Air-operated mechanical arm root damping buffer joint

Abstract

The application discloses an aerial control mechanical arm root damping buffer joint and particularly relates to the field of joint mechanisms. The joint mechanism comprises a supporting base, an installation support obliquely arranged on the supporting base, a joint body rotatably connected to the installation support, a vertical damping buffer assembly rotatably connected to the joint body, the vertical damping buffer assembly arranged on the installation support and used for buffering and energy consuming impact force in the vertical direction on the joint body, an end of the other end of the joint body rotatably connected to a horizontal damping buffer assembly, and the horizontal damping buffer assembly connected to the supporting base through a connecting support. The application solves the problem that the existing hook joint is difficult to meet the working environment of heavy load and strong vibration and is suitable for the motion operation of the aerial control mechanical arm in the high-collision and high-load environment.

Description

Technical Field

[0001] This invention relates to the field of joint mechanisms, and in particular to a damping buffer joint at the root of an aerial control robotic arm. Background Technology

[0002] A Hooke's joint is a hinge mechanism that provides two rotational degrees of freedom, enabling the transmission of torque and motion between two intersecting axes. It achieves a degree of omnidirectional motion and is commonly used in various spatial parallel mechanisms or other mechanical equipment. Depending on their structural form, Hooke's joints can be classified into several types, including T-type, cross-type, horizontal, and vertical. With the rapid development of various spatial parallel mechanisms, engineering applications have placed diverse demands on the functionality of Hooke's joints. When aerial robotic arms operate in the air, they often face heavy loads, high impacts, and strong vibrations, making traditional Hooke's joints insufficient.

[0003] In conclusion, it is necessary to design a new type of joint that retains the basic two-degree-of-freedom motion function of the Hooke joint while having high load capacity and reducing the impact of impacts and collisions on the mechanism in the working environment. Summary of the Invention

[0004] The present invention aims to provide a damping buffer joint at the root of an aerial control robotic arm, which solves the problem that existing Hooke joints are difficult to meet the working environment of heavy load and strong vibration.

[0005] To achieve the above objectives, the technical solution of the present invention is as follows: A damping buffer joint at the root of an aerial control robotic arm includes a support base, on which an inclined mounting bracket is installed. A joint body is rotatably connected to the mounting bracket. A vertical damping buffer assembly is rotatably connected to the bottom of the other end of the joint body. The vertical damping buffer assembly is disposed on the mounting bracket and is used to buffer and dissipate energy from vertical impact forces received by the joint body. A horizontal damping buffer assembly is rotatably connected to the end of the other end of the joint body. The horizontal damping buffer assembly is connected to the support base via a connecting bracket and is used to buffer and dissipate energy from horizontal impact forces received by the joint body.

[0006] Furthermore, the mounting support includes an inclined platform and two mounting plates, the mounting plates being bolted to the inclined platform, and the mounting plates being set at a 15° angle to the horizontal plane.

[0007] Furthermore, weight-reducing holes are provided on both the front and rear sides of the inclined platform.

[0008] With the above settings, it is easy to install the vertical damping buffer component. At the same time, when the joint body produces a buffering action, the end of the joint body will rotate, and this angle can provide working space for the buffering action of the joint body.

[0009] Furthermore, there are two vertical damping buffer assemblies, each of which includes a damping cylinder. A piston is slidably and sealed within the damping cylinder. A viscous fluid is filled between the piston and the damping cylinder. A piston rod is integrally formed on the top of the piston. An end cap is covered and fitted onto the damping cylinder. Multiple disc springs are also covered outside the damping cylinder. The disc springs are covered and a clamping cap abuts against them. A clamping nut that is threadedly connected to the piston rod is abutted against the clamping cap.

[0010] Furthermore, the hinge points of the vertical damping buffer assembly and the mounting support, the hinge points of the vertical damping buffer assembly and the joint body, and the hinge points of the joint body and the support base form right-angled triangles.

[0011] Furthermore, the horizontal damping buffer assembly includes a damper and two tension springs. The damper and the two tension springs are arranged side by side and rotatably connected between the ends of the connecting support and the joint body. The two tension springs are symmetrically arranged on both sides of the damper.

