Robot vibration reduction structure and robot

Abstract

The invention provides a robot vibration reduction structure and a robot. The robot vibration reduction structure comprises a first sleeve, a first baffle is arranged at one end of the first sleeve, a lead screw and a second partition plate are arranged in the first sleeve, and one end of the lead screw sequentially penetrates through the second partition plate and the first baffle and then extends out of the first sleeve; a first cavity is formed between the second partition plate and the first baffle and filled with damping liquid, a nut is arranged on the first baffle, and the part, extending out of the first sleeve, of the lead screw is matched with a nut screw pair. The lead screw extends out of one end of the first sleeve, the other end of the first sleeve is provided with a first connecting part, and the first connecting part is used for being mutually fixed with a controlled structural part. According to the invention, the technical problem that mechanical fatigue damage is easily caused to an arm lever part due to poor damping characteristic of a collaborative robot in the prior art can be solved.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, specifically relating to a robot vibration reduction structure and a robot. Background Technology

[0002] With the development and popularization of robotics technology, collaborative robots are being widely used in various fields such as industry, scientific research, education, and consumer goods. However, unlike industrial robots, collaborative robots have relatively weak rigidity, and their components, such as the arms, are prone to structural vibration when subjected to emergency braking or large impacts. This phenomenon not only causes mechanical fatigue damage to the arm components of the collaborative robot, but also seriously affects precision components such as joint modules at the joints, thereby affecting the overall working accuracy and service life of the collaborative robot. Therefore, how to effectively improve the overall rigidity and damping characteristics of collaborative robots is of significant research value.

[0003] Because existing collaborative robots have poor damping characteristics and cannot suppress the vibration of the robot's arm components, leading to technical problems such as easy mechanical fatigue damage to the arm components, this invention studies and designs a robot vibration reduction structure and robot. Summary of the Invention

[0004] Therefore, the present invention provides a robot vibration reduction structure and robot, which can solve the technical problem that the poor damping characteristics of collaborative robots in the prior art lead to easy mechanical fatigue damage to the arm components.

[0005] To address the aforementioned problems, this invention provides a robot vibration damping structure, comprising: a first sleeve, a first baffle at one end of the first sleeve, a lead screw and a second partition inside the first sleeve, one end of the lead screw passing through the second partition and the first baffle sequentially and extending out of the first sleeve, a first chamber formed between the second partition and the first baffle, the first chamber being filled with damping fluid, a nut on the first baffle, the portion of the lead screw extending out of the first sleeve engaging with the nut in a helical pair, and a first connecting portion at one end of the lead screw extending out of the first sleeve and the other end of the first sleeve, the first connecting portion being used to fix itself to a controlled structural component.

[0006] In some embodiments, a first partition is further provided inside the first sleeve, the first partition is located between the second partition and the first baffle, the lead screw passes through the first partition, the first chamber is formed between the first partition and the second partition, a fixing member is provided at one end of the lead screw extending out of the first sleeve, and the first connecting part is provided on the fixing member.

[0007] In some embodiments, a damping element is provided on the lead screw, the damping element is located between the first partition and the second partition, and the damping element has a second chamber filled with damping particles.

[0008] In some embodiments, the first sleeve includes a first part and a second part, the first part and the second part having an L-shaped structure. The first baffle, the lead screw and the second partition are all located in the first part. A second baffle is provided at one end of the second part facing away from the first part. The second baffle is provided with the first connecting part. A transmission rod is provided in the second part. The ends of the transmission rod are rotatably connected to the inner sidewall of the second part. A second moving wheel is provided on the transmission rod. A first moving wheel is provided at the other end of the lead screw. The first moving wheel and the second moving wheel are connected to the same belt.

[0009] In some embodiments, a second sleeve is provided on the outer wall of the second part, one end of the transmission rod extends into the second sleeve and is rotatably connected to the inner wall of the second sleeve, a third motion wheel is provided on the transmission rod, the third motion wheel is located inside the second sleeve, and the third motion wheel is connected to the inner wall of the robot arm component.

