Damping buffer structure of manipulator

Abstract

The invention relates to the technical field of manipulators, and discloses a damping buffer structure of a manipulator, which comprises a base, a plurality of sections of driving arms are arranged at the top of the base, a movable part is arranged at the output end of the tail end driving arm, rotating joints are arranged among the plurality of driving arms, and buffer mechanisms are arranged in the rotating joints. The buffering mechanism comprises supporting shafts, the two supporting shafts are rotationally connected into the rotating joint, a damping box is fixedly connected to the ends, close to each other, of the supporting shafts, a plurality of buffering springs are fixedly connected into the damping box, a plurality of sealing rings are fixedly connected into the damping box, and movable rods are slidably connected to the inner sides of the sealing rings. One end of the movable rod is fixedly connected with a rubber piston. According to the mechanical arm, impact force generated when the driving arm rotates is effectively relieved, stable transition of the driving arm is guaranteed, the operation stability of the mechanical arm is improved, the conditions that grabbed objects fall off, and the assembly position deviates are avoided, and therefore the production efficiency and the product quality are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and particularly to a damping buffer structure of a manipulator. Background Art

[0002] In modern industrial production and automated operation scenarios, manipulators are widely used in many fields such as material handling, machining, and electronic product assembly due to their high efficiency and precision. During the operation of a manipulator, the driving arm needs to frequently change its motion state, performing actions such as starting, stopping, and turning, which poses extremely high requirements for its damping buffer performance.

[0003] Most of the current damping buffer structures of manipulators on the market can, to a certain extent, cope with the impact force generated when the driving arm rotates. However, when faced with the high-speed rotation of the driving arm or a strong external impact, the existing buffer structures are difficult to achieve an efficient buffer and shock absorption effect. Commonly, when the driving arm rotates rapidly, the existing devices cannot absorb the impact energy in a timely and sufficient manner, resulting in obvious vibrations and shakes of the driving arm, which not only reduces the operating stability of the manipulator but also may affect its operation accuracy, easily causing problems such as dropped grabbed items and assembly position deviations, thereby reducing production efficiency and product quality.

[0004] Therefore, in view of the above problems, a damping buffer structure of a manipulator is proposed to solve the above problems. Summary of the Invention

[0005] To make up for the above deficiencies, the present invention provides a damping buffer structure of a manipulator, aiming to improve the problem that some damping buffer structures in the prior art are difficult to absorb impact energy in a timely and sufficient manner when the driving arm rotates at high speed or encounters a strong external impact.

[0006] To achieve the above object, the present invention adopts the following technical solution:

[0007] A damping buffer structure of a manipulator includes a base. A plurality of driving arms are arranged on the top of the base. An end driving arm is provided with a movable member at its output end. Rotating joints are arranged between the plurality of driving arms, and a buffer mechanism is arranged inside the rotating joints;

[0008] The buffer mechanism includes a support shaft. The two support shafts are rotatably connected inside the rotating joint. The adjacent ends of the support shafts are fixedly connected with a damping box. A plurality of buffer springs are fixedly connected inside the damping box. A plurality of sealing rings are fixedly connected inside the damping box. An activity rod is slidably connected to the inner side of the sealing ring. One end of the activity rod is fixedly connected with a rubber piston. Spherical grooves are opened at both ends of the rubber piston. The other end of the activity rod is provided with a transmission assembly. A constant pressure assembly is arranged on the outer wall of the damping box;

[0009] As a further description of the above technical solution:

[0010] The other end of the rubber piston is connected to one end of a buffer spring, and the other end of the buffer spring is fixedly connected to the inside of the damping box;

[0011] As a further description of the above technical solution:

[0012] The outer wall of the rubber piston is slidably connected to the inside of the damping box, and the edges at both ends of the rubber piston can be turned over;

[0013] As a further description of the above technical solution:

[0014] The transmission assembly includes a fixed pile. The outer wall of the fixed pile is fixedly connected to the other end of the movable rod. Rotating plates are rotatably connected to both sides of the fixed pile. A transmission plate is rotatably connected to the adjacent side of the two rotating plates. The other end of the transmission plate is fixedly connected to a collar;

[0015] As a further description of the above technical solution:

