A vibration suppression device applied to a robot and a robot

Abstract

The application discloses a vibration suppression device applied to a robot and the robot, relates to the technical field of robots, and comprises a base and a mechanical arm installed on the base. A spring damping assembly is installed on the connecting end of the mechanical arm and the base. A fixed sleeve, a sliding sleeve and a connecting sleeve are sequentially arranged along the axial direction of the mechanical arm from one end close to the spring damping assembly to the other end. A first spring is connected between the fixed sleeve and the sliding sleeve. The sliding sleeve is circumferentially connected with at least two push rods. The connecting sleeve is connected with pressure rods corresponding to the push rods. The push rods and the pressure rods are hinged at the set positions. A pulley is installed on the end of the pressure rod away from the connecting sleeve. A traction rope is connected between the mechanical arm and the spring damping assembly away from the connecting end. The traction rope passes through the pulley and is in a tension state. The application can improve the rigidity of the robot, reduce the vibration of the robot during work, buffer the sudden turning, sudden stopping and impact vibration, has a simple structure and low cost.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a vibration suppression device and a robot for use in robots. Background Technology

[0002] With the development of technology, industrial robots are being used in an increasing number of scenarios. Robots have low stiffness and are prone to vibration during operation, especially during sharp turns, sudden stops, or large impacts. This vibration not only seriously affects the quality of the workpieces being processed but also reduces the robot's lifespan, and in severe cases, can even lead to safety accidents. Therefore, vibration suppression has become a major challenge limiting the use of robots.

[0003] Currently, vibration suppression in robots is mainly divided into active suppression, passive suppression, and semi-active suppression. Active suppression often uses control algorithms, which have low reliability. Passive suppression mainly uses cushioning materials such as rubber, which have poor vibration suppression effect. Semi-active suppression mainly uses magnetorheological dampers or control motors to reduce vibration, which have complex structures and high costs. Summary of the Invention

[0004] In view of the shortcomings of the existing technology, the purpose of this invention is to provide a vibration suppression device and robot for use in robots, which can improve the rigidity of the robot, reduce the vibration of the robot during operation, and buffer the vibration of sudden turns, sudden stops and impacts. It has a simple structure and low cost.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solution:

[0006] In a first aspect, embodiments of the present invention provide a vibration suppression device for a robot, including a base and a robotic arm mounted on the base. A spring damping assembly is installed at the connection end between the robotic arm and the base. A fixed sleeve, a sliding sleeve, and a connecting sleeve are sequentially arranged along the axial direction of the robotic arm from one end near the spring damping assembly to the other end. A first spring is connected between the fixed sleeve and the sliding sleeve. At least two push rods are circumferentially connected to the sliding sleeve. A pressure rod corresponding to each push rod is connected to the connecting sleeve.

[0007] The push rod and the pressure rod are hinged at the set position, and a pulley is installed at the end of the pressure rod away from the connecting sleeve; a traction rope is connected between the end of the robotic arm away from the connecting sleeve and the spring damping assembly, and the traction rope passes around the pulley and is in a taut state.

[0008] As a further implementation, the first spring is in a compressed state.

[0009] As a further implementation, the spring damping assembly includes a fixed platform and a sliding platform, with the fixed platform connected to the base via several fixed rods;

[0010] The sliding platform is sleeved on the fixed rod, and multiple second springs and dampers are connected between the sliding platform and the fixed platform. In a further implementation, the second springs and dampers are staggered, with the second springs sleeved on the segment of the fixed rod located between the sliding platform and the fixed platform.

[0011] As a further implementation, the second spring and damper are arranged along the axial direction of the robotic arm.

[0012] As a further implementation, the second spring is in a compressed state.

[0013] As a further implementation, one end of the push rod is hinged to the sliding sleeve, and the other end is hinged to the middle position of the pressure rod; one end of the pressure rod is hinged to the connecting sleeve, and the other end is equipped with a pulley.

[0014] As a further implementation, the fixed platform, fixed sleeve, and connecting sleeve are fixedly connected to the robotic arm, and the sliding platform and sliding sleeve are slidably engaged with the robotic arm.

[0015] As a further implementation, the traction rope is a steel rope.

