Structure with damping structure and capable of self-locking in plane

Abstract

The invention discloses a structure with a damping structure and capable of self-locking in a plane. The structure comprises a shell. The central shaft assembly is arranged in the shell along the central axis of the shell; the locking assembly is arranged on the outer side of the center shaft assembly, the locking assembly is provided with a plurality of locking pieces surrounding the outer side of the center shaft assembly, and the locking assembly drives the multiple locking pieces to move synchronously through a steel wire rope; the locking assembly drives the locking piece to clamp the center shaft assembly through an internal spring so as to achieve self-locking, and the steel wire rope can drive the locking piece to be away from the center shaft assembly so as to relieve the self-locking state. The structure further comprises a damping assembly, the damping assembly is connected with the center shaft assembly through a ratchet wheel set, and a friction plate is arranged in the ratchet wheel set. According to the structure, self-locking can be achieved at any position of a single plane, and self-locking is achieved by locking the middle shaft; meanwhile, the structure is integrated with a damping structure, so that the rotating angle can be more accurately controlled.

Description

Technical Field

[0001] The present invention relates to the technical field of automated robotic arms, and in particular to a structure having a damping structure and capable of self-locking in a plane. Background Art

[0002] With the development of technology, many large industries need automation, and the functions of automated robotic arms are becoming increasingly complex. They require smaller robotic arms with more complete functions, and they need lightweight components with small size and reliable functions. Modern industries are pursuing lightweight, and lightweight requires each part to reduce the weight as much as possible, which can eventually be reflected in the whole.

[0003] Currently, the self-locking joints of robotic arms almost all have the disadvantages of being large in size and mass, and cannot be self-locked by rotation in multiple planes. They have no damping mechanism, are costly and inconvenient, and some are prone to malfunction.

[0004] Prior art 1: Chinese utility model patent with application number 202321119704.1, entitled "A joint damping structure", which includes a rotating shaft, on which a first joint connecting plate, a second joint connecting plate, a rotating bearing, a friction plate, a disc spring and a nut are sequentially arranged; the first joint connecting plate is fixedly connected to one end of the rotating shaft, and the nut is threadedly connected to the other end of the rotating shaft; the second joint connecting plate is connected to the side wall of the rotating bearing, the rotating bearing can rotate on the rotating shaft, and the friction plate can move on the rotating shaft along the axial direction of the rotating shaft.

[0005] Prior art 2: Chinese utility model patent with application number 201220233674.2, entitled "A Torsion Damping Joint", includes an upper connecting bracket, a lower connecting bracket, a torsion spring, a fixing member and two damping washers; wherein, the upper connecting bracket includes a first main board and a first side arm and a second side arm arranged on two opposite sides of the first main board; the lower connecting bracket includes a second main board and a third side arm and a fourth side arm arranged on two opposite sides of the first main board; the first side arm, the second side arm, the third side arm and the fourth side arm are connected by the fixing member; the damping washers are respectively arranged between the first side arm and the third side arm; and between the second side arm and the fourth side arm; the torsion spring is sleeved on the fixing member, located between the first side arm and the second side arm, and one leg of the torsion spring is fixed on the first main board, and the other leg is fixed on the second main board. There are two torsion springs. The first main board is provided with a through slot, and the second main board is provided with a through hole; one leg of the torsion spring is fixed in the through slot, and the other leg is fixed in the through hole. The through slot is provided with one, and the through hole is provided with two. The fixing member is a locking pin.

[0006] Prior art three: Application number 201910195855.7, Chinese invention patent named "A new type of controllable damping joint", which includes a joint input plate, a joint output plate, a magnetic powder clutch variable damping part, and a spring variable damping part; the magnetic powder clutch variable damping part includes a magnetic powder clutch, a magnetic powder clutch shaft, an angle detection sensor, a controller and a magnetic powder clutch driver; the spring variable damping part includes a friction ring, a compression spring, a connecting spring, a pressure ring, a connecting spring support plate, a friction plate, and a friction block; the magnetic powder clutch variable damping part includes a magnetic powder clutch, a magnetic powder clutch shaft, an angle detection sensor, a controller and a magnetic powder clutch driver, characterized in that the upper end of the magnetic powder clutch shaft is fixedly connected to the joint input plate, the magnetic powder clutch shaft passes through the magnetic powder clutch and is connected to the rotating part inside the magnetic powder clutch, and the lower end of the magnetic powder clutch shaft passes through the magnetic powder clutch and is connected to the rotating part inside the angle detection sensor.

