Mechanical engineering robot with buffer structure

Abstract

The invention belongs to the technical field of intelligent robots, and particularly relates to a mechanical engineering robot with a buffer structure. The first damping mechanism is fixedly arranged in the bottom shell; the platform is fixedly arranged at the top end of the first damping mechanism, a gap is reserved between the side wall of the platform and the inner side wall of the bottom shell, and two containing grooves are formed in the top end of the platform and oppositely formed in the two ends of the platform at intervals; two first moving mechanisms; two second damping mechanisms; the two third vibration reduction mechanisms are arranged on the side walls, away from each other, of the two first moving mechanisms correspondingly. The second moving mechanism is arranged between the two first moving mechanisms, and the two ends of the second moving mechanism make contact with the two third damping mechanisms correspondingly; the third moving mechanism is arranged on the second moving mechanism; and the fourth vibration reduction mechanism is fixedly arranged on the second moving mechanism, and the third moving mechanism makes contact with the fourth vibration reduction mechanism. The service life of the robot can be prolonged, and the later maintenance cost is reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of intelligent robots, and in particular relates to a mechanical engineering robot with a buffer structure. Background Art

[0002] Robot is the common name for automatic control machines, which include all machines that simulate human behavior or thoughts and simulate other organisms (such as robot dogs, robot cats, etc.). In a narrow sense, there are many classifications and disputes about the definition of robots. Some computer programs are even called robots. In contemporary industry, robots refer to man-made machine devices that can automatically perform tasks to replace or assist human work. The ideal high-simulation robot is the product of advanced integrated cybernetics, mechatronics, computers and artificial intelligence, materials science and bionics. The scientific community is currently researching and developing in this direction.

[0003] Most of the current mechanical engineering robots do not have buffering and shock absorption functions. During long-term and frequent work, their equipment is easily damaged, resulting in high subsequent repair and maintenance costs.

[0004] Therefore, it is necessary to design a mechanical engineering robot with a buffer structure to solve the above problems. Summary of the invention

[0005] The purpose of the present invention is to provide a mechanical engineering robot with a buffer structure to solve the above-mentioned problems, thereby extending the service life of the robot and reducing the subsequent maintenance costs.

[0006] To achieve the above object, the present invention provides the following solution: a mechanical engineering robot with a buffer structure, comprising

[0007] Bottom shell;

[0008] A first vibration reduction mechanism, fixedly disposed inside the bottom shell;

[0009] A platform is fixedly arranged at the top of the first vibration reduction mechanism, a gap is left between the side wall of the platform and the inner wall of the bottom shell, two receiving grooves are arranged at the top of the platform, and the two receiving grooves are arranged at opposite ends of the platform;

[0010] Two first moving mechanisms are respectively arranged in the two containing grooves;

[0011] Two second vibration-damping mechanisms are respectively arranged on the inner side walls of the two receiving grooves; the first moving mechanism is in sliding contact with the second vibration-damping mechanism;

[0012] Two third vibration-damping mechanisms are respectively arranged on the side walls of the two first moving mechanisms that are away from each other;

[0013] a second moving mechanism, arranged between the two first moving mechanisms, wherein two ends of the second moving mechanism are respectively in contact with the two third vibration reduction mechanisms;

[0014] a third moving mechanism, arranged on the second moving mechanism;

[0015] The fourth vibration reduction mechanism is fixedly arranged on the second moving mechanism, and the third moving mechanism is in contact with the fourth vibration reduction mechanism.

[0016] A mechanical engineering robot with a buffer structure based on the present invention, the first vibration damping mechanism includes a shock-absorbing block, the shock-absorbing block is fixedly arranged in the middle of the inner side of the bottom shell, a center hole is opened in the center of the shock-absorbing block, a plurality of first vibration damping parts are arranged on the side wall of the center hole, and the plurality of first vibration damping parts are arranged at equal intervals along the circumferential direction of the inner side wall of the center hole, a connecting column is coaxially arranged inside the center hole, a gap is left between the side wall of the connecting column and the first vibration damping part, a circular base is fixedly connected to the bottom end of the connecting column, the circular base is slidably arranged between the bottom end of the shock-absorbing block and the inner bottom wall of the bottom shell, a connecting plate is fixedly connected to the top end of the connecting column, the connecting plate is square, and the four inner side walls of the bottom shell are respectively fixedly connected to the fixed ends of the telescopic rods, the telescopic rods are horizontally arranged, the four telescopic rods correspond to the four side walls of the connecting plate one by one, a gap is left between the telescopic end of the telescopic rod and the side wall of the connecting plate, and the platform is fixedly connected to the top end of the connecting plate.

[0017] A mechanical engineering robot with a buffer structure based on the present invention, the first vibration damping part includes a sleeve, one end of the sleeve is fixedly connected to the inner wall of the center hole, the other end of the sleeve is internally slidably connected to one end of a sliding rod, the other end of the sliding rod is fixedly connected to a vibration damping plate, the vibration damping plate is arc-shaped, and the convex surface of the vibration damping plate faces the connecting column, the sleeve and the outer side of the sliding rod are sleeved with a third spring, and the two ends of the third spring are respectively fixedly connected to the inner wall of the center hole and the side wall of the vibration damping plate.

[0018] A mechanical engineering robot with a buffer structure based on the present invention, the first moving mechanism includes a first motor, the first motor is fixedly embedded in the platform, the first motor output shaft is coaxially fixedly connected to one end of a first lead screw, the first lead screw is rotatably arranged in the accommodating groove and the other end is rotatably connected to the side wall of the accommodating groove, a first slider is threadedly connected to the first lead screw, the bottom end of the first slider is in sliding contact with the bottom wall of the accommodating groove, two opposite side walls of the first slider are in sliding contact with the second vibration damping mechanism, the top of the first slider is fixedly connected to the bottom end of a vertically arranged vertical groove, and the second moving mechanism is arranged between the two vertical grooves.