[0012] Furthermore, the hinge points of the horizontal damping buffer assembly and the connecting support, the hinge points of the horizontal damping buffer assembly and the joint body, and the hinge points of the joint body and the connecting support are located on the same straight line.

[0013] Furthermore, the joint body includes a main shaft connecting fork, which is covered by a main shaft bearing housing. A first tapered roller bearing is connected to the end of the main shaft bearing housing and the main shaft connecting fork. A second tapered roller bearing is connected to the middle of the main shaft bearing housing and the main shaft connecting fork. A tail end cap is bolted to the end of the main shaft bearing housing. A compression spring is connected between the connecting forks on the tail end cap. A compression end cap is connected to the free end of the compression spring. A head end cap is provided at the other end of the main shaft bearing housing near the second tapered roller bearing. Two third tapered roller bearings are symmetrically provided at the end of the main shaft connecting fork. A second rotating shaft is connected between the two third tapered roller bearings. A connecting flange with one end located outside the main shaft connecting fork is connected to the second rotating shaft. A bearing end cap is bolted to the outside of the third tapered roller bearing.

[0014] Compared with existing technologies, the beneficial effects of this solution are:

[0015] 1. This solution, through structural design, enables the joint body to have two rotational degrees of freedom: pitch and yaw. At the same time, it improves the impact resistance and load-bearing capacity of the joint, making it suitable for aerial control of robotic arms to perform motion operations in high-collision and high-load environments.

[0016] 2. In this design, all joint bodies have a large range of motion. The rotation angle of the joint body is 360°, and the rotation angle of the second axis is ±90°.

[0017] 3. This solution uses symmetrically installed tapered roller bearings, and the structural components have been reinforced in many places, making this solution strong and with a stronger load-bearing capacity.

[0018] 4. This solution uses damping buffer components installed at specific positions in both the vertical and horizontal directions. These components have good resistance to impact collisions and are highly efficient. They can significantly reduce the impact on other parts of the mechanism and extend the service life of the mechanism. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of the root damping buffer joint of an aerial control robotic arm according to the present invention;

[0020] Figure 2 This is a schematic diagram of the mounting support structure in this embodiment;

[0021] Figure 3 This is a schematic diagram of the root damping buffer joint structure of an aerial control robotic arm according to the present invention.

[0022] Figure 4 This is a schematic diagram of the cross-sectional structure of the root damping buffer joint of an aerial control robotic arm according to the present invention.

[0023] Figure 5 This is a schematic diagram of the cross-sectional structure of the vertical damping buffer assembly at the root of the aerial control robotic arm according to the present invention.

[0024] Figure 6 This is a schematic diagram of the installation position of the damping buffer assembly at the root of the aerial control robotic arm according to the present invention. Detailed Implementation

[0025] The present invention will be further described in detail below through specific embodiments:

[0026] The reference numerals in the accompanying drawings include: 1. Support base; 2. Weight reduction hole; 3. Inclined platform; 4. Reinforcing rib; 5. Mounting plate; 6. Front bearing seat; 7. Rear bearing seat; 8. Bearing hole; 9. Fourth tapered roller bearing; 10. First lug; 11. Joint body; 12. Vertical damping buffer assembly; 13. Second lug; 14. Horizontal damping buffer assembly; 15. Connecting support; 16. Support plate; 17. Damping cylinder; 18. First connecting hole; 19. Piston; 20. Viscous fluid; 21. Piston rod; 22. End cap; 23. Disc spring; 24. Pressure cap; 25. Pressure nut; 26. Damper; 27. Tension spring; 28. Main shaft connecting fork; 29. ​​Main shaft bearing seat; 30. First tapered roller bearing; 31. Second tapered roller bearing; 32. Tail end cap; 33. Pressure spring; 34. Pressure end cap; 35. Head end cap; 36. Third tapered roller bearing; 37. Second rotating shaft; 38. Connecting flange; 39. Bearing end cap; 40. Bushing.