[0007] After careful analysis, the above three prior arts have certain defects:

[0008] The technical disadvantage of the prior art is that the spring disc and the center column are threadedly connected, which is easy to become loose after a certain period of use, and the locking force becomes smaller. The present invention uses a method of locking the center axis, which can be used for a longer time and maintain the locking effect.

[0009] The technical disadvantages of the second prior art are that only a torsion spring is used without a self-locking mechanism, and the damping effect is related to the rotation angle, and the greater the angle, the stronger the damping effect. The present invention has a constant damping effect regardless of the rotation angle, and the present solution has a self-locking mechanism, which is more conducive to the stability of the robot arm.

[0010] The technical disadvantages of the prior art three are high cost and the need for power supply to achieve self-locking. This solution can achieve self-locking by relying on a self-generated structure without relying on a motor to achieve self-locking.

[0011] Therefore, based on the above technical problems, technicians in this field urgently need to develop a structure with a damping structure and capable of self-locking in a plane. Summary of the invention

[0012] The purpose of the present invention is to provide a structure with a damping structure and capable of self-locking in a plane. The structure can achieve self-locking at any position in a single plane by locking the central axis. At the same time, the structure integrates a damping structure, which can more accurately control the rotation angle.

[0013] In order to achieve the above object, the present invention provides the following technical solutions:

[0014] The present invention provides a structure having a damping structure and capable of self-locking in a plane, the structure comprising:

[0015] shell;

[0016] A central shaft assembly disposed within the housing along a central axis of the housing; and

[0017] A locking assembly is arranged outside the central shaft assembly, the locking assembly has a plurality of locking plates surrounding the outer side of the central shaft assembly, and the locking assembly drives the plurality of locking plates to move synchronously through a steel wire rope;

[0018] The locking assembly drives the locking plate to clamp the central shaft assembly through an internal spring to achieve self-locking, and the steel wire rope can drive the locking plate away from the central shaft assembly to release the self-locking state;

[0019] The structure also includes a damping assembly, which is connected to the central shaft assembly through a ratchet assembly, and a friction plate is arranged inside the ratchet assembly.

[0020] Furthermore, the locking component includes:

[0021] A triangular column base at the lower end;

[0022] A circular column base connected to the triangular column base via a hexagonal column base;

[0023] A fixing sleeve is arranged on the upper part of the circular column seat, and a track seat is arranged inside the fixing sleeve, and the fixing sleeve and the track seat are slidably matched;

[0024] A fixing seat is provided on the upper part of the track seat, and three locking plates are connected between the fixing seat and the track seat, and the locking plates are connected to the reserved holes at the upper end of the track seat through studs;

[0025] A spring is arranged inside the fixing sleeve, and the lower end of the track seat presses the spring.

[0026] Furthermore, the outer surface of the track seat is provided with an arc track;

[0027] A hole is formed on one side of the fixing sleeve, a guide screw is provided in the hole, and the tail of the guide screw is placed in the arc track of the track seat;

[0028] The fixing seat is provided with a locking plate sliding groove along its radial direction, and the locking plate is slidably connected in the corresponding locking plate sliding groove;

[0029] The fixing sleeve drives the locking plate to move along the corresponding locking plate sliding groove through the guidance of the guide screw and the arc track.

[0030] Furthermore, the central axis assembly includes:

[0031] Central axis;

[0032] A first sleeve, a second sleeve and a third sleeve which are sleeved outside the central axis and arranged at intervals;

[0033] The upper end of the central shaft is provided with a top column sleeve, one side of the top column sleeve is provided with a wire rope entry structure, the top column sleeve is provided with a wire rope pulley inside, the wire rope enters the top column sleeve from the wire rope entry structure, and after passing the wire rope pulley, extends downward along the axial direction of the central shaft and is connected to the lower end of the central shaft;

[0034] Pulling the steel wire rope can drive the triangular column seat, the hexagonal column seat, and the circular column seat through the connection between the central shaft and the locking assembly to compress the spring and drive the fixed sleeve to rotate along the track seat, thereby driving the locking plate to move.

[0035] Furthermore, a slideway is provided on the inner wall of the position where the housing cooperates with the fixing sleeve, and the outer protrusion of the fixing sleeve is slidably connected in the slideway;

[0036] A ratchet cylinder is formed on the upper portion of the shell, and the ratchet assembly is located in the ratchet cylinder.

[0037] Furthermore, the damping component comprises:

[0038] A ratchet assembly consisting of a central gear and a damping gear, wherein the central shaft is connected to the central gear via a key, and the central gear and the damping gear are meshed;

[0039] a V-shaped washer located below the central gear and the damping gear;

[0040] A washer is provided below the side where the V-shaped washer cooperates with the central gear;

[0041] The damping gear is installed with a first damping gear gasket, a first friction plate, a second damping gear gasket, a second friction plate, and a third damping gear gasket installed in sequence.

