Industrial robot steering wheel damping device

Abstract

The invention relates to the related technical field of industrial robots, in particular to an industrial robot steering wheel damping device which is arranged between a connecting frame and a mounting plate, and at least two sets of damping devices are symmetrically arranged. The damping mechanism comprises a guide rod fixedly connected with the connecting frame, the other end of the guide rod abuts against the mounting plate, a linear bearing is arranged on the guide rod in a sliding mode, and a spring is arranged between the linear bearing and the connecting frame. The adjusting mechanism is mounted on the mounting frame, is arranged in the axial direction of the guide rod and is connected with the linear bearing; the adjusting mechanism is arranged on the mounting plate, the speed reduction driving piece is arranged on the mounting plate and connected with the adjusting mechanism, and the speed reduction driving piece is arranged on the mounting plate. By adjusting compression and release of a spring, vibration and abrasion of parts of a trolley body can be reduced, and the service life of the trolley is prolonged; the problem that industrial robot and collaborative robot trolleys are prone to slipping and cannot run in large pits is solved.

Description

Technical Field

[0001] The invention relates to the technical field related to industrial robots, and in particular to a steering wheel shock absorbing device for an industrial robot. Background Art

[0002] AGV mobile robots are an important branch of the robot family and an important research and development direction for further expanding the application field of robots. The steering wheel suspension system of AGV usually includes a bracket and a mounting frame. The bracket consists of a top plate, a bottom plate, and a guide light rod erected between the top plate and the bottom plate, while the mounting frame is used to fix the steering wheel assembly. The spring in the shock-absorbing suspension buffer structure will keep the drive wheel close to the ground at all times. When encountering a raised road surface, the floating nature of the drive unit and the compressibility of the spring can prevent the drive unit from lifting the entire AGV.

[0003] Once the preset spring pressure of the existing industrial robot and collaborative robot steering wheel shock-absorbing mechanism is selected, the spring compression stroke in the shock-absorbing mechanism will remain unchanged. In this case, the spring will sometimes be too hard or too soft, resulting in violent shaking of the industrial robot and collaborative robot body, or the industrial robot and collaborative robot trolley will easily slip on large potholes, causing vibration and wear of the body parts, resulting in a reduced service life of the trolley. Summary of the invention

[0004] The object of the present invention is to provide a steering wheel shock absorbing device for an industrial robot to solve the problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] An industrial robot steering wheel shock absorbing device is arranged between a connecting frame and a mounting plate, and at least two groups are symmetrically arranged;

[0007] The shock absorbing mechanism comprises a guide rod fixedly connected to the connecting frame, the other end of the guide rod abuts against the mounting plate, and a linear bearing is slidably arranged on the guide rod, and a spring is arranged between the linear bearing and the connecting frame;

[0008] It also includes an adjustment mechanism installed on the mounting plate, the adjustment mechanism is arranged along the axial direction of the guide rod and connected to the linear bearing;

[0009] The adjustable transmission member is arranged on the mounting plate and is respectively connected to the adjustment mechanism and the speed reduction driving member installed on the mounting plate.

[0010] The industrial robot steering wheel shock absorbing device as described above: at least two groups of limiting grooves in a convex structure are symmetrically arranged on the mounting plate, and the guide rod can be inserted into the limiting groove.

[0011] The industrial robot steering wheel shock absorbing device as described above: a convex circle is formed on one end of the guide rod inserted into the limiting groove, the upper end surface of the convex circle abuts against the inner top of the limiting groove, and there is a gap between the lower end surface of the convex circle and the inner bottom of the limiting groove.

[0012] The industrial robot steering wheel shock absorbing device as described above: a guide sleeve is fixed on the mounting plate, the guide sleeve is arranged along the axial direction of the guide rod, and an external thread threadedly connected to the adjusting mechanism is formed on the guide sleeve.

[0013] The industrial robot steering wheel shock absorbing device as described above: the adjustment mechanism includes a nut arranged along the axial direction of the guide sleeve, the nut is threadedly connected to the guide sleeve, the two ends of the nut are respectively fixedly connected to an upper sleeve and a lower sleeve, and the upper sleeve is rotatably connected to the linear bearing.

[0014] The industrial robot steering wheel shock absorbing device as described above: the adjustable transmission part includes a plurality of transmission shafts rotatably mounted on the mounting plate, a sleeve is provided along the axial sliding of the transmission shaft, the sleeve is rotatably connected to the lower sleeve through a gear set, and a connecting hoop is rotatably mounted on the sleeve, and the connecting hoop is rotatably connected to the upper sleeve at one end away from the sleeve.