[0016] Secondly, embodiments of the present invention also provide a robot including the aforementioned vibration suppression device.

[0017] The beneficial effects of this invention are as follows:

[0018] (1) The present invention uses a traction rope tensioning to pull the sliding table to slide towards one end of the robot arm, compressing the second spring and damper. At the same time, the traction rope tensioning causes the pressure rod to push the push rod down, and the sliding sleeve slides towards the other end of the robot arm, compressing the first spring, thus achieving double vibration reduction. This can buffer sudden turns, sudden stops and impact vibrations, and improve the stability and service life of the robot.

[0019] (2) The present invention uses a tensioning traction structure consisting of a traction rope, a pressure rod, and a push rod. The structure is simple and highly reliable. By controlling the tension of the traction rope, the rigidity of the robot system is improved, which can effectively reduce the vibration of the robot and improve the working stability and accuracy of the robot. Attached Figure Description

[0020] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0021] Figure 1 This is a schematic diagram of the structure of the present invention according to one or more embodiments;

[0022] Figure 2This is a schematic diagram of the sliding sleeve structure according to one or more embodiments of the present invention.

[0023] The components are: 1. robotic arm, 2. base, 3. fixed rod, 4. fixed platform, 5. sliding platform, 6. second spring, 7. damper, 8. sliding sleeve, 9. fixed sleeve, 10. first spring, 11. push rod, 12. pressure rod, 13. pulley, 14. connecting sleeve, and 15. traction rope. Detailed Implementation

[0024] Example 1:

[0025] In a typical embodiment of the present invention, such as Figure 1 As shown, a vibration suppression device for robots is presented.

[0026] The aforementioned vibration suppression device includes components such as a base 2, a spring damping assembly, a fixed sleeve 9, a sliding sleeve 8, a first spring 10, a connecting sleeve 14, a traction rope 15, a push rod 11, and a pressure rod 12. The spring damping assembly and the first spring 10 work together to achieve dual vibration reduction, which can buffer larger vibrations and impacts. By tensioning the traction rope 15, the rigidity of the robot system is increased, thereby suppressing the vibration of the robot.

[0027] Specifically, such as Figure 1 As shown, one end of the robotic arm 1 is mounted on the base 2. Along the axial direction of the robotic arm 1, from one end near the base 2 to the other end, a spring damping assembly, a fixed sleeve 9, a sliding sleeve 8, and a connecting sleeve 14 are sequentially arranged. The fixed sleeve 9 is spaced a certain distance from the spring damping assembly. A first spring 10 is connected between the fixed sleeve 9 and the sliding sleeve 8, and the first spring 10 is in a compressed state. The connecting sleeve 14 is spaced a certain distance from the sliding sleeve 8. The fixed sleeve 9 and the connecting sleeve 14 are fixedly connected to the robotic arm 1, and the sliding sleeve 8 can move along the axial direction of the robotic arm 1. At least two push rods 11 are evenly arranged circumferentially on the sliding sleeve 8, and the connecting sleeve 14 has the same number of pressure rods 12 as the push rods 11 arranged circumferentially. One end of each push rod 11 is hinged to the sliding sleeve 8, and one end of each pressure rod 12 is hinged to the connecting sleeve 14. In this embodiment, two push rods 11 and two pressure rods 12 are each provided, and the push rods 11 and pressure rods 12 are symmetrically distributed relative to the robotic arm 1.

[0028] Understandably, in other embodiments, the number of push rods 11 and pressure rods 12 can be set according to actual vibration reduction requirements.

[0029] The other end of push rod 11 is hinged to the middle of pressure rod 12, and pulley 13 is installed on the other end of pressure rod 12; Figure 1 As shown, the pressure rod 12 is tilted towards the base 2, and the angle between the pressure rod 12 and the robotic arm 1 is an acute angle, so that the push rod 11, the pressure rod 12 and the robotic arm 1 form a triangular structure, making the structure more stable.

[0030] The shapes of the fixed sleeve 9, sliding sleeve 8, and connecting sleeve 14 can be arbitrarily set, as long as their inner walls can mate with the robotic arm 1; for example... Figure 2 As shown, the sliding sleeve 8 in this embodiment has a circular ring structure and has ear plates in the circumferential direction for forming the hinge end.