[0019] A mechanical engineering robot with a buffer structure based on the present invention, the second vibration reduction mechanism includes two arc-shaped spring pieces and two long spring pieces, the two arc-shaped spring pieces are respectively fixedly arranged on the two short side walls of the accommodating groove, the protruding surface of the arc-shaped spring piece faces the first sliding block, a clearance hole is opened in the center of the arc-shaped spring piece, the first lead screw rotates through the clearance hole, the two long spring pieces are respectively fixedly arranged on the two long side walls of the accommodating groove, the middle of the long spring piece is a straight section, the long spring piece is fixedly connected to the long side wall of the accommodating groove through the straight section, the two ends of the straight section are respectively fixedly connected with one end of the inclined section, the other end of the inclined section is inclined toward the direction away from the side wall of the accommodating groove, and the other end of the inclined section is set to a circular arc shape on the side away from the side wall of the accommodating groove; the thickness of the inclined section is the same as that of the straight section, and the first sliding block is slidably arranged between the two long spring pieces.

[0020] A mechanical engineering robot with a buffer structure based on the present invention, the second moving mechanism includes a second motor, the second motor is fixedly arranged at the top end of one of the vertical slots, the second motor output shaft is coaxially fixedly connected to the top end of a vertically arranged second lead screw, the second lead screw is rotatably arranged inside the vertical slot and the bottom end is rotatably connected to the first slider, the second lead screw is threadedly connected to one end of a horizontally arranged cross beam, the other end of the cross beam is slidably penetrated by a second light rod, the second light rod is vertically fixedly arranged in another of the vertical slots, and the two ends of the cross beam are respectively in sliding contact with the inner side walls of the two vertical slots.

[0021] A mechanical engineering robot with a buffer structure based on the present invention, the third vibration reduction mechanism includes a block, the block is fixedly connected to the end of the crossbeam, the block is slidably arranged in a strip-shaped through hole opened on the side wall of the vertical groove, the top and bottom ends of the block are respectively provided with a first spring, the block and the outer side cover of the first spring are provided with a protective shell, the protective shell is fixedly connected to the vertical groove, the block is in sliding contact with the inner side wall of the protective shell, the top end of the first spring located at the top is fixedly connected to the top wall of the protective shell, and the bottom end of the first spring located at the bottom is fixedly connected to the bottom wall of the protective shell.

[0022] A mechanical engineering robot with a buffer structure based on the present invention, the third moving mechanism includes a third motor, the third motor is fixedly connected to one end of the top of the beam, the output end of the third motor is coaxially fixedly connected to one end of a horizontally arranged third lead screw, the other end of the third lead screw is rotatably connected to a fixed seat, the fixed seat is fixedly connected to the other end of the top of the beam, the third lead screw is threadedly connected to a third slider, the bottom end of the third slider is in sliding contact with the top of the beam, and the top of the third slider is fixedly connected to a clamp.

[0023] A mechanical engineering robot with a buffer structure based on the present invention, the fourth vibration damping mechanism includes a shift block and two positioning plates, one end of the shift block is fixedly connected to the bottom end of the third sliding block through a connecting block, the connecting block is slidably arranged in the strip through hole opened in the crossbeam, the two positioning plates are respectively fixedly arranged at the two ends of the same side wall of the crossbeam, two guide rods are fixedly connected between the two positioning plates, the two guide rods are horizontally and spaced apart up and down, a center plate is fixedly connected to the middle parts of the two guide rods, and sliding plates are slidably connected to the two ends of the guide rods, a second spring is fixedly connected between the two sliding plates, the second spring movably passes through the spring hole opened in the center plate, the sliding plate is fixedly connected with a support ear near the middle of the side wall of the shift block, and the shift block is correspondingly arranged between the two support ears.

[0024] According to the mechanical engineering robot with a buffer structure of the present invention, wheels are respectively arranged at the four corners of the bottom end of the outer side of the bottom shell.

[0025] Compared with the prior art, the present invention has the following advantages and technical effects:

[0026] The present invention can absorb the vibration energy generated during the movement process through the first vibration reduction mechanism, so as to ensure the stability of the platform; the first moving mechanism can realize free movement in the X-axis direction; the second vibration reduction mechanism can absorb the vibration energy generated during the movement of the first moving mechanism, so as to ensure the stable movement of the first moving mechanism; the second moving mechanism can realize free movement in the Y-axis direction; the third vibration reduction mechanism can absorb the vibration energy generated during the movement of the second moving mechanism, so as to ensure the stable movement of the second moving mechanism; the third moving mechanism can realize free movement in the Z-axis direction; the fourth vibration reduction mechanism can absorb the vibration energy generated during the movement of the third moving mechanism, so as to ensure the stable movement of the third moving mechanism; the four vibration reduction mechanisms work together to minimize the influence of the vibration energy on the life of the robot; the three moving mechanisms cooperate with each other to reach any position in the three-dimensional space. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative labor:

[0028] Figure 1 It is an overall schematic diagram of the present invention;

[0029] Figure 2 is a schematic diagram of a third moving mechanism of the present invention;

[0030] Figure 3 This is a cross-sectional view of the interior of the bottom shell of the present invention;

[0031] Figure 4 for Figure 3 A partial enlarged view of middle A;

[0032] Figure 5 It is a schematic diagram of the shock absorbing block of the present invention.