[0015] The industrial robot steering wheel shock absorbing device as described above: the transmission shaft is provided with a second slide groove, and the sleeve is provided with a second sliding block that slidably cooperates with the second slide groove.

[0016] The industrial robot steering wheel shock absorbing device as described above: the reduction drive member comprises a first connecting shaft rotatably mounted on the connecting frame, a turbine is arranged on the first connecting shaft, the turbine is rotatably connected to a worm rod rotatably mounted on the connecting frame, and the worm rod is driven to rotate by a motor fixedly mounted on the mounting plate;

[0017] It also includes a second connecting shaft rotatably mounted on the connecting frame, wherein both ends of the first connecting shaft are rotatably connected to the second connecting shaft via a first bevel gear set, and the second connecting shaft is rotatably connected to the transmission shaft via a second bevel gear set.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] By starting the deceleration drive component, the deceleration drive component transmits the slow driving force to the adjusting mechanism through the adjustable transmission component, so that the adjusting mechanism rotates relative to the guide rod and makes a linear motion along the axial direction of the guide rod. When the adjusting mechanism moves up and down, it drives the linear bearing to move synchronously, thereby changing the distance between the linear bearing and the connecting frame, causing the compression amount of the spring to change. Through the compression and release of the spring, the vibration of the industrial robot and collaborative robot body can be buffered, the vibration and wear of the body parts can be reduced, the service life of the trolley can be extended, and the problem that the industrial robot and collaborative robot trolley are easy to slip and unable to drive in large potholes is solved, and the trolley can travel smoothly and has strong passability. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the structure of the industrial robot steering wheel shock absorption device.

[0021] Figure 2 This is a schematic diagram of the structure of the guide rod and mounting plate in the steering wheel shock absorption device of an industrial robot.

[0022] Figure 3 This is a schematic diagram of the shock absorbing mechanism and mounting plate structure in the steering wheel shock absorbing device of an industrial robot.

[0023] Figure 4 This is a schematic diagram of the structure of the mounting plate and steering wheel in the steering wheel shock absorption device of an industrial robot.

[0024] Figure 5 This is a schematic diagram of the structure of the guide rod and adjustment mechanism in the steering wheel shock absorption device of an industrial robot.

[0025] Figure 6 This is a schematic diagram of the structure of the adjustment mechanism in the steering wheel shock absorption device of an industrial robot.

[0026] Figure 7 This is a cross-sectional schematic diagram of the nut in the steering wheel shock absorber device of an industrial robot.

[0027] Figure 8 This is a schematic diagram of the structure of the nut, sleeve and guide rod in the steering wheel shock absorption device of an industrial robot.

[0028] Fig. 9 This is a schematic diagram of the structure of the guide rod and linear bearing in the steering wheel shock absorption device of an industrial robot.

[0029] Fig.10 It is a structural schematic diagram of the deceleration drive component and the adjustable transmission component in the steering wheel shock absorption device of an industrial robot.

[0030] In the figure: 1, connecting frame; 2, mounting plate; 201, limiting groove; 3, steering wheel; 4, guide rod; 401, first slide groove; 5, guide sleeve; 501, external thread; 6, nut; 601, upper sleeve; 602, lower sleeve; 7, linear bearing; 701, first slider; 8, spring; 9, sleeve; 901, second slider; 10, connecting hoop; 11, gear set; 12, transmission shaft; 1201, second slide groove; 13, motor; 14, worm gear; 15, turbine; 16, first connecting shaft; 17, first bevel gear set; 18, second connecting shaft; 19, second bevel gear set. DETAILED DESCRIPTION

[0031] Various exemplary embodiments, features and aspects of the present application will be described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise specified.

[0032] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0033] In addition, in order to better illustrate the present application, numerous specific details are provided in the specific embodiments below. It should be understood by those skilled in the art that the present application can also be implemented without certain specific details. In some examples, methods, means, and elements well known to those skilled in the art are not described in detail in order to highlight the subject matter of the present application.

[0034] See also Figures 1 to 10 In an embodiment of the present invention, an industrial robot steering wheel shock absorbing device is arranged between a connecting frame 1 and a mounting plate 2, and at least two groups are symmetrically arranged;

[0035] The shock absorbing mechanism comprises a guide rod 4, a linear bearing 7, a spring 8, an adjusting mechanism, an adjustable transmission member and a deceleration driving member.