[0042] In the above technical solution, the present invention provides a structure with a damping structure and capable of self-locking in a plane, which has the following beneficial effects:

[0043] The structure of the present invention can realize self-locking at any position of a single plane by locking the central axis; at the same time, the structure integrates a damping structure, which can control the rotation angle more accurately. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. It is obvious that the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0045] Figure 1 A schematic structural diagram of a structure having a damping structure and capable of self-locking in a plane disclosed in an embodiment of the present invention;

[0046] Figure 2 A cross-sectional view of a structure having a damping structure and capable of self-locking in a plane disclosed in an embodiment of the present invention;

[0047] Figure 3 It is a schematic structural diagram of a structure with a damping structure and capable of self-locking in a plane without a shell disclosed in an embodiment of the present invention;

[0048] Figure 4 An exploded view of the structure of a locking assembly having a damping structure and a structure capable of self-locking in a plane disclosed in an embodiment of the present invention;

[0049] Figure 5 A schematic diagram of the matching structure of a locking plate and a fixing seat having a damping structure and a structure capable of self-locking in a plane disclosed in an embodiment of the present invention;

[0050] Figure 6 An exploded view of the structure of a central axis assembly having a damping structure and capable of self-locking in a plane disclosed in an embodiment of the present invention;

[0051] Figure 7 It is a structural explosion diagram of a damping assembly having a damping structure and a structure capable of self-locking in a plane disclosed in an embodiment of the present invention.

[0052] Description of reference numerals:

[0053] 1. Shell; 2. Center shaft assembly; 3. Locking assembly; 4. Damping assembly;

[0054] 201, wire rope; 202, center axis; 203, first sleeve; 204, second sleeve; 205, third sleeve; 206, top column sleeve; 207, wire rope pulley;

[0055] 301, spring; 302, triangular column seat; 303, hexagonal column seat; 304, circular column seat; 305, fixed sleeve; 306, track seat; 307, locking plate; 308, fixed seat; 309, guide screw; 310, arc track; 311, locking plate slide groove;

[0056] 401, central gear; 402, damping gear; 403, V-shaped washer; 404, washer; 405, first damping gear gasket; 406, second damping gear gasket; 407, third damping gear gasket; 408, first friction plate; 409, second friction plate. DETAILED DESCRIPTION

[0057] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0058] See also Figures 1 to 7 As shown;

[0059] A structure having a damping structure and capable of self-locking in a plane in this embodiment includes:

[0060] Shell 1;

[0061] A central axis assembly 2 is arranged in the housing 1 along the central axis of the housing 1; and

[0062] A locking assembly 3 is arranged outside the central shaft assembly 2, wherein the locking assembly 3 has a plurality of locking plates 307 surrounding the outer side of the central shaft assembly 2, and the locking assembly 3 drives the plurality of locking plates 307 to move synchronously through the steel wire rope 201;

[0063] The locking assembly 3 drives the locking plate 307 to clamp the central shaft assembly 2 through the internal spring 301 to achieve self-locking, and the wire rope 201 can drive the locking plate 307 away from the central shaft assembly 2 to release the self-locking state;

[0064] The structure also includes a damping assembly 4, which is connected to the central shaft assembly 2 through a ratchet assembly, and a friction plate is arranged inside the ratchet assembly.

[0065] Specifically, the present embodiment discloses a structure with a damping structure and capable of self-locking under normal conditions, wherein the outer portion thereof is a housing 1, a central shaft assembly 2, a locking assembly 3 and a damping assembly 4; wherein the locking assembly 3 is arranged outside the central shaft assembly 2, and the locking assembly 3 clamps the central shaft assembly 2 through a plurality of locking plates 307 in a clamping state driven by a spring 301 to achieve a self-locking state, and at the same time, the central shaft assembly 2 of the present embodiment has a steel wire rope 201, and the steel wire rope 201 provides a pulling force to drive the locking assembly 3 to move and drive the locking plates 307 to move, so as to release the self-locking state, and the device of the present embodiment under normal conditions, due to the absence of the walking force of the steel wire rope 201, the locking plates 307 will always keep the central shaft 202 tightly under the action of the spring 301, so the device of the present embodiment can achieve a self-locking state in real time in a plane. At the same time, the device of the present embodiment is integrated with a damping assembly 4, and the damping assembly 4 of the present embodiment can enable the gear to control the rotation angle more accurately.