[0033] Among them, 1. bottom shell; 2. wheel; 3. platform; 4. first lead screw; 5. arc spring; 6. long spring; 7. first slider; 8. vertical groove; 9. protective shell; 10. strip through hole; 11. second motor; 12. second lead screw; 13. second light rod; 14. crossbeam; 15. strip through hole; 16. third motor; 17. third lead screw; 18. fixed seat; 19. third slider; 20. clamping claw; 21. block; 22. first spring; 23. shift block; 24. positioning plate; 25. guide rod; 26. center plate; 27. spring hole; 28. sliding plate; 29. ​​ear; 30. second spring; 31. shock absorbing block; 32. center hole; 33. third spring; 34. shock absorbing plate; 35. connecting plate; 36. telescopic rod; 37. connecting column; 38. round base; 39. sleeve; 40. sliding rod. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0036] Robots are the product of advanced integration of cybernetics, mechatronics, computers, materials and bionics. They have important uses in industry, medicine, agriculture, construction and even the military.

[0037] The concept of robots has gradually reached a consensus internationally. Generally speaking, people can accept this statement that robots are machines that rely on their own power and control capabilities to achieve various functions. The United Nations Standardization Organization adopted the definition of robots given by the American Robotics Association: "A programmable and multi-functional operating machine; or a specialized system with computer-changeable and programmable actions for performing different tasks." It can bring many conveniences to mankind!

[0038] Robots are generally composed of actuators, drive devices, detection devices, control systems and complex machinery.

[0039] The actuator is the robot body, and its arm generally adopts a spatial open-chain linkage mechanism, in which the kinematic pairs (rotational pairs or translation pairs) are often called joints, and the number of joints is usually the number of degrees of freedom of the robot. According to the different joint configuration types and motion coordinate forms, the robot actuator can be divided into rectangular coordinate type, cylindrical coordinate type, polar coordinate type and joint coordinate type. For the sake of anthropomorphism, the relevant parts of the robot body are often called base, waist, arm, wrist, hand (gripper or end effector) and walking part (for mobile robots).

[0040] The drive device is a mechanism that drives the actuator to move. According to the command signal issued by the control system, the robot moves with the help of the power element. It inputs electrical signals and outputs linear and angular displacements. The drive devices used by robots are mainly electric drive devices, such as stepper motors, servo motors, etc. In addition, there are also hydraulic, pneumatic and other drive devices.

[0041] The detection device detects the movement and working conditions of the robot in real time, feeds back to the control system as needed, and adjusts the actuator after comparing with the set information to ensure that the robot's movement meets the predetermined requirements. Sensors used as detection devices can be roughly divided into two categories: one is internal information sensors, which are used to detect the internal conditions of various parts of the robot, such as the position, speed, acceleration of each joint, etc., and send the measured information as feedback signals to the controller to form a closed-loop control. The other is external information sensors, which are used to obtain information about the robot's working object and external environment, so that the robot's movement can adapt to changes in external conditions, so that it can achieve a higher level of automation, and even give the robot a certain "feeling" and develop towards intelligence. For example, external sensors such as vision and sound give relevant information about the working object and working environment, and use this information to form a large feedback loop, which will greatly improve the robot's working accuracy.

[0042] One type of control system is centralized control, that is, all the control of the robot is completed by a microcomputer. The other type is decentralized (level) control, that is, multiple microcomputers are used to share the control of the robot. For example, when the upper and lower microcomputers are used to jointly complete the control of the robot, the host is often responsible for the management, communication, kinematics and dynamics calculations of the system, and sends command information to the lower microcomputer; as a lower-level slave, each joint corresponds to a CPU, performs interpolation calculations and servo control processing, realizes the given movement, and feeds back information to the host. According to different task requirements, the control method of the robot can be divided into point control, continuous trajectory control and force (torque) control.

[0043] Robot experts divide robots into two categories based on the application environment, namely industrial robots and special robots. The so-called industrial robots are multi-joint manipulators or multi-degree-of-freedom robots for the industrial field. Special robots are various advanced robots used in non-manufacturing industries and serving humans, except for industrial robots, including: service robots, underwater robots, entertainment robots, military robots, agricultural robots, robotized machines, etc. Among special robots, some branches are developing very fast and have a tendency to become independent systems, such as service robots, underwater robots, military robots, micro-manipulation robots, etc. International robotics scholars also divide robots into two categories based on the application environment: industrial robots in manufacturing environments and service and humanoid robots in non-manufacturing environments, which is consistent with China's classification.

[0044] Aerial robots are also called unmanned machines. Among the military robot family, unmanned aerial vehicles are the most active in scientific research activities, the most technologically advanced, the most heavily invested in research and procurement, and the most experienced in actual combat. For more than 80 years, the development of unmanned aerial vehicles in the world has been driven by the United States. Whether in terms of technology level or the types and number of unmanned aerial vehicles, the United States ranks first in the world.

[0045] The evaluation criteria for robot capabilities include: intelligence, which refers to sensation and perception, including memory, calculation, comparison, identification, judgment, decision-making, learning and logical reasoning; function, which refers to flexibility, versatility or space occupancy; physical energy, which refers to force, speed, reliability, interoperability and lifespan. Therefore, it can be said that robots are actual space operation tools with biological functions, which can replace humans to complete some dangerous or difficult labor and tasks.

[0046] The characteristics of robot development can be summarized as follows: horizontally, the application scope is getting wider and wider. From 95% industrial applications to more non-industrial applications in more fields. Such as surgery, fruit picking, pruning, tunnel excavation, reconnaissance, mine clearance, as well as space robots and underwater robots. Robot applications are unlimited, as long as you can think of it, you can create and realize it; vertically, there will be more and more types of robots, such as micro robots that enter the human body, which has become a new direction and can be as small as a grain of rice; robot intelligence has been strengthened, and robots will be smarter.

