A structure with damping structure and self-locking in plane

Abstract

This invention discloses a structure with a damping mechanism and capable of self-locking in a plane, comprising a housing; a central shaft assembly arranged within the housing along its central axis; and a locking assembly disposed outside the central shaft assembly. The locking assembly has multiple locking plates surrounding the outside of the central shaft assembly, and the locking assembly drives the multiple locking plates to move synchronously via steel wire ropes. The locking assembly uses internal springs to drive the locking plates to clamp the central shaft assembly to achieve self-locking, and the steel wire rope can drive the locking plates away from the central shaft assembly to release the self-locking state. The structure also includes a damping assembly connected to the central shaft assembly via a ratchet assembly, and the ratchet assembly contains friction plates. The structure of this invention can achieve self-locking at any position on a single plane by locking the central shaft; simultaneously, the integrated damping mechanism allows for more precise control of the rotation angle.

Description

Technical Field

[0001] This invention relates to the field of automated robotic arm technology, and more particularly to a structure with a damping structure that can self-lock in a plane. Background Technology

[0002] With the development of technology, many large industries need automation, and the functions of the automated robotic arms required are becoming increasingly complex. They need smaller, more functional robotic arms, and even more lightweight components that are small in size and reliable in function. Modern industry is pursuing lightweighting, and lightweighting means reducing the weight of each part as much as possible, so that the overall effect can be reflected.

[0003] Currently, the self-locking joints of robotic arms almost all suffer from the disadvantages of large size and heavy weight, and cannot be rotated and locked in multiple planes. They also lack damping mechanisms, are costly and inconvenient, and some are prone to failure.

[0004] Prior art 1: Chinese utility model patent application number 202321119704.1, entitled "A Joint Damping Structure", describes a joint damping structure comprising 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 along the axial direction of the rotating shaft.

[0005] Prior art 2: Chinese utility model patent application number 201220233674.2, entitled "A Torsional Damping Joint," includes an upper connecting bracket, a lower connecting bracket, a torsion spring, a fixing member, and two damping pads. The upper connecting bracket includes a first main plate and two opposing first and second side arms located on either side of the first main plate. The lower connecting bracket includes a second main plate and two opposing third and fourth side arms located on either side of the first main plate. The first, second, third, and fourth side arms are connected by the fixing member. The damping pads are respectively located between the first and third side arms, and between the second and fourth side arms. The torsion spring is sleeved on the fixing member, located between the first and second side arms, with one leg of the torsion spring fixed to the first main plate and the other leg fixed to the second main plate. Two torsion springs are provided. The first main board has a through groove, and the second main board has a through hole; one leg of the torsion spring is fixed in the through groove, and the other leg is fixed in the through hole. There is one through groove and two through holes. The fixing component is a locking pin.

[0006] Prior art 3: Chinese invention patent application number 201910195855.7, entitled "A Novel Controllable Damping Joint", 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 extends out of the magnetic powder clutch and is connected to the rotating part inside the angle detection sensor.

[0007] After careful analysis, each of the above three existing technologies has certain shortcomings:

[0008] The existing technology has the drawback that the spring disc and the central column are connected by a thread, which can easily lead to loosening and a decrease in locking force after a certain period of use. This invention utilizes a method of locking the central shaft, allowing for longer use while maintaining the locking effect.

[0009] The drawback of the existing technology 2 is that it only uses a torsion spring and lacks a self-locking mechanism, and the damping effect is related to the rotation angle, with a stronger damping effect at a larger angle. This invention, however, maintains a constant damping effect regardless of the rotation angle, and its self-locking mechanism further contributes to the stability of the robotic arm.

[0010] The disadvantages of the existing technology 3 are high cost and the need for electricity to achieve self-locking. This solution can achieve self-locking by relying on its own structure, without relying on a motor.

[0011] Therefore, based on the above-mentioned technical problems, those skilled in the art urgently need to develop a structure with damping and capable of self-locking in a plane. Summary of the Invention

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

[0013] To achieve the above objectives, the present invention provides the following technical solution:

[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 is arranged within the housing along the central axis of the housing; and

[0017] A locking assembly is disposed outside the central shaft assembly. The locking assembly has multiple locking plates surrounding the outside of the central shaft assembly, and the locking assembly drives the multiple locking plates to move synchronously via steel wire ropes.