[0010] In some embodiments, the robot vibration damping structure further includes a fourth motion wheel located outside the first sleeve and the second sleeve, the third motion wheel being connected to the fourth motion wheel via a rope, and the fourth motion wheel being connected to the inner wall of the robot arm component.

[0011] In some embodiments, the inner wall of the robot arm component is provided with a plurality of second connecting parts, and the fourth motion wheel is connected to the second connecting parts through a plurality of elastic elements, with each second connecting part corresponding to one of the elastic elements.

[0012] In some embodiments, the fourth moving wheel is located above the second sleeve, and the second sleeve has a through hole through which the rope passes and connects with the fourth moving wheel.

[0013] In some embodiments, a sealing ring is provided between the first partition, the second partition, and the inner wall of the first sleeve.

[0014] The present invention also provides a robot that includes the aforementioned robot vibration reduction structure.

[0015] The robot vibration reduction structure provided by this invention has the following beneficial effects on the robot: When the robot arm vibrates, the first connecting part is fixed to the controlled structural component. Since the portion of the lead screw extending beyond the first sleeve engages with the nut screw pair, the lead screw, when excited by external vibration, will rotate along with the inner ring of the nut and move simultaneously. Therefore, the lead screw will also experience vibration displacement in the same direction. Under the action of the lead screw and nut, the lead screw will move linearly while simultaneously rotating around its own axis. When the lead screw rotates, it further agitates the damping fluid in the first chamber. When the damping fluid is subjected to shearing action, it generates damping characteristics, dissipating energy and preventing the lead screw from moving. This suppresses the vibration displacement of the robot arm components, achieving vibration suppression and ensuring the overall working accuracy and service life of the collaborative robot. Attached Figure Description

[0016] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. The drawings described below are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the robot vibration reduction structure of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the robot vibration reduction structure of the present invention. Figure 2 ; Figure 3 This is a schematic diagram of the robot vibration reduction structure of the present invention. Figure 3 ; Figure 4 This is a schematic diagram of the robot vibration reduction structure of the present invention. Figure 4 ; Figure 5 This is a schematic diagram of the robot vibration reduction structure of the present invention. Figure 5 ; Figure 6 This is an assembly diagram of the robot vibration reduction structure of the present invention; Figure 7 This is a schematic diagram of the damping component in the robot vibration reduction structure of the present invention.

[0018] The attached figures are labeled as follows: 1. First sleeve; 2. First baffle; 3. Lead screw; 4. First partition; 5. Nut; 6. Fixing component; 7. Second partition; 8. Damping fluid; 9. First moving wheel; 10. Second moving wheel; 11. Transmission rod; 12. Second sleeve; 13. Third moving wheel; 14. Second baffle; 15. First connecting part; 16. Bearing; 17. Belt; 18. Rope; 19. Fourth moving wheel; 20. Elastic component; 21. Second connecting part; 22. Robot arm component; 23. Damping component; 24. Second chamber; 25. Connecting component; 26. Damping particles. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0021] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0022] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0023] See also Figure 1-7 As shown in the embodiment of the present invention, a robot vibration reduction structure is provided, comprising: a first sleeve 1, a first baffle 2 provided at one end of the first sleeve 1, a lead screw 3 and a second partition 7 provided inside the first sleeve 1, one end of the lead screw 3 passing through the second partition 7 and the first baffle 2 in sequence and extending out of the first sleeve 1, a first chamber being formed between the second partition 7 and the first baffle 2, the first chamber being filled with damping fluid 8, a nut 5 provided on the first baffle 2, the portion of the lead screw 3 extending out of the first sleeve 1 engaging with the nut 5 in a helical pair, a first connecting portion 15 provided at one end of the lead screw 3 extending out of the first sleeve 1 and the other end of the first sleeve 1, the first connecting portion 15 being used to fix to the controlled structural component. In this technical solution, when the robot arm vibrates, the first connecting part 15 is fixed to the controlled structural component. Since the part of the lead screw 3 extending outside the first sleeve 1 is engaged with the screw pair of the nut 5, after the lead screw is excited by the external vibration direction, it will rotate with the inner ring of the nut and move simultaneously. Therefore, the lead screw 3 will also experience vibration displacement in the same direction. Under the action of the lead screw nut 5, the lead screw 3 will move linearly and rotate around its own axis. When the lead screw 3 rotates, it will further agitate the damping fluid 8 in the first chamber. When the damping fluid 8 is subjected to shearing action, it will generate damping characteristics, consume energy, and prevent the movement of the lead screw 3, thereby suppressing the vibration displacement of the robot arm component 22, achieving vibration suppression, and ensuring the overall working accuracy and service life of the collaborative robot.