[0047] The first Beijing University Student Robot Competition was held at Beijing Information Science and Technology University. The opening ceremony was hosted by a slender "lady", who was actually a robot designed by students of Beijing Information Science and Technology University, named Lili. She can communicate with people in daily life.

[0048] In the subsequent competition, more than 300 contestants from 99 teams from 17 universities took their robots to the stage to compete in 16 events. These robots can dance to the music, run on the green field, or even fly in the sky with wings. As a contestant from Beijing University of Technology shouted in the competition, "Roll, robots; roll, our future." In the future, robots will become our indispensable partners in production and life.

[0049] Reference Figures 1 to 5 As shown, the present invention provides a mechanical engineering robot with a buffer structure, comprising

[0050] Bottom shell 1;

[0051] A first vibration reduction mechanism is fixedly arranged inside the bottom shell 1;

[0052] The platform 3 is fixedly arranged at the top of the first vibration reduction mechanism, a gap is left between the side wall of the platform 3 and the inner wall of the bottom shell 1, and two receiving grooves are arranged at the top of the platform 3, and the two receiving grooves are arranged at opposite ends of the platform 3;

[0053] Two first moving mechanisms are respectively arranged in the two receiving grooves;

[0054] Two second vibration-damping mechanisms are respectively arranged on the inner side walls of the two receiving grooves; the first moving mechanism is in sliding contact with the second vibration-damping mechanism;

[0055] Two third vibration reduction mechanisms are respectively arranged on side walls of the two first moving mechanisms that are away from each other;

[0056] The second moving mechanism is arranged between the two first moving mechanisms, and two ends of the second moving mechanism are respectively in contact with the two third vibration reduction mechanisms;

[0057] A third moving mechanism is arranged on the second moving mechanism;

[0058] The fourth vibration reduction mechanism is fixedly arranged on the second moving mechanism, and the third moving mechanism is in contact with the fourth vibration reduction mechanism.

[0059] Furthermore, the first vibration damping mechanism includes a shock absorbing block 31, which is fixedly arranged in the middle of the inner side of the bottom shell 1. A center hole 32 is opened in the center of the shock absorbing block 31, and a plurality of first vibration damping parts are arranged on the side wall of the center hole 32. The plurality of first vibration damping parts are arranged at equal intervals along the circumferential direction of the inner side wall of the center hole 32. A connecting column 37 is coaxially arranged inside the center hole 32, and a gap is left between the side wall of the connecting column 37 and the first vibration damping part. A circular base 38 is fixedly connected to the bottom end of the connecting column 37, and the circular base 38 is slidably arranged between the bottom end of the shock absorbing block 31 and the inner bottom wall of the bottom shell 1. A connecting plate 35 is fixedly connected to the top of the connecting column 37. The connecting plate 35 is square. The four inner side walls of the bottom shell 1 are respectively fixedly connected to the fixed ends of the telescopic rods 36. The telescopic rods 36 are horizontally arranged. The four telescopic rods 36 correspond to the four side walls of the connecting plate 35 one by one. There is a gap between the telescopic end of the telescopic rod 36 and the side wall of the connecting plate 35, and the platform 3 is fixedly connected to the top of the connecting plate 35.

[0060] Furthermore, the first vibration damping part includes a sleeve 39, one end of the sleeve 39 is fixedly connected to the inner wall of the center hole 32, the other end of the sleeve 39 is internally slidably connected to one end of a slide rod 40, the other end of the slide rod 40 is fixedly connected to a vibration damping plate 34, the vibration damping plate 34 is arc-shaped, and the convex surface of the vibration damping plate 34 faces the connecting column 37, and a third spring 33 is sleeved on the outer side of the sleeve 39 and the slide rod 40, and the two ends of the third spring 33 are respectively fixedly connected to the inner wall of the center hole 32 and the side wall of the vibration damping plate 34.

[0061] During the overall movement of the robot, the four telescopic rods 36 are shortened and the connecting plate 35 is not fixedly abutted and limited. After moving to the destination, the bottom shell 1 stops, while the connecting plate 35, the connecting column 37, and the circular base 38 continue to slide in the forward direction due to inertia. When the connecting column 37 slides and hits the corresponding shock-absorbing plate 34, the shock-absorbing plate 34 compresses the third spring 33, and the sliding rod 40 slides in the sleeve 39 until the third spring 33 absorbs all the sliding energy of the connecting column 37 and automatically rebounds to push the connecting column 37 back a certain distance, after which the connecting column 37 also stops. This process realizes the first buffering and vibration reduction of the robot. After the connecting column 37 stops, the four telescopic rods 36 extend and abut against the four side walls of the connecting plate 35, completing the relative fixation of the platform 3 and the bottom shell 1, and ensuring the stability of the bottom during the operation of the robot.

[0062] Furthermore, the first moving mechanism includes a first motor, which is fixedly embedded in the platform 3. The output shaft of the first motor is coaxially fixedly connected to one end of the first screw 4. The first screw 4 is rotatably set in the accommodating groove and the other end is rotatably connected to the side wall of the accommodating groove. The first screw 4 is threadedly connected to the first slider 7. The bottom end of the first slider 7 is in sliding contact with the bottom wall of the accommodating groove. The two opposite side walls of the first slider 7 are in sliding contact with the second vibration damping mechanism. The top of the first slider 7 is fixedly connected to the bottom end of a vertically arranged vertical groove 8, and the second moving mechanism is arranged between the two vertical grooves 8.