[0018] The locking assembly uses an internal spring to drive the locking plate to clamp the central shaft assembly to achieve self-locking, and the 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 component, which is connected to the central shaft assembly via a ratchet assembly, and the ratchet assembly contains friction plates.

[0020] Furthermore, the locking component includes:

[0021] A triangular prism base located at the lower end;

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

[0023] The upper part of the circular column base is provided with a fixed sleeve, and the fixed sleeve is provided with a track seat inside, and the fixed sleeve and the track seat are slidably engaged;

[0024] The upper part of the track seat is provided with a fixed seat, and three locking plates are connected between the fixed seat and the track seat. The locking plates are connected to the reserved holes at the upper end of the track seat by studs.

[0025] The fixed sleeve is equipped with a spring, and the lower end of the track seat presses against the spring.

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

[0027] The fixed sleeve has a hole on one side, and a guide screw is provided in the hole. The tail of the guide screw is placed in the arc-shaped track of the track seat.

[0028] The fixing base has a locking plate groove along its radial direction, and the locking plate is slidably connected in the corresponding locking plate groove;

[0029] The fixed sleeve drives the locking plate to move along the corresponding locking plate groove through the guide screw and the arc-shaped track.

[0030] Furthermore, the central axis assembly includes:

[0031] Central axis;

[0032] A first sleeve, a second sleeve, and a third sleeve are sleeved on the outside of the central shaft and are spaced apart.

[0033] The upper end of the central shaft has a top column sleeve, and a wire rope entry structure is provided on one side of the top column sleeve. The top column sleeve has a wire rope pulley inside. The wire rope enters the top column sleeve through the wire rope entry structure, passes around the wire rope pulley, extends downward along the axial direction of the central shaft, and connects to the lower end of the central shaft.

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

[0035] Furthermore, a slide rail is provided on the inner wall of the position where the outer shell mates with the fixed sleeve, and the outer protrusion of the fixed sleeve is slidably connected to the slide rail;

[0036] A ratchet cylinder is formed on the upper part of the outer casing, and the ratchet assembly is located inside the ratchet cylinder.

[0037] Furthermore, the damping component includes:

[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 mesh;

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

[0040] A washer is provided below the side of the V-shaped washer that mates with the central gear;

[0041] The damping gear is equipped with a first damping gear washer, a first friction plate, a second damping gear washer, a second friction plate, and a third damping gear washer 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 this invention can achieve self-locking at any position on a single plane by locking the central shaft; at the same time, the structure integrates a damping structure, which can more accurately control the rotation angle. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0045] Figure 1 This is a schematic diagram of a structure with a damping structure and capable of self-locking in a plane, as disclosed in an embodiment of the present invention.

[0046] Figure 2 This is a cross-sectional view of a structure with a damping structure and capable of self-locking in a plane, as disclosed in an embodiment of the present invention.

[0047] Figure 3 This is a schematic diagram of a structure with a damping structure and capable of self-locking in a plane, disclosed in an embodiment of the present invention, with the outer shell removed.

[0048] Figure 4 This is an exploded view of a locking assembly with a damping structure and a self-locking structure in a plane, as disclosed in an embodiment of the present invention.

[0049] Figure 5 This is a schematic diagram of the mating structure of a locking plate and a fixing seat with a damping structure and a self-locking structure in a plane, as disclosed in an embodiment of the present invention.

[0050] Figure 6 This is an exploded view of a central shaft assembly with a damping structure and a self-locking structure in a plane, as disclosed in an embodiment of the present invention.

[0051] Figure 7 This is an exploded view of a damping component with a damping structure and a self-locking structure in a plane, as disclosed in an embodiment of the present invention.