[0036] For details, please refer to Figure 1 , Figure 2 and Figure 5 ,include;

[0037] A guide rod 4 fixedly connected to the connecting frame 1, the other end of the guide rod 4 abuts against the mounting plate 2, and a linear bearing 7 is slidably provided on the guide rod 4, and a spring 8 is provided between the linear bearing 7 and the connecting frame 1;

[0038] It also includes an adjustment mechanism installed on the mounting plate 2, the adjustment mechanism is arranged along the axial direction of the guide rod 4 and connected to the linear bearing 7;

[0039] The adjustable transmission member is arranged on the mounting plate 2 and is respectively connected to the adjustment mechanism and the speed reduction driving member installed on the mounting plate 2.

[0040] In detail, in this embodiment, the industrial robot steering wheel shock absorbing device of the present invention is adopted. When in use, when the steering wheel 3 falls into a larger pothole during driving, the deceleration drive component is started to work, and the deceleration drive component transmits the slow driving force to the adjustment mechanism through the adjustable transmission component, so that when the adjustment mechanism rotates relative to the guide rod 4 and makes a linear motion along the axial direction of the guide rod 4, the adjustment mechanism drives the linear bearing 7 to move synchronously when it moves up and down, thereby changing the distance between the linear bearing 7 and the connecting frame 1, causing the compression amount of the spring 8 to change. Through the compression and release of the spring 8, the vibration of the industrial robot and the collaborative robot body is buffered, the vibration and wear of the body parts can be reduced, the service life of the trolley is extended, and the problem that the industrial robot and the collaborative robot trolley are prone to slipping and cannot travel in large potholes is solved.

[0041] Preferably, at least two groups of limiting grooves 201 having convex structures are symmetrically arranged on the mounting plate 2 , and the guide rod 4 can be inserted into the limiting grooves 201 .

[0042] A convex circle is formed on one end of the guide rod 4 inserted into the limiting groove 201 , the upper end surface of the convex circle abuts against the inner top of the limiting groove 201 , and there is a gap between the lower end surface of the convex circle and the inner bottom of the limiting groove 201 .

[0043] Preferably, soft rubber is provided in the limiting groove 201. The soft rubber exists mainly to absorb vibration, thereby reducing the vibration of the industrial robot and the collaborative robot body.

[0044] Among them, the existence of the gap is to ensure that when the industrial robot and the collaborative robot body is subjected to vibration, under the action of the spring 8, one end of the guide rod 4 can move slightly toward the inside of the limit groove 201, and the upper end surface of the convex circle is briefly separated from the inner top of the limit groove 201, which buffers the friction and wear of the mounting plate 2 caused by vibration, thereby improving the stability and service life of the mounting plate 2.

[0045] As a further solution of the present invention, please refer to Figure 5 A guide sleeve 5 is fixed on the mounting plate 2 , and the guide sleeve 5 is arranged along the axial direction of the guide rod 4 , and an external thread 501 is formed on the guide sleeve 5 for threaded connection with the adjusting mechanism.

[0046] Through the cooperation between the external thread 501 and the internal thread on the adjusting mechanism, when the adjusting mechanism rotates relative to the guide sleeve 5, due to the structure of the external thread 501 and the internal thread, the adjusting mechanism can move up and down relative to the guide sleeve 5 to achieve the requirement of the linear bearing 7 sliding relative to the guide rod 4.

[0047] Preferably, at least one group of first slide grooves 401 are formed on the guide rod 4, and a first slider 701 slidingly matched with the first slide groove 401 is provided on the linear bearing 7. When the linear bearing 7 moves, the first slider 701 is driven to move synchronously. Under the action of the first slide groove 401, the first slider 701 always slides in the first slide groove 401 to achieve a sliding connection between the linear bearing 7 and the guide rod 4, and to avoid the linear bearing 7 being driven to rotate synchronously when the adjustment structure rotates.

[0048] As a further solution of the present invention, please refer to Figure 6 and Figure 7 The adjustment mechanism includes a nut 6 arranged along the axial direction of the guide sleeve 5, the nut 6 is threadedly connected to the guide sleeve 5, and the two ends of the nut 6 are respectively fixedly connected with an upper sleeve 601 and a lower sleeve 602, and the upper sleeve 601 is rotatably connected to the linear bearing 7.