[0063] Furthermore, the second damping mechanism includes two arc-shaped spring pieces 5 and two long spring pieces 6. The two arc-shaped spring pieces 5 are respectively fixed on the two short side walls of the accommodating groove, and the protruding surface of the arc-shaped spring piece 5 faces the first slider 7. A clearance hole is opened in the center of the arc-shaped spring piece 5. The first screw 4 rotates through the clearance hole. The two long spring pieces 6 are respectively fixed on the two long side walls of the accommodating groove. The middle of the long spring piece 6 is a straight section. The long spring piece 6 is fixedly connected to the long side wall of the accommodating groove through the straight section. The two ends of the straight section are respectively fixedly connected with one end of the inclined section, and the other end of the inclined section is inclined toward the direction away from the side wall of the accommodating groove. The side of the other end of the inclined section away from the side wall of the accommodating groove is set to a circular arc shape; the thickness of the inclined section is the same as that of the straight section, and the first slider 7 is slidably set between the two long spring pieces 6.

[0064] The first motor drives the first lead screw 4 to rotate, and the first lead screw 4 drives the first slider 7 to move in the accommodating groove, so that the robot can move freely in the X-axis direction. When the first slider 7 moves to a position close to the end of the accommodating groove, the inclined sections of the long spring pieces 6 on both sides thereof are clamped to reduce the vibration energy during the movement, thereby achieving a buffering effect. When the first slider 7 contacts the arc-shaped spring piece 5, the arc-shaped spring piece 5 is compressed and deformed, thereby further absorbing the vibration energy during the movement of the first slider 7, thereby achieving secondary vibration reduction and buffering.

[0065] Furthermore, the second moving mechanism includes a second motor 11, which is fixedly arranged at the top of a vertical slot 8. The output shaft of the second motor 11 is coaxially fixedly connected to the top of a vertically arranged second lead screw 12. The second lead screw 12 is rotatably arranged inside the vertical slot 8 and the bottom end is rotatably connected to the first slider 7. The second lead screw 12 is threadedly connected to one end of a horizontally arranged cross beam 14, and the other end of the cross beam 14 is slidably penetrated by a second light rod 13. The second light rod 13 is vertically fixed in another vertical slot 8, and the two ends of the cross beam 14 are respectively in sliding contact with the inner side walls of the two vertical slots 8.

[0066] Furthermore, the third vibration damping mechanism includes a block 21, which is fixedly connected to the end of the cross beam 14. The block 21 is slidably arranged in a strip-shaped through hole 10 opened on the side wall of the vertical groove 8. The top and bottom ends of the block 21 are respectively provided with a first spring 22. A protective shell 9 is provided on the outer side of the block 21 and the first spring 22. The protective shell 9 is fixedly connected to the vertical groove 8. The block 21 is in sliding contact with the inner side wall of the protective shell 9. The top end of the first spring 22 located at the top is fixedly connected to the top wall of the protective shell 9, and the bottom end of the first spring 22 located at the bottom is fixedly connected to the bottom wall of the protective shell 9.

[0067] The second motor 11 drives the second lead screw 12 to rotate, and then drives the crossbeam 14 to move up and down, so as to realize the free movement of the robot in the Y-axis direction. When the crossbeam 14 moves downward, the first spring 22 located below it is compressed by the stopper 21. The first spring 22 absorbs the vibration energy of the crossbeam 14 during the movement, so as to realize the buffering in the Y-axis direction. When the crossbeam 14 moves upward, the vibration energy is absorbed by the first spring 22 located above the stopper 21.

[0068] Furthermore, the third moving mechanism includes a third motor 16, which is fixedly connected to one end of the top of the beam 14, and the output end of the third motor 16 is coaxially fixedly connected to one end of a horizontally arranged third lead screw 17, and the other end of the third lead screw 17 is rotatably connected to a fixed seat 18, and the fixed seat 18 is fixedly connected to the other end of the top of the beam 14, and the third lead screw 17 is threadedly connected to a third slider 19, and the bottom end of the third slider 19 is in sliding contact with the top of the beam 14, and the top of the third slider 19 is fixedly connected to a clamp 20.

[0069] Furthermore, the fourth vibration reduction mechanism includes a shift block 23 and two positioning plates 24, one end of the shift block 23 is fixedly connected to the bottom end of the third slider 19 through a connecting block, the connecting block is slidably arranged in a strip through hole 15 opened in the cross beam 14, the two positioning plates 24 are respectively fixedly arranged at the two ends of the same side wall of the cross beam 14, two guide rods 25 are fixedly connected between the two positioning plates 24, the two guide rods 25 are horizontally and spaced apart from each other, a center plate 26 is fixedly connected to the middle of the two guide rods 25, both ends of the two guide rods 25 are slidably connected to sliding plates 28, a second spring 30 is fixedly connected between the two sliding plates 28, the second spring 30 moves through the spring hole 27 opened in the center plate 26, a support ear 29 is fixedly connected to the middle of the side wall of the sliding plate 28 close to the shift block 23, and the shift block 23 is correspondingly arranged between the two support ears 29.

[0070] The third motor 16 drives the third lead screw 17 to rotate, and then drives the third slider 19 to move left and right in the Z-axis direction. When the third slider 19 drives the shift block 23 to move until it contacts the support ear 29, the other support ear 29 is limited and fixed by the center plate 26, and the second spring 30 between the two sliding plates 28 is extended to absorb the vibration energy of the shift block 23 to achieve a buffering effect.

[0071] Furthermore, wheels 2 are respectively provided at the four corners of the bottom end of the outer side of the bottom shell 1 .