[0027] Example

[0028] like Figures 1 to 6As shown, a damping buffer joint at the root of an aerial control robotic arm includes a support base 1, which is L-shaped. Multiple weight-reducing holes 2 are provided on the left side wall of the support base 1, which helps reduce the overall weight of the design. A mounting bracket is provided at the right end of the support base 1. In this embodiment, the mounting bracket includes a ramp 3 and two mirror-symmetrical convex mounting plates 5. The ramp 3 is integrally formed with the support base 1. Weight-reducing holes 2 are provided on the front and rear sides of the ramp 3, and grooves are symmetrically provided on the ramp surface. The weight of the ramp 3 is reduced by the weight-reducing holes 2 and the grooves, achieving a lightweight structural design. A reinforcing rib 4 connects the ramp surface of the ramp 3 to the support plate 16. The two mounting plates 5 are symmetrically bolted to the ramp 3. Each mounting plate 5 is set at a 15° angle to the horizontal plane, facilitating the installation of the vertical damping buffer assembly 12. Simultaneously, when the joint body 11 produces a buffering action, the end of the joint body 11 rotates, providing operating space for the buffering action of the joint body 11. Each mounting plate 5 is fixedly connected to a front bearing housing 6 and a rear bearing housing 7. A connecting groove is formed in the middle of both the front and rear bearing housings 6 and 7. Two bearing holes 8 pass through each of the front and rear bearing housings 6 and 7. A fourth tapered roller bearing 9 is installed in each bearing hole 8 of the front bearing housing 6. The two fourth tapered roller bearings 9 are rotatably connected to two joint bodies 11 with first lugs 10 via a rotating shaft. The two first lugs 10 are placed in corresponding connecting grooves and are symmetrically arranged on the lower right side of the joint body 11. Each bearing hole 8 of the rear bearing housing 7 is installed with a deep groove ball bearing. The two deep groove ball bearings are rotatably connected to a vertical damping buffer assembly 12 via a rotating shaft. The vertical damping buffer assembly 12 is rotatably connected to the joint body 11 via two second lugs 13 and a rotating shaft. The two second lugs 13 are symmetrically arranged on the lower left side of the joint body 11. The vertical damping buffer assembly 12 is used to buffer and dissipate the vertical impact force received by the joint body 11. A horizontal damping buffer assembly 14 is rotatably connected to the left end of the joint body 11. The horizontal damping buffer assembly 14 is connected to the support base 1 via a connecting support 15. The connecting support 15 is vertically arranged on the left side of the support base 1. A reinforcing rib 4 is welded on the connecting support 15. A support plate 16 fixedly connected to the left side of the support base 1 is welded to the right side of the reinforcing rib 4. The horizontal damping buffer assembly 14 is used to buffer and dissipate the horizontal impact force received by the joint body 11.

[0029] In this embodiment, there are two vertical damping buffer assemblies 12, which are symmetrically arranged on the front and rear sides of the left side of the joint body 11. Each vertical damping buffer assembly 12 includes a damping cylinder 17, with a first connecting hole 18 on the lower side of the damping cylinder 17, which is connected to a deep groove ball bearing on the rear bearing seat 7 through the first connecting hole 18 and the rotating shaft. A piston 19 is slidably sealed inside the damping cylinder 17, and a viscous fluid 20 is filled between the piston 19 and the damping cylinder 17. A piston rod is integrally formed at the top center of the piston 19, and a second connecting hole is formed at the top of the piston rod, which is connected to a second lug 13 through the rotating shaft. An end cap 22 is covered and fitted onto the damping cylinder 17, and a through hole is formed at the center of the end cap 22, with the piston rod slidably connected to the through hole. The damping cylinder body 17 is also covered by multiple disc springs 23. The multiple disc springs 23 are all covered by the end cap 22 and the side wall of the upper side of the damping cylinder body 17. The uppermost disc spring 23 abuts against a pressure cover 24. The pressure cover 24 has a through hole in the center for the piston rod to pass through. The pressure cover 24 abuts against a pressure nut 25 that is threadedly connected to the piston rod. In this embodiment, the hinge point between the damping cylinder 17 and the rear bearing seat 7, the hinge point between the piston rod and the second lug 13, and the hinge point between the first lug 10 and the front bearing seat 6 form a right triangle. With the above arrangement, when the vertical damping buffer assembly 12 is working, the joint body 11 will rotate slightly around the first lug 10 when a buffering action is generated. The movement trajectory of the hinge point between the vertical damping buffer assembly 12 and the joint body 11 is an arc with the hinge point between the joint body 11 and the support base 1 as the center and the distance between the two points as the radius. The vertical damping buffer assembly 12 is installed perpendicular to this radius to achieve the best force application effect.