[0066] Preferably, the locking assembly 3 of this embodiment includes a triangular column seat 302 at the lower end, and a circular column seat 304 connected to the triangular column seat 302 via a hexagonal column seat 303;

[0067] A fixed sleeve 305 is disposed on the upper part of the circular column seat 304, and a track seat 306 is disposed inside the fixed sleeve 305, and the fixed sleeve 305 and the track seat 306 are slidably matched;

[0068] A fixing seat 308 is provided on the upper part of the track seat 306, and three locking plates 307 are connected between the fixing seat 308 and the track seat 306. The locking plates 307 are connected to the reserved holes on the upper end of the track seat 306 through studs;

[0069] A spring 301 is disposed inside the fixing sleeve 305 , and the spring 301 is pressed by the lower end of the track seat 306 .

[0070] The outer surface of the track seat 306 of this embodiment is provided with an arc track 310;

[0071] A hole is formed on one side of the fixed sleeve 305, and a guide screw 309 is provided in the hole. The tail of the guide screw 309 is placed in the arc track 310 of the track seat 306;

[0072] The fixing seat 308 is provided with a locking piece sliding groove 311 along its radial direction, and the locking piece 307 is slidably connected in the corresponding locking piece sliding groove 311;

[0073] The fixing sleeve 305 drives the locking piece 307 to move along the corresponding locking piece sliding groove 311 through the guidance of the guide screw 309 and the arc track 310 .

[0074] Preferably, based on the above structural definition of the locking assembly 3, the central shaft assembly 2 of this embodiment includes a central shaft 202; a first sleeve 203, a second sleeve 204 and a third sleeve 205 which are sleeved outside the central shaft 202 and are spaced apart;

[0075] The upper end of the central shaft 202 has a top column sleeve 206, one side of the top column sleeve 206 is provided with a wire rope entry structure, the top column sleeve 206 has a wire rope pulley 207 inside, the wire rope 201 enters the top column sleeve 206 from the wire rope entry structure, and after passing the wire rope pulley 207, it extends to the bottom along the axial direction of the central shaft 202 and is connected to the lower end of the central shaft 202;

[0076] Pulling the wire rope 201 can drive the triangular column seat 302, the hexagonal column seat 303, and the circular column seat 304 through the connection between the central shaft 202 and the locking assembly 3 to compress the spring 301 and drive the fixed sleeve 305 to rotate along the track seat 306, thereby driving the locking plate 307 to move.

[0077] In order to realize the movement of the fixed sleeve 305 in the housing 1, a slideway is provided on the inner wall of the housing 1 at the position where the fixed sleeve 305 cooperates with the fixed sleeve 305, and the outer protrusion of the fixed sleeve 305 is slidably connected in the slideway;

[0078] A ratchet cylinder is formed on the upper portion of the housing 1, and the ratchet assembly is located inside the ratchet cylinder.

[0079] Preferably, the damping assembly 4 of this embodiment includes:

[0080] A ratchet assembly consisting of a central gear 401 and a damping gear 402, wherein the central shaft 202 is connected to the central gear 401 through a key, and the central gear 401 and the damping gear 402 are meshed;

[0081] a V-shaped washer 403 located below the central gear 401 and the damping gear 402;

[0082] A washer 404 is provided below the side where the V-shaped washer 403 cooperates with the central gear 401;

[0083] The damping gear 402 is sequentially mounted with a first damping gear gasket 405 , a first friction plate 408 , a second damping gear gasket 406 , a second friction plate 409 , and a third damping gear gasket 407 .

[0084] When the device of this embodiment is unlocked, the end of the wire rope 201 is connected to the tail of the central axis 202, and the wire rope 201 pulls the triangular column seat 302, the hexagonal column seat 303, and the circular column seat 304 to drive the spring 301 to compress and drive the fixed sleeve 305 to rotate along the track of the track seat 306, thereby driving the locking plate 307 to slide along the locking plate groove 311 of the fixed seat 308 with the sleeve as the center, thereby moving away from the central axis 202 and achieving unlocking; otherwise, it is self-locking.

[0085] In addition, the damping feeling of the damping assembly 4 of the present embodiment is achieved through the friction force of the friction plate.

[0086] The structure of this embodiment can realize rotation and self-locking in one plane without dead angles, and can realize self-locking only by its own structure without the need for electricity or air pump. The pure mechanical structure has high reliability.