[0072] The clamp 20 of the present invention includes a clamping assembly, which includes a clamp and an electric actuator; the clamp is used to grasp the object to be grasped, and the electric actuator controls the closing and opening of the clamp; the electric actuator includes a control box, in which a motor and a controller are installed, and the output end of the motor is connected to the transmission assembly, and the motor cooperates with the clamp through the transmission assembly; a slide rail is fixedly connected to the bottom end of the control box, and the clamp is slidably connected to the slide rail; a self-locking assembly is installed in the control box, and the self-locking assembly and the transmission assembly are correspondingly arranged, and the motor, the transmission assembly, and the self-locking assembly are all electrically connected to the controller; a clamp quick-change module, the clamp quick-change module realizes rapid positioning and installation between the clamp assembly and the robot.

[0073] The clamping claw comprises two correspondingly arranged clamping arms, one end of which is detachably connected with a sliding block, the sliding block is slidably sleeved on the sliding rail, and the motor is respectively matched with the two sliding blocks through a transmission assembly.

[0074] The transmission assembly includes a transmission part symmetrically arranged on both sides of the motor, the transmission part includes a telescopic rod, and the telescopic rod is electrically connected to the controller; the fixed end of the telescopic rod is rotatably connected to the inner wall of the control box, the piston end of the telescopic rod is fixedly connected to the second bevel gear, the output end of the motor is fixedly connected to the first bevel gear, and the first bevel gear is meshed with the second bevel gear; the fixed end of the telescopic rod is fixedly sleeved with a first gear, and a threaded rod is rotatably connected on the inner wall of the control box, the threaded rod is located below the telescopic rod, and a second gear is fixedly sleeved on the threaded rod, and the first gear is meshed with the second gear; a connecting block is threadedly connected to the threaded rod, and the bottom end of the connecting block is fixedly connected to the slider; the self-locking assembly is arranged between the threaded rods of the two transmission parts.

[0075] The telescopic rod includes an outer tube rotatably connected to the control box, and a first gear fixed sleeve is arranged at one end of the outer tube close to the control box; a square rod is sleeved inside the outer tube, the square rod and the outer tube are limited and slidably matched, and the end of the square rod away from the outer tube is fixedly connected to the second bevel gear; an electric telescopic rod is fixedly connected inside the outer tube, the electric telescopic rod is electrically connected to the controller, and the movable end of the electric telescopic rod is fixedly connected to the square rod.

[0076] The self-locking assembly includes two locking parts, and the two locking parts are respectively installed on two threaded rods; the locking part includes a locking plate, and the locking plates of the two locking parts are arranged correspondingly; a square sliding rod is fixedly connected to the middle part of one side of the locking plate close to the threaded rod, and a square groove is opened on the end surface of the threaded rod close to the locking plate, and the square sliding rod is slidably connected in the square groove; an annular sliding groove is fixedly connected to one side of the locking plate where the square sliding rod is fixed, and the annular sliding groove and the square sliding rod are coaxially arranged; an adjusting part is installed in the control box, and a stopper is fixedly connected to one end of the adjusting part, and the stopper is slidably connected in the annular sliding groove, and the stopper and the annular sliding groove are limitedly matched.

[0077] The adjusting part includes a mounting plate fixedly mounted on the inner wall of the control box, a telescopic tube is fixedly connected to a side of the mounting plate close to the locking disk, the end of the telescopic tube is fixedly connected to a block, a pull rod is passed through the telescopic tube, one end of the pull rod is fixedly connected to the block, the other end of the pull rod passes through the mounting plate and is fixedly connected to a magnetic plate, an electromagnet is arranged on a side of the magnetic plate away from the mounting plate, the electromagnet is fixedly mounted on the inner wall of the control box, a gap is arranged between the electromagnet and the magnetic plate and they are arranged correspondingly; a spring is sleeved on the telescopic tube, one end of the spring is fixedly connected to the mounting plate, and the other end of the spring abuts against the annular slide groove.

[0078] The movable end fixing sleeve of the telescopic tube is provided with a slip ring, the spring abuts against the slip ring, and a plurality of ball seats are fixedly installed at equal intervals along the circumferential direction on the side of the slip ring away from the spring, and the slip ring is slidably connected with the annular sliding groove through the ball seat.

[0079] Anti-skid pads are fixedly connected to opposite sides of the two locking plates.

[0080] A fixture transition plate is fixedly connected to the top of the control box, and the fixture quick-change module is detachably connected to the control box through the fixture transition plate.

[0081] Wheel 2 is a universal wheel, including a universal wheel base plate and a universal wheel. A universal wheel bracket is fixed at the bottom of the universal wheel base plate, and the universal wheel is fixed between the universal wheel brackets. It also includes a support plate and a mounting shaft fixed on the universal wheel bracket. The number of universal wheels is at least three. The universal wheel is rotatably fitted on the support plate, and the support plate is rotatably fitted on the mounting shaft. The mounting shaft and the universal wheel base plate are detachably connected. More than three universal wheels are fixed to the universal wheel base plate through the support plate, and the universal wheel is rotatably fitted on the support plate, and the support plate is rotatably fitted on the mounting shaft. The structure is simple, the reliability is high, it is easy to disassemble, it is easy to pass obstacles, and it has good flexibility.

[0082] The detachable connection between the mounting shaft and the universal wheel base plate means that the universal wheel bracket is provided with a downwardly opening slide groove, the slide groove is provided with a positioning groove for positioning the mounting shaft, and the mounting shaft is provided with a locking nut for fixing the mounting shaft on the universal wheel bracket. The structure is simple, the cost is low, and the installation and disassembly of the mounting shaft are simple, and only the locking nut needs to be loosened and tightened.

[0083] The direction of the slide groove is consistent with the direction of the axis of the universal wheel bracket, ensuring that the length of the slide groove is sufficient and the reliability is high.