[0030] In this embodiment, a first connecting seat and two second connecting seats located on both sides of the first connecting seat are symmetrically provided at the left end of the joint body 11 and the right side of the support plate 16. The horizontal damping buffer assembly 14 includes a damper 26 and two tension springs 27. The two ends of the damper 26 are connected between the two first connecting seats of the joint body 11 and the support plate 16 through a rotating shaft. The two tension springs 27 are respectively connected between the second connecting seats on the same side. The two tension springs 27 are symmetrically arranged side by side on the front and rear sides of the damper 26. The hinge points of the tension springs 27 and the connecting support 15, the hinge points of the tension springs 27 and the joint body 11, and the hinge points of the first lug 10 and the front bearing seat 6 are located on the same straight line. Through the above arrangement, when the horizontal damping buffer assembly 14 is working, the tension springs 27 and the damper 26 of the horizontal damping buffer assembly 14 are parallel, and their two end hinge points and the hinge points of the joint body 11 and the connecting support 15 are on the same straight line. Figure 6 All of them are located on the same straight line on the projection plane; when the joint body 11 is in the neutral position, it satisfies the condition of being on the same straight line, and when it deviates from the neutral position, the tension spring 27 can generate tension to pull it back.

[0031] The joint body 11 includes a main shaft connecting fork 28, which is covered by a main shaft bearing housing 29. A first tapered roller bearing 30 is connected to the left side of the main shaft bearing housing 29 and the main shaft connecting fork 28. A second tapered roller bearing 31 is connected to the middle of the main shaft bearing housing 29 and the main shaft connecting fork 28. A tail end cap 32 is bolted to the left end of the main shaft bearing housing 29. A compression spring 33 is connected to the side wall of the tail end cap 32. A compression end cap 34 is connected to the free end of the compression spring 33. The edge of the compression end cap 34 presses against the inner ring of the first tapered roller bearing 30. The middle of the compression end cap 34 is bolted to the main shaft connecting fork 28. Other parts of the compression end cap 34 are not connected to the main shaft connecting fork 28. The compression end cap 34 and the compression spring 33 enhance the compression effect. A head end cap 35 is fixedly connected to the right end of the main shaft bearing housing 29. Two third tapered roller bearings 36 are symmetrically provided at the end of the main shaft connecting fork 28. A second rotating shaft 37 is connected between the two third tapered roller bearings 36. A connecting flange 38, located outside the main shaft connecting fork 28, is connected to the second rotating shaft 37. The connecting flange 38 is connected to the robotic arm's boom, so that when subjected to sudden external forces such as collisions during aerial operation, the damping buffer joint at the root can play a role in reducing the impact of external forces on the robotic arm itself. Bearing end caps 39 are bolted to the outside of the third tapered roller bearings 36. Two bushings 40 are symmetrically provided on the second rotating shaft 37, and the two bushings 40 symmetrically abut against the upper and lower sides of the left side of the connecting flange 38.

[0032] The working process of this embodiment:

[0033] When the robotic arm's boom applies a load to the connecting flange 38, the vertical damping buffer assembly 12 will be subjected to pressure due to the clockwise rotation of the joint body 11. The vertical damping buffer assembly 12 can reduce the amplitude of rotation with the help of the disc spring 23. At the same time, when the first lug 10 rotates slightly under the action of the joint body 11, the distance between the two hinge points in the horizontal damping buffer assembly 14 is the shortest when no force is applied. However, after the horizontal damping buffer assembly 14 swings up and down due to external force, the distance between the two hinge points in the horizontal damping buffer assembly 14 increases. Therefore, the tension spring 27 is used to apply tension to the joint body 11 to return it to its initial position.

