A mechanical engineering robot with a buffer structure

Abstract

The present invention belongs to the technical field of intelligent robots, and in particular relates to a mechanical engineering robot with a buffer structure, comprising a bottom shell; a first vibration-damping mechanism fixedly disposed inside the bottom shell; a platform fixedly disposed on the top of the first vibration-damping mechanism, with a gap left between the sidewall of the platform and the inner sidewall of the bottom shell, and two receiving slots provided on the top of the platform, the two receiving slots being spaced apart and disposed at opposite ends of the platform; two first moving mechanisms; two second vibration-damping mechanisms; two third vibration-damping mechanisms, respectively disposed on sidewalls of the two first moving mechanisms that are spaced apart from each other; a second moving mechanism disposed between the two first moving mechanisms, with the two ends of the second moving mechanism respectively contacting the two third vibration-damping mechanisms; a third moving mechanism disposed on the second moving mechanism; and a fourth vibration-damping mechanism fixedly disposed on the second moving mechanism, with the third moving mechanism contacting the fourth vibration-damping mechanism. The present invention can extend the service life of the robot and reduce subsequent maintenance costs.

Description

Technical Field

[0001] The present 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 a common name for automated machines, encompassing all machines that simulate human behavior or thought, or other living things (e.g., robot dogs and cats). The narrow definition of "robot" is subject to numerous classifications and debates; some computer programs are even referred to as robots. In modern industry, a robot refers to a man-made machine capable of performing tasks autonomously, replacing or assisting humans. The ideal highly realistic robot is the product of advanced integration of cybernetics, mechatronics, computing, artificial intelligence, materials science, and biomimetics, and the scientific community is currently conducting research and development 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 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 damping mechanism, fixedly disposed inside the bottom shell;

[0009] A platform is fixedly arranged on the top of the first vibration damping mechanism, with a gap between the side wall of the platform and the inner side wall of the bottom shell, and two receiving grooves are provided on the top of the platform, and the two receiving grooves are relatively spaced apart and arranged at both ends of the platform;

[0010] Two first moving mechanisms are respectively arranged in the two receiving 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 two side walls of the first moving mechanisms that are away from each other;

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

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

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

[0016] The camshaft of the embodiment of the present invention is a kind of mechanical engineering robot with buffer structure according to the present invention, the first vibration damping mechanism comprises a vibration damping block, the vibration damping block is fixedly arranged in the middle of the inner side of the bottom shell, the center of the vibration damping block is opened with a center hole, 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 circumference of the inner side wall of the center hole. A connecting column is coaxially arranged inside the center hole, and a gap is left between the side wall of the connecting column and the first vibration damping part. The bottom end of the connecting column is fixedly connected to a circular base, and the circular base is slidably arranged between the bottom end of the vibration damping block and the inner bottom wall of the bottom shell, and the top end of the connecting column is fixedly connected to a connecting plate, and 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 arranged horizontally, and the four telescopic rods correspond to the four side walls of the connecting plate one by one. There is a gap 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] Based on a mechanical engineering robot with a buffer structure according to 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, and a third spring is sleeved on the outside of the sleeve and the sliding rod, 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] Based on a mechanical engineering robot with a buffer structure according to the present invention, the first moving mechanism includes a first motor, the first motor is fixedly embedded in the platform, the output shaft of the first motor is coaxially fixedly connected to one end of the first screw, the first screw is rotatably set 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 screw, the bottom end of the first slider is in sliding contact with the bottom wall of the accommodating groove, the 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] Based on a mechanical engineering robot with a buffer structure according to the present invention, the second vibration damping mechanism includes two arc-shaped spring pieces and two long spring pieces, the two arc-shaped spring pieces are respectively fixed on the two short side walls of the accommodating groove, the convex surface of the arc-shaped spring piece faces the first slider, 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 fixed 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 in the direction away from the side wall of the accommodating groove, and 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 inclined section has the same thickness as the straight section, and the first slider is slidably arranged between the two long spring pieces.

[0020] Based on a mechanical engineering robot with a buffer structure according to 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 output shaft of the second motor 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 crossbeam, the other end of the crossbeam is slidably penetrated by a second light rod, the second light rod is vertically fixedly arranged in the other vertical slot, and the two ends of the crossbeam are respectively in sliding contact with the inner side walls of the two vertical slots.