[0084] A height adjustment device for adjusting the height of the mounting shaft is also provided between the support plate and the universal wheel bracket. The height adjustment device refers to a number of positioning grooves, the positioning groove is provided at one end of the slide groove near the opening, and a slider that slides with the slide groove is provided at the end of the slide groove away from the opening, and a convex block protruding from the slide groove and having a width greater than the slide groove is provided on the slider. A card slot with an opening downward is provided at one end of the slider near the slide groove opening, and the mounting shaft is fixed in the card slot and the positioning groove. A fixing plate is provided at one end of the universal wheel bracket near the universal wheel bottom plate, and an adjusting screw rod is provided on the fixing plate. The end of the adjusting screw rod near the slide groove opening is arranged on the universal wheel working When the universal wheel is in the forward position, it is pressed against the convex block, and the structure is simple. The convex block is fixed to the universal wheel bracket with a locking nut, and the mounting shaft is fixed to the universal wheel bracket with the locking nut at the same time. The card slot and the positioning slot limit the axial position of the mounting shaft, and the height of the mounting shaft is limited by the adjusting screw rod. The adjusting screw rod can be adjusted up and down to adjust the height of the mounting shaft, which is equivalent to adjusting the height of the universal wheel. At the same time, when disassembling and assembling the universal wheel, you only need to release the adjusting screw rod and loosen the locking nut to make the mounting shaft slide in the slide groove, which is convenient for adjusting the height of the mounting shaft, that is, adjusting the height of the universal wheel.

[0085] The convex block and the sliding block are integrated, and the manufacturing is simple and the adjustment is convenient.

[0086] The opening direction of the card slot is opposite to the opening direction of the positioning slot, so that the installation shaft is better limited, the installation shaft is easier to be fixed, and the reliability is high.

[0087] The universal wheel bracket and the fixing plate are integrated into one body, and the structure is simple.

[0088] More than three universal wheels are fixed to the universal wheel base plate through the support plate, the universal wheels rotate and cooperate with the support plate, and the support plate rotates and cooperates with the mounting shaft. The structure is simple, the reliability is high, the disassembly is convenient, the obstacles are easily overcome, and the flexibility is good. There can be four or five universal wheels. There are sliding grooves and positioning grooves at the lower end of the universal wheel base plate. The universal wheel can be removed without removing the entire locking nut. The positioning groove can install or adjust the different heights of the universal wheel, and is used in conjunction with the slider. It has both positioning and locking functions to ensure the reliability of the universal wheel, so that the selection of different wheel components can be quickly realized.

[0089] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0090] The embodiments described above are only descriptions of the preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should fall within the protection scope of the present invention.

Claims

1. A mechanical engineering robot with a buffer structure, characterized in that: include Bottom shell (1); A first vibration reduction mechanism, fixedly arranged inside the bottom shell (1); A platform (3) is fixedly arranged at the top of the first vibration reduction mechanism, a gap is left between the side wall of the platform (3) and the inner side wall of the bottom shell (1), two receiving grooves are arranged at the top of the platform (3), and the two receiving grooves are arranged at opposite ends of the platform (3) with a spacing therebetween; Two first moving mechanisms are respectively arranged in the two containing grooves; Two second vibration reduction mechanisms are respectively arranged on the inner side walls of the two receiving grooves; The first moving mechanism is in sliding contact with the second vibration reduction mechanism; Two third vibration-damping mechanisms are respectively arranged on the side walls of the two first moving mechanisms that are away from each other; a second moving mechanism, arranged between the two first moving mechanisms, wherein two ends of the second moving mechanism are respectively in contact with the two third vibration reduction mechanisms; a third moving mechanism, arranged on the second moving mechanism; The fourth vibration reduction mechanism is fixedly arranged on the second moving mechanism, and the third moving mechanism is in contact with the fourth vibration reduction mechanism.

2. A mechanical engineering robot with a buffer structure according to claim 1, characterized in that: The first vibration damping mechanism comprises a vibration damping block (31), the vibration damping block (31) being fixedly arranged at the middle part of the inner side of the bottom shell (1), a center hole (32) being opened at the center of the vibration damping block (31), a plurality of first vibration damping parts being arranged on the side wall of the center hole (32), the plurality of first vibration damping parts being arranged at equal intervals along the circumferential direction of the inner side wall of the center hole (32), a connecting column (37) being coaxially arranged inside the center hole (32), a gap being left between the side wall of the connecting column (37) and the first vibration damping part, a circular base (38) being fixedly connected to the bottom end of the connecting column (37), the circular base (38) being arranged on the inner side wall of the center hole (32) and the first vibration damping part. 8) is slidably arranged between the bottom end of the shock absorbing block (31) and the inner bottom wall of the bottom shell (1), the top end of the connecting column (37) is fixedly connected to a connecting plate (35), the connecting plate (35) is square, the four inner side walls of the bottom shell (1) are respectively fixedly connected to the fixed ends of telescopic rods (36), the telescopic rods (36) are horizontally arranged, the four telescopic rods (36) correspond to the four side walls of the connecting plate (35) one by one, a gap is left between the telescopic end of the telescopic rod (36) and the side wall of the connecting plate (35), and the platform (3) is fixedly connected to the top end of the connecting plate (35).

3. A mechanical engineering robot with a buffer structure according to claim 2, characterized in that: The first vibration-damping part comprises a sleeve (39), one end of the sleeve (39) is fixedly connected to the inner wall of the center hole (32), the other end of the sleeve (39) is internally slidably connected to one end of a sliding rod (40), the other end of the sliding rod (40) is fixedly connected to a vibration-damping plate (34), the vibration-damping plate (34) is arc-shaped, and the convex surface of the vibration-damping plate (34) faces the connecting column (37), and a third spring (33) is sleeved on the outer side of the sleeve (39) and the sliding rod (40), and the two ends of the third spring (33) are respectively fixedly connected to the inner wall of the center hole (32) and the side wall of the vibration-damping plate (34).