[0052] Explanation of reference numerals in the attached figures:

[0053] 1. Housing; 2. Central shaft assembly; 3. Locking assembly; 4. Damping assembly;

[0054] 201. Wire rope; 202. Central shaft; 203. First sleeve; 204. Second sleeve; 205. Third sleeve; 206. Top sleeve; 207. Wire rope pulley;

[0055] 301. Spring; 302. Triangular prism base; 303. Hexagonal prism base; 304. Circular prism base; 305. Fixing sleeve; 306. Track base; 307. Locking plate; 308. Fixing base; 309. Guide screw; 310. Arc-shaped track; 311. Locking plate groove;

[0056] 401. Center gear; 402. Damping gear; 403. V-shaped washer; 404. Washer; 405. First damping gear washer; 406. Second damping gear washer; 407. Third damping gear washer; 408. First friction plate; 409. Second friction plate. Detailed Implementation

[0057] 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 Figures 1 to 7 As shown;

[0059] This embodiment provides a structure with a damping structure and capable of self-locking in a plane, the structure comprising:

[0060] Outer shell 1;

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

[0062] The locking assembly 3 is located outside the central shaft assembly 2. The locking assembly 3 has multiple locking plates 307 surrounding the outside of the central shaft assembly 2, and the locking assembly 3 drives the multiple locking plates 307 to move synchronously through the wire rope 201.

[0063] The locking assembly 3 uses an internal spring 301 to drive the locking plate 307 to clamp the central shaft assembly 2 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 component 4, which is connected to the central shaft component 2 via a ratchet assembly, and the ratchet assembly contains friction plates.

[0065] Specifically, this embodiment discloses a structure with a damping mechanism that can self-lock under normal conditions. Its external components are a shell 1, a central shaft assembly 2, a locking assembly 3, and a damping assembly 4. The locking assembly 3 is disposed outside the central shaft assembly 2. The locking assembly 3 clamps the central shaft assembly 2 with multiple locking plates 307 driven by a spring 301 to achieve a self-locking state. Simultaneously, the central shaft assembly 2 in this embodiment has a steel wire rope 201. The steel wire rope 201 provides tension, driving the locking assembly 3 to move, which in turn drives the locking plates 307 to move, releasing the self-locking state. Under normal conditions, since there is no moving force from the steel wire rope 201, the locking plates 307 remain tightly clamped to the central shaft 202 under the action of the spring 301. Therefore, the device in this embodiment can achieve a self-locking state in real time within a plane. Furthermore, the device in this embodiment integrates the damping assembly 4, which enables more accurate control of the gear's rotation angle.

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

[0067] A fixed sleeve 305 is provided on the upper part of the circular column base 304, and a track seat 306 is provided inside the fixed sleeve 305, and the fixed sleeve 305 and the track seat 306 are in sliding fit.

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

[0069] A spring 301 is installed inside the fixed sleeve 305, and the lower end of the track seat 306 holds the spring 301.

[0070] In this embodiment, the outer surface of the track base 306 is provided with an arc-shaped track 310;

[0071] A hole is provided 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-shaped track 310 of the track seat 306.

[0072] The fixed base 308 has a locking plate groove 311 along its radial direction, and the locking plate 307 is slidably connected in the corresponding locking plate groove 311;

[0073] The fixed sleeve 305 drives the locking plate 307 to move along the corresponding locking plate groove 311 through the guide screw 309 and the arc track 310.

[0074] Preferably, based on the above-described structural limitations 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 sleeved on the outside of the central shaft 202 and spaced apart;

[0075] The upper end of the central shaft 202 has a top sleeve 206. A wire rope entry structure is provided on one side of the top sleeve 206. The top sleeve 206 has a wire rope pulley 207 inside. The wire rope 201 enters the top sleeve 206 through the wire rope entry structure, passes around the wire rope pulley 207, extends downward along the axial direction of the central shaft 202, and connects to the lower end of the central shaft 202.

[0076] Pulling the wire rope 201 can drive the triangular column base 302, hexagonal column base 303, and circular column base 304 through the connection of the central shaft 202 and the locking assembly 3, thereby driving 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.

[0077] In order to enable the fixed sleeve 305 to move within the outer shell 1, a slide rail is provided on the inner wall of the outer shell 1 at the position where the fixed sleeve 305 mates, and the external protrusion of the fixed sleeve 305 is slidably connected to the slide rail.

[0078] A ratchet cylinder is formed on the upper part of the outer casing 1, and the ratchet assembly is located inside the ratchet cylinder.

[0079] Preferably, the damping component 4 in 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 via a key, and the central gear 401 and the damping gear 402 mesh.

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

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

[0083] The damping gear 402 is equipped with a first damping gear washer 405, a first friction plate 408, a second damping gear washer 406, a second friction plate 409, and a third damping gear washer 407 installed in sequence.