[0087] In the above technical solution, the present invention provides a structure with a damping structure and capable of self-locking in a plane, which has the following beneficial effects:

[0088] The structure of the present invention can realize self-locking at any position of a single plane by locking the central axis; at the same time, the structure integrates a damping structure, which can control the rotation angle more accurately.

[0089] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A structure having a damping structure and capable of self-locking in a plane, characterized in that: The structure includes: Housing (1); a central axis assembly (2) arranged in the housing (1) along the central axis of the housing (1); and A locking assembly (3) arranged outside the central axis assembly (2), the locking assembly (3) having a plurality of locking plates (307) surrounding the outside of the central axis assembly (2), and the locking assembly (3) drives the plurality of locking plates (307) to move synchronously via a steel wire rope (201); The locking assembly (3) drives the locking plate (307) to clamp the central shaft assembly (2) via an internal spring (301) to achieve self-locking, and the steel wire rope (201) can drive the locking plate (307) away from the central shaft assembly (2) to release the self-locking state; The structure also includes a damping assembly (4), wherein the damping assembly (4) is connected to the central shaft assembly (2) via a ratchet assembly, and a friction plate is arranged inside the ratchet assembly.

2. A structure having a damping structure and capable of self-locking in a plane according to claim 1, characterized in that: The locking component (3) comprises: A triangular column base (302) at the lower end; A circular column base (304) connected to the triangular column base (302) via a hexagonal column base (303); A fixing sleeve (305) is disposed on the upper part of the circular column seat (304), and a track seat (306) is disposed inside the fixing sleeve (305), and the fixing sleeve (305) and the track seat (306) are slidably matched; A fixing seat (308) is arranged on the upper part of the track seat (306), and three locking plates (307) are connected between the fixing seat (308) and the track seat (306), and the locking plates (307) are connected to the reserved holes at the upper end of the track seat (306) through studs; A spring (301) is arranged inside the fixing sleeve (305), and the lower end of the track seat (306) presses the spring (301).

3. A structure with a damping structure and capable of self-locking in a plane according to claim 2, characterized in that: The outer surface of the track seat (306) is provided with an arc-shaped track (310); A hole is formed on one side of the fixing sleeve (305), a guide screw (309) is provided in the hole, and a tail of the guide screw (309) is placed in the arc track (310) of the track seat (306); The fixing seat (308) is provided with a locking plate sliding groove (311) along its radial direction, and the locking plate (307) is slidably connected in the corresponding locking plate sliding groove (311); The fixing sleeve (305) drives the locking plate (307) to move along the corresponding locking plate sliding groove (311) through the guidance of the guide screw (309) and the arc track (310).

4. A structure with a damping structure and capable of self-locking in a plane according to claim 3, characterized in that: The central axis assembly (2) comprises: Central axis (202); A first sleeve (203), a second sleeve (204) and a third sleeve (205) which are sleeved outside the central axis (202) and arranged at intervals; The upper end of the central shaft (202) is provided with a top column sleeve (206), one side of the top column sleeve (206) is provided with a wire rope entry structure, the top column sleeve (206) has a wire rope pulley (207) inside, the wire rope (201) enters the top column sleeve (206) from the wire rope entry structure, and after passing the wire rope pulley (207), it extends downward along the axial direction of the central shaft (202) and is connected to the lower end of the central shaft (202); Pulling the steel wire rope (201) can drive the triangular column seat (302), the hexagonal column seat (303), and the circular column seat (304) through the connection between the central shaft (202) and the locking assembly (3) to drive the spring (301) to compress and drive the fixed sleeve (305) to rotate along the track seat (306), thereby driving the locking plate (307) to move.

5. The structure having a damping structure and capable of self-locking in a plane according to claim 4, characterized in that: A slideway is provided on the inner wall of the position where the housing (1) and the fixing sleeve (305) cooperate, and the outer protrusion of the fixing sleeve (305) is slidably connected in the slideway; A ratchet cylinder is formed on the upper part of the housing (1), and the ratchet assembly is located inside the ratchet cylinder.

6. The structure having a damping structure and capable of self-locking in a plane according to claim 5, characterized in that: The damping component (4) comprises: A ratchet group consisting of a central gear (401) and a damping gear (402), wherein the central shaft (202) is connected to the central gear (401) via a key, and the central gear (401) and the damping gear (402) are meshed; A V-shaped washer (403) located below the central gear (401) and the damping gear (402); A washer (404) is provided below the side where the V-shaped washer (403) cooperates with the central gear (401); The damping gear (402) is provided with a first damping gear gasket (405), a first friction plate (408), a second damping gear gasket (406), a second friction plate (409), and a third damping gear gasket (407) which are installed in sequence.

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