[0031] In this embodiment, the spring damping assembly includes a sliding platform 5, a fixed platform 4, a second spring 6, and a damper 7. The fixed platform 4 is fixed to the robotic arm 1 by several fixed rods 3, for example, two fixed rods 3. The sliding platform 5 is sleeved on the fixed rods 3 and the robotic arm 1, and the sliding platform 5 can move along the fixed rods 3. The second spring 6 is sleeved on the segment of the fixed rod 3 located between the sliding platform 5 and the fixed platform 4. At the same time, the damper 7 is connected between the sliding platform 5 and the fixed platform 4. The second spring 6 and the damper 7 are arranged alternately, and the second spring 6 is in a compressed state. By having both the second spring 6 and the first spring 10 in a compressed state, and in conjunction with the compression of the damper 7, vibration suppression is achieved.

[0032] The shapes of the fixed platform 4 and the sliding platform 5 can be set arbitrarily. In this embodiment, the fixed platform 4 and the sliding platform 5 are set as discs.

[0033] One end of the robotic arm 1, away from the base 2, is connected to one end of a traction rope 15. The other end of the traction rope 15 is connected to a sliding table 5, and the traction rope 15 passes over a pulley 13 installed at the end of the pressure rod 12. In this embodiment, the traction rope 15 is a steel rope.

[0034] by Figure 1 With the view direction as a reference, the traction rope 15 is in a taut state. By tauting the traction rope 15, the sliding table 5 is pulled to slide to the right, compressing the second spring 6. At the same time, the damper 7 contracts to consume energy. By tauting the traction rope 15, the pressure rod 12 pushes the push rod 11 down, and the sliding sleeve 8 slides to the left, compressing the first spring 10. This achieves dual vibration reduction, which can buffer larger vibrations and impacts. By tauting the traction rope 15, the rigidity of the robot system is increased, thus suppressing the robot's vibration and improving the robot's working stability and accuracy.

[0035] Example 2:

[0036] This embodiment provides a robot, including the vibration suppression device described in Embodiment 1.

[0037] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A vibration suppression device for robots, characterized in that, The vibration suppression device comprises a base and a mechanical arm mounted on the base, a spring damping assembly is mounted on a connecting end of the base, a fixed sleeve, a sliding sleeve and a connecting sleeve are sequentially arranged along an axial direction of the mechanical arm from one end close to the spring damping assembly to the other end, a first spring is connected between the fixed sleeve and the sliding sleeve, at least two push rods are connected to the sliding sleeve in a circumferential direction, and a pressing rod corresponding to each push rod is connected to the connecting sleeve; one end of the pressing rod is hinged to the connecting sleeve, the other end of the pressing rod is mounted with a pulley, a traction rope is connected between the mechanical arm and the spring damping assembly away from the connecting end, the traction rope passes through the pulley and is in a tension state; the first spring is in a compressed state; the spring damping assembly comprises a fixed table and a sliding table, the fixed table is connected to the base through a plurality of fixed rods; the sliding table is sleeved on the fixed rods, and a plurality of second springs and dampers are connected between the sliding table and the fixed table; the second springs are in a compressed state; the fixed table, the fixed sleeve and the connecting sleeve are fixedly connected to the mechanical arm, and the sliding table and the sliding sleeve are in sliding fit with the mechanical arm; one end of the traction rope is connected to an end of the mechanical arm away from the base, and the other end of the traction rope is connected to the sliding table.

2. The vibration suppression device for a robot according to claim 1, characterized in that, The second springs and the dampers are staggered, and the second springs are sleeved on the rod segments of the fixed rods between the sliding table and the fixed table.

3. The vibration suppression device for a robot according to claim 2, characterized in that, The arrangement direction of the second springs and the dampers is along the axial direction of the mechanical arm.

4. The vibration suppression device for a robot according to claim 1, wherein The push rods are hinged to the middle positions of the pressing rods.

5. The vibration suppression apparatus for a robot according to claim 1, wherein The traction rope is a steel rope.

6. A robot, characterized in that The vibration suppression device comprises any one of claims 1-5.

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