[0034] During operation, the main shaft connecting fork 28 of the joint body 11 can rotate 360° around the axis of the main shaft bearing seat 29, and the connecting flange 38 can rotate around the axis of the second rotating shaft 37, with a rotation angle between -90° and +90°. In a stable state where the robotic arm is not subjected to impact or collision, the joint body 11 can achieve balance under the action of the vertical damping buffer assembly 12 and the horizontal damping buffer assembly 14. When the external load changes abruptly or the robotic arm is subjected to impact or collision, the joint body 11 will swing around the axis of the first lug 10 under the action of external force. The front bearing seat 6 limits the swing amplitude of the joint body 11. The vertical damping buffer assembly 12 applies force perpendicular to the line connecting the swing centers, and the force application effect is the best. When the joint body 11 deviates from the middle position, the tension spring 27 of the horizontal damping buffer assembly 14 and the vertical damping buffer assembly 12 pull it back to the middle position. At the same time, the energy is dissipated under the action of the damper 26, reducing the impact on other robotic arms. This solution retains the two rotational degrees of freedom of the existing joint while adding a supporting structure to achieve the damping and buffering function, and enhancing the load capacity.

[0035] The above are merely embodiments of the present invention, and common knowledge such as specific structures and / or characteristics in the solutions are not described in detail here. It should be noted that those skilled in the art can make various modifications and improvements without departing from the structure of the present invention, and these should also be considered within the scope of protection of the present invention. These modifications and improvements will not affect the effectiveness of the implementation of the present invention or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. A damping buffer joint at the root of an aerial control robotic arm, characterized in that: The joint includes a support base on which an inclined mounting bracket is installed. The mounting bracket is rotatably connected to one end of the joint body. A vertical damping buffer assembly is rotatably connected to the bottom of the other end of the joint body. The vertical damping buffer assembly is mounted on the mounting bracket and is used to buffer and dissipate the vertical impact force received by the joint body. A horizontal damping buffer assembly is rotatably connected to the other end of the joint body. The horizontal damping buffer assembly is connected to the support base via a connecting bracket and is used to buffer and dissipate the horizontal impact force received by the joint body. The mounting support includes an inclined platform and two mounting plates. The mounting plates are bolted to the inclined platform and are set at a 15° angle to the horizontal plane. The number of vertical damping buffer components is two, and each vertical damping buffer component includes a damping cylinder. A piston is slidably and sealed inside the damping cylinder. A viscous fluid is filled between the piston and the damping cylinder. A piston rod is integrally formed on the top of the piston. An end cap is covered and fitted onto the damping cylinder. Multiple disc springs are also covered outside the damping cylinder. The disc springs are covered and a clamping cover is abutted on them. A clamping nut that is threadedly connected to the piston rod is abutted on the clamping cover. The hinge points of the vertical damping buffer assembly and the mounting support, the hinge points of the vertical damping buffer assembly and the joint body, and the hinge points of the joint body and the support base form a right triangle. The joint body includes a main shaft connecting fork, which is covered by a main shaft bearing housing. A first tapered roller bearing is connected to the end of the main shaft bearing housing and the main shaft connecting fork. A second tapered roller bearing is connected to the middle of the main shaft bearing housing and the main shaft connecting fork. A tail end cap is bolted to the end of the main shaft bearing housing. A compression spring is connected to the tail end cap. A compression end cap is connected to the free end of the compression spring. A head end cap is provided at one end of the main shaft bearing housing away from the tail end cap. Two third tapered roller bearings are symmetrically provided at the other end of the main shaft connecting fork. A second rotating shaft is connected between the two third tapered roller bearings. A connecting flange with one end located outside the main shaft connecting fork is connected to the second rotating shaft. The hinge points of the horizontal damping buffer assembly and the connecting support, the hinge points of the horizontal damping buffer assembly and the joint body, and the hinge points of the joint body and the connecting support are all located on the same straight line.

2. The root damping buffer joint of an aerial control robotic arm according to claim 1, characterized in that: Weight reduction holes are provided on both the front and rear sides of the inclined platform.

3. The root damping buffer joint of an aerial control robotic arm according to claim 1, characterized in that: The horizontal damping buffer assembly includes a damper and two tension springs. The damper and the two tension springs are arranged side by side and rotatably connected between the ends of the connecting support and the joint body. The two tension springs are symmetrically arranged on both sides of the damper.

Images