[0016] The constant pressure assembly includes an oil tank. A partition is fixedly connected to the inside of the oil tank. Two pressing plates are slidably connected between the inside of the oil tank and both sides of the partition. A plurality of transmission rods are fixedly connected to the bottom of the pressing plates. The other ends of the transmission rods are fixedly connected to pneumatic plugs. A filling ring is fixedly connected to the outside of the pneumatic plugs. A constant pressure chamber is provided at the connection between the bottom of the oil tank and the top of the damping box;

[0017] As a further description of the above technical solution:

[0018] A plurality of through holes are formed in the top of the partition. Both ends of the through holes are provided in a flared shape with openings, and the diameter in the middle is smaller than the diameters at both ends;

[0019] As a further description of the above technical solution:

[0020] The two constant pressure chambers are respectively connected to the cavities above and below the rubber piston, and the outside of the filling ring is in contact with the inner wall of the constant pressure chamber;

[0021] As a further description of the above technical solution:

[0022] The rotating joint includes a fixed joint. The fixed joint is fixedly connected between the driving arms through bolts. A rotating shaft is fixedly connected to the adjacent side of the two fixed joints. The inner side of the collar is rotatably connected to the outside of the rotating shaft.

[0023] The present invention has the following beneficial effects:

[0024] 1. In the present invention, the driving arm drives the collar and the transmission rod to rotate relative to each other. The rotating plate pushes or pulls the movable rod, causing the rubber piston to move within the damping box and compress or stretch the buffer spring, achieving the beneficial effect of efficient buffering and shock absorption. During this process, the buffer spring absorbs the impact energy. The flip-up edges at both ends of the rubber piston prevent the flow of gas, and the spherical groove structure extends the buffering time, enhancing the damping force effect, effectively reducing the impact force when the driving arm rotates, ensuring its smooth transition, and improving the stability of the manipulator operation.

[0025] 2. In the present invention, the pneumatic plug and the filling ring ensure the airtightness of the cavity. The pressure change in the damping box drives the movement of the pneumatic plug, and the pressing plate squeezes the hydraulic oil through the special through-hole structure at the top of the partition plate. The flared design at both ends of the through-hole pressurizes and quickly flows the hydraulic oil, driving the movement of the pressing plate on the other side to balance the pressure difference within the damping box, achieving the beneficial effect of maintaining a stable damping effect. This ensures that the buffer spring and the rubber piston work in a stable pressure environment, making the damping and buffering performance of the manipulator always reliable and ensuring its precise execution of operation tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a three-dimensional schematic diagram of a damping and buffering structure of a manipulator proposed by the present invention;

[0027] Figure 2 is a schematic diagram of the structure of the buffer mechanism of a damping and buffering structure of a manipulator proposed by the present invention;

[0028] Figure 3 is a schematic diagram of the structure of the damping box of a damping and buffering structure of a manipulator proposed by the present invention;

[0029] Figure 4 is a schematic diagram of the structure of the movable rod of a damping and buffering structure of a manipulator proposed by the present invention;

[0030] Figure 5 is a schematic diagram of the structure of the partition plate of a damping and buffering structure of a manipulator proposed by the present invention;

[0031] Figure 6 is a schematic diagram of the structure of the constant pressure chamber of a damping and buffering structure of a manipulator proposed by the present invention;

[0032] Figure 7 is Figure 3 the enlarged view at A in

[0033] Figure 8 is Figure 4 the enlarged view at B in

[0034] Legend Explanation:

[0035] 1. Base; 2. Driving arm; 3. Movable part; 4. Rotating joint; 401. Fixed section; 402. Rotating shaft; 5. Buffer mechanism; 501. Support shaft; 502. Damping box; 503. Buffer spring; 504. Sealing ring; 505. Movable rod; 506. Rubber piston; 507. Spherical groove; 508. Fixed pile; 509. Rotating plate; 510. Transmission plate; 511. Collar; 512. Oil tank; 513. Partition board; 514. Through hole; 515. Transmission rod; 516. Pneumatic plug; 517. Filling ring; 518. Constant pressure chamber; 519. Pressing plate. Detailed implementation manner