[0021] Based on a mechanical engineering robot with a buffer structure according to the present invention, the third vibration damping mechanism includes a block, which is fixedly connected to the end of the crossbeam, and 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, and a protective shell is provided on the outer side of the block and the first spring. The protective shell is fixedly connected to the vertical groove, and the block is in sliding contact with the inner side wall of the protective shell. The top end of the first spring located above is fixedly connected to the top wall of the protective shell, and the bottom end of the first spring located below 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] The two lever arrangement comprises a first end portion for sliding the slider, and the second end for sliding the slider into engagement with the first end of the slider.

[0024] According to the mechanical engineering robot with a buffer structure of the present invention, wheels are respectively provided 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 by the first vibration-damping mechanism, thereby ensuring the stability of the platform; the first moving mechanism can realize free movement in the X-axis direction; the second vibration-damping mechanism can absorb the vibration energy generated during the movement of the first moving mechanism, thereby ensuring the stable movement of the first moving mechanism; the second moving mechanism can realize free movement in the Y-axis direction; the third vibration-damping mechanism can absorb the vibration energy generated during the movement of the second moving mechanism, thereby ensuring the stable movement of the second moving mechanism; the third moving mechanism can realize free movement in the Z-axis direction; the fourth vibration-damping mechanism can absorb the vibration energy generated during the movement of the third moving mechanism, thereby ensuring the stable movement of the third moving mechanism; the four vibration-damping mechanisms work together to minimize the impact of vibration energy on the life of the robot; the three moving mechanisms cooperate with each other to reach any position in 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 following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. Those skilled in the art can also derive other drawings based on these drawings without inventive work.

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

[0029] Figure 2 This is a schematic diagram of the 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 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-shaped spring piece; 6. long spring piece; 7. first slider; 8. vertical slot; 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. support 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 clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts 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 applications in industry, medicine, agriculture, construction, and even the military.

[0037] The international concept of robots is gradually reaching a consensus. Generally speaking, people accept that robots are machines that rely on their own power and control capabilities to perform various functions. The United Nations Organization for Standardization has adopted the American Robotics Association's definition of a robot: "a programmable and multifunctional manipulator; or a specialized system with computer-controlled and programmable actions for performing various tasks." It can bring many conveniences to humans!

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

[0039] The actuator is the robot's main body. Its arms typically utilize a spatial open-link linkage mechanism, with the kinematic pairs (rotational or translational) often referred to as joints. The number of joints generally corresponds to the robot's degrees of freedom. Depending on the joint configuration and kinematic coordinate format, robot actuators can be categorized as rectangular, cylindrical, polar, or articulated. For anthropomorphic purposes, the relevant parts of the robot's main body are often referred to as the base, waist, arm, wrist, hand (gripper or end effector), and walking unit (for mobile robots).

[0040] The drive unit is the mechanism that drives the actuator. It uses power elements to move the robot according to command signals from the control system. It takes electrical signals as input and outputs linear and angular displacements. Robotic drives are primarily electric, such as stepper motors and servo motors, but hydraulic and pneumatic drives are also used.

[0041] The detection device monitors the robot's motion and operating conditions in real time, feeding this information back to the control system as needed. After comparing this information with the set parameters, the actuators are adjusted to ensure the robot's movements meet predetermined requirements. Sensors used as detection devices can be broadly divided into two categories: internal information sensors monitor the internal conditions of various robot components, such as the position, velocity, and acceleration of each joint, and transmit this information as feedback signals to the controller, forming a closed-loop control system. External information sensors acquire information about the robot's work object and the external environment, enabling the robot's movements to adapt to changing conditions, achieving a higher level of automation and even imparting a sense of "feeling" toward intelligence. For example, external sensors such as vision and sound provide information about the work object and working environment. This information forms a large feedback loop, significantly improving the robot's accuracy.

[0042] One type of control system is centralized control, where a single microcomputer performs all robot control. Another type is decentralized (hierarchical) control, where multiple microcomputers share control of the robot. For example, when a robot is controlled by two microcomputers, the master microcomputer is often responsible for system management, communication, kinematic and dynamic calculations, and sending instructions to the subordinate microcomputers. The subordinate microcomputers, each with a corresponding CPU, perform interpolation and servo control to achieve the desired motion and provide feedback to the master microcomputer. Depending on the task requirements, robot control methods can be categorized as point-to-point control, continuous trajectory control, and force (torque) control.