[0049] To elaborate, when the nut 6 rotates, the nut 6 makes a linear motion along the axial direction of the guide sleeve 5, so that the upper sleeve 601 and the lower sleeve 602 move synchronously, wherein the rotation of the upper sleeve 601 has no effect on the linear bearing 7, and when the upper sleeve 601 moves up and down, it can drive the linear bearing 7 to move synchronously, and the linear bearing 7 slides relative to the guide rod 4, so that the position between the linear bearing 7 and the connecting frame 1 changes, thereby adjusting the compression and release amount of the spring 8, buffering the vibration of the industrial robot and the collaborative robot body, reducing the vibration and wear of the body parts, extending the service life of the trolley, and solving the problem that the industrial robot and the collaborative robot trolley are prone to slipping and unable to drive in large potholes.

[0050] It is worth noting that the connection between the nut 6 and the guide sleeve 5 has a self-locking property, which can prevent the linear bearing 7 from moving under the elastic potential energy of the spring 8, thereby destroying the compression and release amount of the spring 8.

[0051] As a further solution of this utility, please refer to Figure 5 The adjustable transmission member includes a plurality of transmission shafts 12 rotatably mounted on the mounting plate 2, a sleeve 9 is axially slidably arranged along the transmission shaft 12, the sleeve 9 is rotatably connected to the lower sleeve 602 through a gear set 11, and a connecting hoop 10 is rotatably mounted on the sleeve 9, and the end of the connecting hoop 10 away from the sleeve 9 is rotatably connected to the upper sleeve 601.

[0052] Under the transmission of the reduction drive, multiple transmission shafts 12 are driven to rotate synchronously. When the transmission shaft 12 rotates, it drives the sleeve 9 to rotate synchronously. When the sleeve 9 rotates, under the action of the gear set 11, it drives the lower sleeve 602 to rotate, so that the nut 6 rotates relative to the guide sleeve 5. When the nut 6 rotates, it is fixed with the mounting plate 2 and makes a linear motion along the axis of the guide sleeve 5. When the nut 6 moves relative to the guide sleeve 5, it drives the upper sleeve 601 and the lower sleeve 602 to move synchronously, so that the upper sleeve 601 generates a force on the linear bearing 7 to realize the movement of the linear bearing 7 relative to the guide rod 4. The distance between the linear bearing 7 and the connecting frame 1 changes, thereby adjusting the compression and release of the spring 8, which can buffer the vibration of the industrial robot and the collaborative robot body, reduce the vibration and wear of the body parts, and extend the service life of the trolley.

[0053] Preferably, a second sliding groove 1201 is provided on the transmission shaft 12 , and a second sliding block 901 slidably matched with the second sliding groove 1201 is provided on the sleeve 9 .

[0054] It should be noted that: when the sleeve 9 moves relative to the transmission shaft 12, it drives the second slider 901 to move synchronously. At this time, the second slider 901 slides in the second slide groove 1201 to realize the sliding connection between the sleeve 9 and the transmission shaft 12. Under the limiting effect of the second slider 901 and the second slide groove 1201, the transmission shaft 12 can drive the sleeve 9 to rotate synchronously when it rotates, and will not affect the axial movement of the sleeve 9 along the transmission shaft 12.

[0055] As a further solution of the present invention, please refer to Fig.10 The reduction drive member includes a first connecting shaft 16 rotatably mounted on the connecting frame 1, a turbine 15 is disposed on the first connecting shaft 16, the turbine 15 is rotatably connected to a worm rod 14 rotatably mounted on the connecting frame 1, and the worm rod 14 is driven to rotate by a motor 13 fixedly mounted on the mounting plate 2;

[0056] It also includes a second connecting shaft 18 rotatably mounted on the connecting frame 1 , the two ends of the first connecting shaft 16 are rotatably connected to the second connecting shaft 18 via a first bevel gear set 17 , and the second connecting shaft 18 is rotatably connected to the transmission shaft 12 via a second bevel gear set 19 .

[0057] Specifically, the motor 13 is started, and the output shaft of the motor 13 is fixedly connected to the worm gear 14. When the output shaft rotates, the worm gear 14 is driven to rotate synchronously. The rotation requirement of the first connecting shaft 16 is achieved through the transmission of the worm gear 14 and the turbine 15. When the worm gear 14 and the turbine 15 are transmitted, the high-speed rotation rate of the output shaft of the motor 13 can be reduced, so that the rotation rate of the first connecting shaft 16 is slowed down, so as to ensure that the compression and release of the spring 8 are within a controllable range, and prevent the compression and release of the spring 8 from excessively weakening the shock absorbing effect.