[0036] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0037] Refer to Figures 1 to 8 , an embodiment provided by the present invention: a damping and buffering structure of a manipulator, including a base 1, the base 1 realizes the function of providing stable support for the entire manipulator and bears the operation of multiple driving arms 2 at the top. A plurality of driving arms 2 are arranged on the top of the base 1. The plurality of driving arms 2 realize the function of enabling the manipulator to complete various actions through their cooperative movements. The output end of the end driving arm 2 is provided with a movable part 3. The movable part 3 realizes the function of directly performing specific tasks such as grasping and transporting, and serves as the interacting part between the manipulator and the outside world. Rotating joints 4 are arranged between the plurality of driving arms 2. The rotating joints 4 realize the function of enabling relative rotation between the driving arms 2 and flexibly adjusting the posture and position of the manipulator. A buffer mechanism 5 is arranged inside the rotating joint 4. The buffer mechanism 5 realizes the core functions of buffering and shock absorption, ensuring smooth rotation of the driving arm 2 and reducing impact vibration.

[0038] The buffer mechanism 5 includes a support shaft 501. Two support shafts 501 are rotatably connected to the inside of the rotating joint 4. The support shaft 501 realizes the support and positioning of the damping box 502, ensuring the stable operation of the damping box 502. At the adjacent ends of the support shafts 501, there is a fixed connection with a damping box 502. The damping box 502 serves as the carrier of the buffer mechanism 5, accommodating components such as buffer springs 503 and providing a buffer space. Inside the damping box 502, there are multiple buffer springs 503 fixedly connected. The buffer springs 503 realize the absorption and release of energy through compression or stretching, reducing the impact force of the driving arm 2 and playing a role in buffering and shock absorption. Inside the damping box 502, there are multiple sealing rings 504 fixedly connected. The sealing rings 504 ensure the stability and sealing performance during the movement of the movable rod 505, prevent leakage, and ensure the normal operation of the buffer mechanism 5. Inside the sealing rings 504, there is a sliding connection with a movable rod 505. The movable rod 505 realizes the transmission of motion, converting the motion of the driving arm 2 into the movement of the rubber piston 506 inside the damping box 502. At one end of the movable rod 505, there is a fixed connection with a rubber piston 506. Spherical grooves 507 are provided at both ends of the rubber piston 506. The outer wall of the rubber piston 506 slides inside the damping box 502, and the edges at both ends of the rubber piston 506 can be turned over. The rubber piston 506 realizes the movement inside the damping box 502 to compress or stretch the buffer springs 503. Its turnable edges prevent the flow of gas. The spherical grooves 507 extend the buffer time, enhance the damping effect, and improve the buffer and shock absorption performance. The other end of the rubber piston 506 is connected to one end of the buffer spring 503, and the other end of the buffer spring 503 is fixedly connected inside the damping box 502. At the other end of the movable rod 505, there is a transmission component, which realizes the transmission of the motion of the movable rod 505 and the linkage between the buffer mechanism 5 and other parts of the rotating joint 4. On the outer wall of the damping box 502, there is a constant pressure component, which realizes the balance of the pressure difference inside the damping box 502, ensuring that the buffer springs 503 and the rubber piston 506 work under a stable pressure and maintaining a stable damping effect.

[0039] The rotating joint 4 includes a fixed joint 401. The fixed joint 401 is fixedly connected between the driving arms 2 through bolts. The fixed joint 401 realizes the connection and fixation of the driving arms 2, ensuring the firm connection between the rotating joint 4 and the driving arms 2. On the adjacent sides of the two fixed joints 401, there is a fixed connection with a rotating shaft 402. The rotating shaft 402 serves as the rotation center of the collar 511, provides rotational support, and ensures the smooth movement of the transmission component.

[0040] The transmission assembly includes a fixed post 508. The outer wall of the fixed post 508 is fixedly connected to the other end of the movable rod 505. The fixed post 508 serves as the starting connection point of the transmission assembly and transmits the movement of the movable rod 505. Rotating plates 509 are rotatably connected to both sides of the fixed post 508. The rotating plates 509 transmit force and movement through rotation and transfer the movement of the fixed post 508 to the transmission plate 510. A transmission plate 510 is rotatably connected to the adjacent sides of the two rotating plates 509. The transmission plate 510 further transmits the movement and transfers the movement of the rotating plates 509 to the collar 511. The other end of the transmission plate 510 is fixedly connected to the collar 511. The collar 511 rotates around the rotating shaft 402, cooperates with the transmission assembly and the rotating joint 4 to rotate, and realizes the overall linkage function. The inner side of the collar 511 is rotatably connected to the outer side of the rotating shaft 402.