[0043] Robotics experts categorize robots based on their application environment into two main categories: industrial robots and special-purpose robots. Industrial robots are multi-jointed manipulators or multi-degree-of-freedom robots designed for industrial applications. Special-purpose robots, in addition to industrial robots, are advanced robots used in non-manufacturing applications and serving humans. These include service robots, underwater robots, entertainment robots, military robots, agricultural robots, and robotic machines. Within special-purpose robots, some subcategories are developing rapidly, showing signs of becoming independent systems, such as service robots, underwater robots, military robots, and micro-manipulation robots. International robotics scholars also categorize robots based on their application environment into two main categories: industrial robots for manufacturing environments and service and humanoid robots for non-manufacturing environments. This categorization is consistent with China's.

[0044] Aerial robots, also known as unmanned aerial vehicles (UAVs), are the most active area of military robotics, with the greatest technological advancements, the largest investment in research and procurement, and the richest combat experience. For over 80 years, the development of UAVs worldwide has been primarily driven by the United States, which leads the world in both technological advancement and the variety and quantity of UAVs.

[0045] Evaluation criteria for robot capabilities include: intelligence, which refers to sensation and perception, including memory, calculation, comparison, discrimination, judgment, decision-making, learning, and logical reasoning; functionality, which refers to flexibility, versatility, and spatial occupancy; and physical energy, which refers to force, speed, reliability, interoperability, and lifespan. Therefore, robots can be considered to be practical spatial operating tools with biological functions, capable of performing dangerous or difficult tasks on behalf of humans.

[0046] The characteristics of robotics development can be summarized as follows: horizontally, their applications are becoming increasingly broad. From 95% industrial applications, they are expanding to a wider range of non-industrial fields. These include surgery, fruit picking, pruning, tunneling, reconnaissance, mine clearance, as well as space and underwater robots. Robotic applications are limitless; anything imaginable can be created and realized. Vertically, the variety of robots is increasing. Micro-robots capable of entering the human body are emerging as a new trend, as small as a grain of rice. Robotic intelligence is increasing, making them even smarter.

[0047] The first Beijing University Student Robot Competition was held at Beijing Information Science and Technology University. The opening ceremony was presided over by a slender "lady," a robot designed by students at the university. Named Lily, she is capable of engaging in everyday conversation.

[0048] In the subsequent competition, over 300 contestants from 99 teams representing 17 universities took the stage with their most impressive robotic creations, competing in 16 events. These robots danced to music, raced across the field, and even took to the skies with wings. As one contestant from Beijing University of Technology shouted during the competition, "Roll, robots! Roll, our future!" In the future, robots will become indispensable partners in our production and daily lives.

[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 damping mechanism is fixedly arranged inside the bottom shell 1;

[0052] Platform 3 is fixedly arranged at the top of the first vibration reduction mechanism, with a gap between the side wall of platform 3 and the inner wall of bottom shell 1, and two receiving grooves are provided at the top of platform 3, and the two receiving grooves are spaced apart at both ends of 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-damping 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, disposed on the second moving mechanism;

[0058] The fourth vibration damping mechanism is fixedly arranged on the second moving mechanism, and the third moving mechanism is in contact with the fourth vibration damping 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 walls of the center hole 32. The plurality of first vibration damping parts are arranged at equal intervals along the circumferential direction of the inner 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. The bottom end of the connecting column 37 is fixedly connected to a circular base 38, and the circular base 38 is slidably set between the bottom end of the shock-absorbing block 31 and the inner bottom wall of the bottom shell 1. The top 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 the telescopic rods 36. The telescopic rods 36 are horizontally arranged. The four telescopic rods 36 correspond one to one to the four side walls of the connecting plate 35. 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, and the other end of the sleeve 39 is internally slidably connected to one end of a slide rod 40, and 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. A third spring 33 is sleeved on the outside 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] When the connecting column 37 stops moving, 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 slider 7 is threadedly connected to the first screw 4. 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 the vertical groove 8, and the second moving mechanism is arranged between the two vertical grooves 8.

[0063] Furthermore, the second vibration 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 in 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 then 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 vibration energy during the movement is reduced by the clamping effect of the inclined sections of the long spring pieces 6 on both sides thereof, 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, 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 walls of the two vertical slots 8.