[0058] When the first connecting shaft 16 rotates, the second connecting shaft 18 is driven to rotate under the action of the first bevel gear set 17. When the second connecting shaft 18 rotates, the transmission shaft 12 is driven to rotate under the action of the second bevel gear set 19, and the requirement of synchronous rotation of multiple transmission shafts 12 is realized, so as to control the compression and release amounts of multiple springs 8 to be adjusted at the same time, so as to drive the driving requirements of the adjustment mechanism while ensuring the connection stability between the connecting frame 1 and the mounting plate 2.

[0059] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0060] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. An industrial robot steering wheel shock absorbing device, arranged between a connecting frame (1) and a mounting plate (2), and having at least two sets symmetrically arranged, characterized in that ； The shock absorbing mechanism comprises a guide rod (4) fixedly connected to the connecting frame (1), the other end of the guide rod (4) abutting against the mounting plate (2), and a linear bearing (7) slidably arranged on the guide rod (4), and a spring (8) is arranged between the linear bearing (7) and the connecting frame (1); It also includes an adjustment mechanism installed on the mounting plate (2), the adjustment mechanism is arranged along the axial direction of the guide rod (4) and connected to the linear bearing (7); An adjustable transmission member is arranged on the mounting plate (2) and is respectively connected to the adjustment mechanism and a speed reduction drive member mounted on the mounting plate (2).

2. The industrial robot steering wheel shock absorbing device according to claim 1, characterized in that: At least two groups of limiting grooves (201) having a convex structure are symmetrically arranged on the mounting plate (2), and the guide rod (4) can be inserted into the limiting grooves (201).

3. The industrial robot steering wheel shock absorbing device according to claim 2, characterized in that: A convex circle is formed on one end of the guide rod (4) inserted into the limiting groove (201), the upper end surface of the convex circle abuts against the inner top of the limiting groove (201), and there is a gap between the lower end surface of the convex circle and the inner bottom of the limiting groove (201).

4. The industrial robot steering wheel shock absorbing device according to claim 1, characterized in that: A guide sleeve (5) is fixed on the mounting plate (2), the guide sleeve (5) is arranged along the axial direction of the guide rod (4), and an external thread (501) is formed on the guide sleeve (5) and is threadably connected to the adjustment mechanism.

5. The industrial robot steering wheel shock absorbing device according to claim 4, characterized in that: The adjustment mechanism comprises a nut (6) arranged along the axial direction of the guide sleeve (5), the nut (6) being threadedly connected to the guide sleeve (6), an upper shaft sleeve (601) and a lower shaft sleeve (602) being fixedly connected at both ends of the nut (6), and the upper shaft sleeve (601) being rotatably connected to the linear bearing (7).

6. The industrial robot steering wheel shock absorbing device according to claim 5, characterized in that: The adjustable transmission member comprises a plurality of transmission shafts (12) rotatably mounted on the mounting plate (2), a sleeve (9) being slidably arranged along the axial direction of the transmission shaft (12), the sleeve (9) being rotatably connected to the lower shaft sleeve (602) via a gear set (11), and a connecting hoop (10) being rotatably mounted on the sleeve (9), and an end of the connecting hoop (10) away from the sleeve (9) being rotatably connected to the upper shaft sleeve (601).

7. The industrial robot steering wheel shock absorbing device according to claim 6, characterized in that: The transmission shaft (12) is provided with a second sliding groove (1201), and the sleeve (9) is provided with a second sliding block (901) which is slidably matched with the second sliding groove (1201).

8. The industrial robot steering wheel shock absorbing device according to claim 6, characterized in that: The reduction drive member comprises a first connecting shaft (16) rotatably mounted on the connecting frame (1), a turbine (15) being arranged on the first connecting shaft (16), the turbine (15) being rotatably connected to a worm gear (14) rotatably mounted on the connecting frame (1), and the worm gear (14) being driven to rotate by a motor (13) fixedly mounted on the mounting plate (2); It also includes a second connecting shaft (18) rotatably mounted on the connecting frame (1), the two ends of the first connecting shaft (16) are rotatably connected to the second connecting shaft (18) via a first bevel gear set (17), and the second connecting shaft (18) is rotatably connected to the transmission shaft (12) via a second bevel gear set (19).

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