information is obtained based on the vibration information and a preset screening strategy, further comprising: When the vibration information is the self-power spectral density information, the self-power spectral density information, in which a vibration amplitude corresponding to a preset natural frequency is less than a preset second amplitude threshold value, is taken as the target vibration information.

8. A vibration reduction test system characterized by comprising: The damping test system is applied to the cantilever damping robot of any one of claims 1-7, and the damping test system comprises: An excitation module for applying external excitation to a plurality of initial cantilever damping robots; An acquisition module for obtaining vibration information of the initial cantilever damping robot after being subjected to the external excitation.

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