[0066] Furthermore, the third vibration damping mechanism includes a stopper 21, which is fixedly connected to the end of the crossbeam 14. The stopper 21 is slidably arranged in the strip-shaped through hole 10 opened on the side wall of the vertical groove 8. The top and bottom ends of the stopper 21 are respectively provided with a first spring 22. The outer side cover of the stopper 21 and the first spring 22 is provided with a protective shell 9, and the protective shell 9 is fixedly connected to the vertical groove 8. The stopper 21 is in sliding contact with the inner side wall of the protective shell 9. The top end of the first spring 22 located above is fixedly connected to the top wall of the protective shell 9, and the bottom end of the first spring 22 located below 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 that the robot can move freely 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, thereby achieving 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 screw 17, and the other end of the third 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 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 damping 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 set in the strip through hole 15 opened in the crossbeam 14, and the two positioning plates 24 are respectively fixed at the two ends of the same side wall of the crossbeam 14, and two guide rods 25 are fixedly connected between the two positioning plates 24. The two guide rods 25 are horizontal and spaced apart up and down. The middle of the two guide rods 25 is fixedly connected with a center plate 26, and both ends of the two guide rods 25 are slidably connected with a sliding plate 28. A second spring 30 is fixedly connected between the two sliding plates 28, and the second spring 30 moves through the spring hole 27 opened on the center plate 26. The sliding plate 28 is fixedly connected with a support ear 29 near the middle of the side wall of 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. The second spring 30 between the two sliding plates 28 is extended to absorb the vibration energy of the shift block 23 and 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 clamping jaw 20 of the present invention includes a clamping assembly, which includes a clamping jaw and an electric actuator; the clamping jaw is used to grasp the object to be grasped, and the electric actuator controls the closing and opening of the clamping jaw; 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 is coordinated with the clamping jaw through the transmission assembly; the bottom end of the control box is fixedly connected to a slide rail, and the clamping jaw 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, transmission assembly, and 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 clamping assembly and the robot.

[0073] The clamping claw comprises two correspondingly arranged clamping arms, one end of which is detachably connected to a slider, the slider is slidably sleeved on the slide rail, and the motor is respectively matched with the two sliders 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 to 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 is fixedly sleeved on one end of the outer tube close to the control box; a square rod is sleeved inside the outer tube, and the square rod and the outer tube are limited and slidably engaged, 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, which 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 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; one side of the locking plate to which the square sliding rod is fixed is fixedly connected to an annular sliding groove, 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 the side of the mounting plate close to the locking disk, the end of the telescopic tube is fixedly connected to the 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 provided on the 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 provided 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 to the annular groove through the ball seats.

[0079] Anti-slip pads are fixedly connected to the 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] The wheel 2 is a universal wheel, including a universal wheel base plate and a universal wheel. A universal wheel bracket is fixed to 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 to the universal wheel bracket. The number of universal wheels is at least three, and the universal wheel rotatably fits on the support plate, and the support plate rotatably fits on the mounting shaft. The mounting shaft is detachably connected to the universal wheel base plate. More than three universal wheels are fixed to the universal wheel base plate through the support plate, and the universal wheel rotatably fits on the support plate, and the support plate rotatably fits 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 downward-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 to 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 is consistent with the direction of the axis of the universal wheel bracket, ensuring that the slide is long enough and has high reliability.

[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 the end of the slide groove away from the opening is provided with a slider that slides with the slide groove. The slider is provided with a convex block that protrudes from the slide groove and is wider than the slide groove. The end of the slider near the slide groove opening is provided with a downward-opening card slot. 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 base plate, and an adjusting screw is provided on the fixing plate. The end of the adjusting screw rod near the slide groove opening is fixed on the universal wheel working surface. When the wheel is in a straight line, the adjusting screw 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. When disassembling the universal wheel, you only need to release the adjusting screw 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 slider are integrated, which is simple to manufacture and convenient to adjust.

[0086] The opening direction of the card slot is opposite to the opening direction of the positioning slot, which better limits the installation shaft, makes it easier to fix the installation shaft, and has high reliability.

[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 fit on the support plate, and the support plate rotates and fits on the mounting shaft. The structure is simple, the reliability is high, it is convenient to disassemble, it can easily pass through obstacles, and it has good flexibility. 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 wheels can be removed without removing the entire locking nut. The positioning grooves can install or adjust the different heights of the universal wheels, and are used in conjunction with the slider. It has both positioning and locking functions to ensure the reliability of the universal wheels, so that different wheel assemblies can be quickly selected.

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

[0090] The embodiments described above are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the 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 scope of protection of the present invention.