[0041] The constant pressure assembly includes an oil tank 512. The oil tank 512 accommodates media such as hydraulic oil and provides the space and material basis for constant pressure regulation. A partition plate 513 is fixedly connected inside the oil tank 512. The partition plate 513 divides the internal space of the oil tank 512 and cooperates with structures such as the pressing plate 519 to realize the pressure regulation function. A plurality of through holes 514 are opened at the top of the partition plate 513. The through holes 514 pressurize the hydraulic oil when it flows under the pressure difference, increase the flow rate, and ensure the rapid transmission of the pressure. The two ends of the through holes 514 are arranged in an open trumpet shape, and the diameter of the middle part is smaller than that of the two ends. Two pressing plates 519 are slidably connected between the inside of the oil tank 512 and both sides of the partition plate 513. The pressing plates 519 slide when the pressure changes, drive the transmission rods 515 and the pneumatic plug 516 to move to adjust the balanced pressure. A plurality of transmission rods 515 are fixedly connected to the bottom of the pressing plates 519. The transmission rods 515 transmit the movement of the pressing plates 519 to the pneumatic plug 516 to complete the force transmission. The other end of the transmission rods 515 is fixedly connected to the pneumatic plug 516. The pneumatic plug 516 moves inside the constant pressure chamber 518 and cooperates with the filling ring 517 to adjust the pressure inside the damping box 502. A filling ring 517 is fixedly connected to the outer side of the pneumatic plug 516. The filling ring 517 contacts the inner wall of the constant pressure chamber 518, ensures the sealing of the cavity, prevents the leakage of hydraulic oil, and ensures the effectiveness of constant pressure regulation. A constant pressure chamber 518 is provided at the connection between the bottom of the oil tank 512 and the top of the damping box 502. The constant pressure chamber 518 connects the damping box 502 and the oil tank 512, transmits and balances the pressure, and ensures the stable operation of the buffer mechanism 5. The two constant pressure chambers 518 are respectively connected to the cavities above and below the rubber piston 506. The outer side of the filling ring 517 contacts the inner wall of the constant pressure chamber 518 to ensure the sealing during the pressure transmission process.

[0042] Working principle: When the driving arm 2 rotates through the rotating joint 4, it drives the relative rotation of the collar 511 and the transmission rod 515. Thereby, the rotating plate 509 rotates to push or pull the movable rod 505, driving the rubber piston 506 fixedly connected to one end of the movable rod 505 to move in the damping box 502. The turnable edges at both ends ensure that gas does not flow through the edge of the rubber piston 506 during the sliding process, and the movement of the rubber piston 506 compresses or stretches the buffer spring 503. When the driving arm 2 rotates and accelerates or is impacted, the rubber piston 506 compresses the buffer spring 503, and the buffer spring 503 absorbs energy to reduce the impact force; when the external force weakens or disappears, the buffer spring 503 resets and releases energy, pushing the rubber piston 506 and the movable rod 505 to reset, enabling the driving arm 2 to have a smooth transition. The structure of the spherical groove 507 can cause the piston to have a special squeezing and releasing effect on the air during the movement process. When the piston is pushed by an external force, the bowl-shaped structure will first provide a space for the fluid to converge and buffer, and then gradually extrude the fluid, which helps to extend the buffer time, increase the effect of the damping force, and thus more effectively absorb and dissipate the vibration energy, improving the buffer and shock absorption performance of the entire damping device.