4. The mechanical engineering robot with a buffer structure according to claim 1, characterized in that: The first moving mechanism comprises a first motor, which is fixedly embedded in the platform (3); the output shaft of the first motor is coaxially fixedly connected to one end of a first lead screw (4); the first lead screw (4) is rotatably arranged in the receiving groove and the other end is rotatably connected to the side wall of the receiving groove; a first slider (7) is threadedly connected to the first lead screw (4); the bottom end of the first slider (7) is in sliding contact with the bottom wall of the receiving groove; two opposite side walls of the first slider (7) are in sliding contact with the second vibration reduction mechanism; the top end of the first slider (7) is fixedly connected to the bottom end of a vertically arranged vertical groove (8); and the second moving mechanism is arranged between the two vertical grooves (8).

5. The mechanical engineering robot with a buffer structure according to claim 4, characterized in that: The second vibration reduction mechanism comprises two arc-shaped spring sheets (5) and two long spring sheets (6). The two arc-shaped spring sheets (5) are respectively fixedly arranged on the two short side walls of the receiving groove, the protruding surface of the arc-shaped spring sheet (5) faces the first sliding block (7), a clearance hole is provided in the center of the arc-shaped spring sheet (5), the first lead screw (4) rotates through the clearance hole, the two long spring sheets (6) are respectively fixedly arranged on the two long side walls of the receiving groove, the middle of the long spring sheet (6) is a straight section, the long spring sheet (6) is fixedly connected to the long side wall of the receiving groove through the straight section, the two ends of the straight section are respectively fixedly connected with one end of the inclined section, the other end of the inclined section is inclined in a direction away from the side wall of the receiving groove, and the side of the other end of the inclined section away from the side wall of the receiving groove is set in a circular arc shape; the thickness of the inclined section is the same as that of the straight section, and the first sliding block (7) is slidably arranged between the two long spring sheets (6).

6. The mechanical engineering robot with a buffer structure according to claim 5, characterized in that: The second moving mechanism comprises a second motor (11), the second motor (11) is fixedly arranged at the top end of one of the vertical slots (8), the output shaft of the second motor (11) is coaxially fixedly connected with the top end of a vertically arranged second lead screw (12), the second lead screw (12) is rotatably arranged inside the vertical slot (8) and the bottom end is rotatably connected with the first sliding block (7), the second lead screw (12) is threadedly connected with one end of a horizontally arranged cross beam (14), the other end of the cross beam (14) is slidably penetrated by a second light rod (13), the second light rod (13) is vertically fixedly arranged in another of the vertical slots (8), and the two ends of the cross beam (14) are respectively in sliding contact with the inner side walls of the two vertical slots (8).

7. The mechanical engineering robot with a buffer structure according to claim 6, characterized in that: The third vibration reduction mechanism comprises a stopper (21), the stopper (21) being fixedly connected to the end of the cross beam (14), the stopper (21) being slidably arranged in a strip-shaped through hole (10) provided on the side wall of the vertical groove (8), the top and bottom of the stopper (21) being respectively provided with a first spring (22), a protective shell (9) being provided on the outer side of the stopper (21) and the first spring (22), the protective shell (9) being fixedly connected to the vertical groove (8), the stopper (21) being in sliding contact with the inner side wall of the protective shell (9), the top of the first spring (22) located at the top being fixedly connected to the top wall of the protective shell (9), and the bottom of the first spring (22) located at the bottom being fixedly connected to the bottom wall of the protective shell (9).

8. The mechanical engineering robot with a buffer structure according to claim 7, characterized in that: The third moving mechanism comprises a third motor (16), the third motor (16) is fixedly connected to one end of the top of the beam (14), the output end of the third motor (16) is coaxially fixedly connected to one end of a third lead screw (17) arranged horizontally, the other end of the third lead screw (17) is rotatably connected to a fixed seat (18), the fixed seat (18) is fixedly connected to the other end of the top of the beam (14), the third lead screw (17) is threadedly connected to a third slider (19), the bottom end of the third slider (19) is in sliding contact with the top of the beam (14), and the top of the third slider (19) is fixedly connected to a clamping claw (20).

9. The mechanical engineering robot with a buffer structure according to claim 8, characterized in that: The fourth vibration reduction mechanism comprises a shifting block (23) and two positioning plates (24), one end of the shifting block (23) is fixedly connected to the bottom end of the third sliding block (19) through a connecting block, the connecting block is slidably arranged in a strip-shaped through hole (15) provided in the crossbeam (14), the two positioning plates (24) are respectively fixedly arranged at the two ends of the same side wall of the crossbeam (14), two guide rods (25) are fixedly connected between the two positioning plates (24), the two guide rods (25) are horizontally and spaced apart from each other, and the two The middle of the guide rod (25) is fixedly connected to a center plate (26), both ends of the two guide rods (25) are slidably connected to sliding plates (28), a second spring (30) is fixedly connected between the two sliding plates (28), the second spring (30) movably passes through a spring hole (27) provided on the center plate (26), the sliding plate (28) is fixedly connected to a support ear (29) at the middle of the side wall close to the shifting block (23), and the shifting block (23) is correspondingly arranged between the two support ears (29).

10. The mechanical engineering robot with a buffer structure according to claim 1, characterized in that: Wheels (2) are respectively arranged at the four corners of the bottom end of the outer side of the bottom shell (1).

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