Claims

1. A mechanical engineering robot with a buffer structure, characterized in that: include bottom shell (1); A first vibration damping mechanism, fixedly arranged inside the bottom shell (1); A platform (3) is fixedly arranged at the top of the first vibration damping mechanism, a gap is left between the side wall of the platform (3) and the inner side wall of the bottom shell (1), and two receiving grooves are provided at the top of the platform (3), and the two receiving grooves are arranged at opposite ends of the platform (3) with a relative spacing; Two first moving mechanisms are respectively arranged in the two receiving grooves; 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; Two third vibration-damping mechanisms are respectively arranged on two side walls of the first moving mechanisms that are away from each other; a second moving mechanism, disposed between the two first moving mechanisms, wherein both ends of the second moving mechanism are in contact with the two third vibration damping mechanisms respectively; a third moving mechanism, disposed on the second moving mechanism; a fourth vibration damping mechanism, fixedly disposed on the second moving mechanism, wherein the third moving mechanism is in contact with the fourth vibration damping mechanism; The first moving mechanism includes a first motor, the first motor is fixedly embedded in the platform (3), the output shaft of the first motor is coaxially fixedly connected to one end of a first screw (4), the first screw (4) 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 (7) is threadedly connected to the first screw (4), the bottom end of the first slider (7) is in sliding contact with the bottom wall of the accommodating groove, two opposite side walls of the first slider (7) are in sliding contact with the second vibration damping 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); The second vibration damping mechanism comprises two arc-shaped spring pieces (5) and two long spring pieces (6), the two arc-shaped spring pieces (5) are respectively fixedly arranged on the two short side walls of the accommodating groove, 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 lead screw (4) rotates through the clearance hole, the two long spring pieces (6) are respectively fixedly arranged 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 to 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 accommodating groove, and the side of the other end of the inclined section away from the side wall of the accommodating groove is set in an arc shape; the thickness of the inclined section is the same as that of the straight section, and the first slider (7) is slidably arranged between the two long spring pieces (6); The second moving mechanism includes a second motor (11), the second motor (11) is fixedly arranged at the top of one of the vertical slots (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 crossbeam (14), the other end of the crossbeam (14) is slidably penetrated by a second light rod (13), the second light rod (13) is vertically fixedly arranged in the other vertical slot (8), and the two ends of the crossbeam (14) are in sliding contact with the inner side walls of the two vertical slots (8) respectively. The third vibration damping mechanism includes a stopper (21), the stopper (21) is fixedly connected to the end of the crossbeam (14), the stopper (21) is slidably arranged in a strip-shaped through hole (10) opened on the side wall of the vertical slot (8), the top and bottom ends of the stopper (21) are respectively provided with a first spring (22), the outer side cover of the stopper (21) and the first spring (22) is provided with a protective shell (9), the protective shell (9) is fixedly connected to the vertical slot (8), the stopper (21) is in sliding contact with the inner side wall of the protective shell (9), the top end of the first spring (22) located above is fixedly connected to the top wall of the protective shell (9), and the bottom end of the first spring (22) located below is fixedly connected to the bottom wall of the protective shell (9); The third moving mechanism includes 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); The fourth vibration damping 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-shaped through hole (15) opened 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), and two guide rods (25) are fixedly connected between the two positioning plates (24), and the two guide rods (25) are horizontally and spaced apart from each other. The middle of the guide rod (25) is fixedly connected to a center plate (26), and 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), and the second spring (30) moves through a spring hole (27) provided on the center plate (26). The sliding plate (28) is fixedly connected to a support ear (29) near the middle of the side wall of the shift block (23), and the shift block (23) is correspondingly arranged between the two support ears (29).

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) 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 vibration damping block (31), a plurality of first vibration damping parts are arranged on the side wall of the center hole (32), 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 (32), a connecting column (37) is coaxially arranged inside the center hole (32), a gap is left between the side wall of the connecting column (37) and the first vibration damping part, and a circular base (38) is fixedly connected to the bottom end of the connecting column (37), and the circular base (38) is fixedly connected to the bottom end of the connecting column (37). 8) is slidingly 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 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, a gap is left between the telescopic ends of the telescopic rods (36) and the side walls 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 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), the sleeve (39) and the slide rod (40) are sleeved with a third spring (33) on the outside, 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: Wheels (2) are respectively provided at the four corners of the bottom end of the outer side of the bottom shell (1).

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