[0043] Meanwhile, the movement of the rubber piston 506 changes the pressure inside the damping box 502, and the constant pressure component starts to function. The packing ring 517 outside the pneumatic plug 516 contacts the inner wall of the constant pressure chamber 518 to ensure the airtightness of the chamber. Thus, the pneumatic plug 516 on the side with higher pressure moves upward due to the pressure inside the damping box 502, driving the sliding of the pressing plate 519 in the fuel tank 512, and then squeezing the hydraulic oil upward. The through hole 514 at the top of the partition plate 513 allows the hydraulic oil to flow under the action of the pressure difference. Since both ends of the through hole 514 are in the shape of an open trumpet and the diameter in the middle is smaller than that at both ends, the hydraulic oil is further pressurized when passing through the through hole 514, thereby increasing the flow rate of the hydraulic oil and making the entire pressure transmission process rapid. Then, the flow of the hydraulic oil drives another pressing plate 519 to move downward synchronously, and then increases the pressure in the space with lower pressure inside the damping box 502 through the action of the pneumatic plug 516 and the packing ring 517 on the other side, balancing the pressure difference inside the damping box 502, ensuring that the buffer spring 503 and the rubber piston 506 always work in a stable pressure environment and maintaining the smoothness of the damping effect.

[0044] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A damping buffer structure of a manipulator, comprising a base (1), characterized in that: The top of the base (1) is provided with multiple driving arms (2), the output end of the end driving arm (2) is provided with a movable part (3), a rotating joint (4) is arranged between multiple driving arms (2), and a buffer mechanism (5) is arranged inside the rotating joint (4); The buffer mechanism (5) includes a support shaft (501), the two support shafts (501) are rotatably connected inside the rotating joint (4), the adjacent ends of the support shafts (501) are fixedly connected with a damping box (502), multiple buffer springs (503) are fixedly connected inside the damping box (502), multiple sealing rings (504) are fixedly connected inside the damping box (502), a movable rod (505) is slidably connected to the inner side of the sealing ring (504), one end of the movable rod (505) is fixedly connected with a rubber piston (506), spherical grooves (507) are opened at both ends of the rubber piston (506), a transmission component is arranged at the other end of the movable rod (505), and a constant pressure component is arranged on the outer wall of the damping box (502).

2. The damping buffer structure of a manipulator according to claim 1, characterized in that: The other end of the rubber piston (506) is connected to one end of the buffer spring (503), and the other end of the buffer spring (503) is fixedly connected inside the damping box (502).

3. A damping buffer structure of a manipulator according to claim 1, characterized in that: The outer wall of the rubber piston (506) is slidably connected inside the damping box (502), and the edges at both ends of the rubber piston (506) can be turned over.

4. A damping buffer structure of a manipulator according to claim 1, characterized in that: The transmission component includes a fixed pile (508), the outer wall of the fixed pile (508) is fixedly connected to the other end of the movable rod (505), rotating plates (509) are rotatably connected to both sides of the fixed pile (508), a transmission plate (510) is rotatably connected to the adjacent sides of the two rotating plates (509), and a collar (511) is fixedly connected to the other end of the transmission plate (510).

5. The damping and buffering structure of a manipulator according to claim 1, characterized in that: The constant pressure component includes an oil tank (512), a partition plate (513) is fixedly connected inside the oil tank (512), two pressure plates (519) are slidably connected between the inside of the oil tank (512) and both sides of the partition plate (513), multiple transmission rods (515) are fixedly connected to the bottom of the pressure plate (519), a pneumatic plug (516) is fixedly connected to the other end of the transmission rod (515), a filling ring (517) is fixedly connected to the outside of the pneumatic plug (516), and a constant pressure cavity (518) is arranged at the connection between the bottom of the oil tank (512) and the top of the damping box (502).

6. The damping buffer structure of a manipulator according to claim 5, characterized in that: Multiple through holes (514) are opened at the top of the partition plate (513), both ends of the through holes (514) are arranged in an open trumpet shape, and the diameter of the middle part is smaller than that of both ends.

7. A damping and buffering structure of a manipulator according to claim 5, characterized in that: The two constant pressure cavities (518) are respectively connected to the upper and lower cavities of the rubber piston (506), and the outside of the filling ring (517) is in contact with the inner wall of the constant pressure cavity (518).

8. A damping buffer structure of a manipulator according to claim 4, characterized in that: The rotating joint (4) includes a fixed joint (401), the fixed joint (401) is fixedly connected between the driving arms (2) and the driving arms (2) by bolts, a rotating shaft (402) is fixedly connected to the adjacent sides of the two fixed joints (401), and the inner side of the collar (511) is rotatably connected to the outside of the rotating shaft (402).

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