[0084] When the device in this embodiment is unlocked, the end of the wire rope 201 is connected to the tail of the central shaft 202. The wire rope 201 pulls the triangular column base 302, hexagonal column base 303, and circular column base 304, which in turn compresses the spring 301 and drives the fixed sleeve 305 to rotate along the track of the track base 306. This causes the locking plate 307 to slide along the locking plate groove 311 of the fixed base 308 with the sleeve as the center, thereby moving away from the central shaft 202 and unlocking. Conversely, it is self-locking.

[0085] In addition, the damping sensation of the damping component 4 in this embodiment is achieved through the friction force of the friction plate.

[0086] The structure of this embodiment can achieve rotation and self-locking without dead angles in a plane, and it can self-lock without electricity or air pumps, relying solely on its own structure. The purely 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 this invention can achieve self-locking at any position on a single plane by locking the central shaft; at the same time, the structure integrates a damping structure, which can more accurately control the rotation angle.

[0089] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, 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 foregoing 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: Outer shell (1); A central shaft assembly (2) is arranged within the housing (1) along the central axis of the housing (1); and A locking assembly (3) is disposed on the outside of the central shaft assembly (2). The locking assembly (3) has a plurality of locking plates (307) surrounding the outside of the central shaft 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) uses an internal spring (301) to drive the locking plate (307) to clamp the central shaft assembly (2) 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. The structure also includes a damping component (4), which is connected to the central shaft component (2) via a ratchet assembly, and the ratchet assembly is provided with friction plates inside; The locking assembly (3) includes: The triangular prism base (302) is located at the lower end; A circular column base (304) is connected to the triangular column base (302) via a hexagonal column base (303). The upper part of the circular column base (304) is provided with a fixed sleeve (305), and the fixed sleeve (305) is provided with a track seat (306) inside, and the fixed sleeve (305) and the track seat (306) are in sliding cooperation; The upper part of the track seat (306) is provided with a fixed seat (308), and three locking plates (307) are connected between the fixed seat (308) and the track seat (306). The locking plates (307) are connected to the reserved holes at the upper end of the track seat (306) by studs. The fixed sleeve (305) is provided with a spring (301), and the lower end of the track seat (306) presses the spring (301). The outer surface of the track seat (306) is provided with an arc-shaped track (310). The fixed sleeve (305) has a hole on one side, and a guide screw (309) is provided in the hole. The tail of the guide screw (309) is placed in the arc-shaped track (310) of the track seat (306). The fixed base (308) has a locking plate groove (311) along its radial direction, and the locking plate (307) is slidably connected in the corresponding locking plate groove (311); The fixed sleeve (305) drives the locking plate (307) to move along the corresponding locking plate groove (311) by the guide screw (309) and the arc track (310).

2. The structure according to claim 1, wherein, The central shaft assembly (2) includes: Central axis (202); A first sleeve (203), a second sleeve (204), and a third sleeve (205) are sleeved on the outside of the central shaft (202) and spaced apart. The upper end of the central shaft (202) has a top sleeve (206), and a wire rope entry structure is provided on one side of the top sleeve (206). The top sleeve (206) has a wire rope pulley (207) inside. The wire rope (201) enters the top sleeve (206) through the wire rope entry structure, passes around the wire rope pulley (207), and extends downward along the axial direction of the central shaft (202) and connects to the lower end of the central shaft (202). Pulling the wire rope (201) can drive the triangular column base (302), hexagonal column base (303), and circular column base (304) through the connection of 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 base (306), thereby driving the locking plate (307) to move.

3. The structure according to claim 2, wherein, The inner wall of the outer shell (1) at the position where it mates with the fixed sleeve (305) is provided with a slide rail, and the outer protrusion of the fixed sleeve (305) is slidably connected to the slide rail; A ratchet cylinder is formed on the upper part of the outer casing (1), and the ratchet assembly is located inside the ratchet cylinder.

4. The structure according to claim 3, wherein, The damping component (4) includes: 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) by a key, and the central gear (401) and the damping gear (402) mesh; V-shaped washer (403) located below the central gear (401) and damping gear (402); A washer (404) is provided below the side of the V-shaped washer (403) that mates with the central gear (401). The damping gear (402) is equipped with a first damping gear washer (405), a first friction plate (408), a second damping gear washer (406), a second friction plate (409), and a third damping gear washer (407) installed in sequence.

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