[0024] It should be noted that a helical pair fit refers to a mechanical transmission where a threaded fit is used to achieve the conversion between rotational and linear motion. The space has a low V-level, the pair designation is H, and it has one degree of freedom. The first connecting part 15 has an arched connecting structure, that is, a semi-circular ring structure.

[0025] Industrial robots typically use heavy metals such as cast iron and cast steel for their bodies, and their structural components are very robust to withstand high acceleration and inertial forces. Collaborative robots, on the other hand, widely use lightweight materials such as aluminum alloys and engineering plastics, and some internal structures may use composite materials to achieve weight reduction.

[0026] Industrial robots have high static stiffness. When subjected to rated load, the deformation of the end effector is very small, ensuring high repeatability and positioning accuracy. Moreover, when moving at high speed or stopping and starting suddenly, the robot body hardly vibrates or shakes and can quickly stabilize.

[0027] Collaborative robots, due to the use of lightweight materials and harmonic reducers, exhibit greater end-effector deformation under the same load, are more prone to vibration during high-speed movement, and require a longer stabilization time.

[0028] In some embodiments, a first partition 4 is further provided inside the first sleeve 1, located between the second partition 7 and the first baffle 2. The lead screw 3 passes through the first partition 4, and the first chamber is formed between the first partition 4 and the second partition 7. A fixing member 6 is provided at one end of the lead screw 3 extending outside the first sleeve 1, and the first connecting part 15 is provided on the fixing member 6. In this technical solution, the first chamber is a closed cavity, and both the first partition 4 and the second partition 7 are fixed to the inner wall of the first sleeve 1. The first partition 4 can be movably adjusted to adjust the volume of damping fluid in the formed first chamber, ensuring that there is enough damping fluid to resist vibration displacement and maintain the weight of the entire device within an acceptable range. Through the fixing member 6 and the first connecting part 15, the lead screw 3 is connected to one side of the controlled structural component, thereby allowing the vibration displacement of the controlled structural component to be transmitted to the lead screw 3.

[0029] In some embodiments, the first baffle 2 can be fixed to the first sleeve 1 by means of threaded connection or other methods. A circular through hole is provided in the middle of the first baffle 2, the first partition 4, and the second partition 7. The lead screw 3 passes through the through hole. The lead screw 3 and the through hole can also be connected by a helical pair. The nut 5 is fixed on the first baffle 2, and its inner ring forms a helical pair relationship with the lead screw 3. The through holes of the first partition 4 and the second partition 7 can be fixedly connected to the lead screw 3.

[0030] In some embodiments, a damping element 23 is provided on the lead screw 3, located between the first partition 4 and the second partition 7. The damping element 23 has a second chamber 24 filled with damping particles 26. In this technical solution, the damping particles 26 can be existing damping particles, such as rubber. Through the damping element 23, the contact area with the damping fluid 8 is increased. When the lead screw 3 moves, the damping particles 26 collide in the second chamber 24, and the damping element 23 agitates the damping fluid 8. Under the combined action of the two, the vibration damping effect is further achieved.

[0031] In some implementations, in conjunction with participation Figure 7As shown, the damping element 23 consists of two identical structures, which are fixed together by a connector 25. Each damping structure 23 has a second chamber 24 inside, and each second chamber 24 contains damping particles 26 of a certain capacity. The connector 25 can be a screw, and the damping element 23 is fixedly mounted on the surface of the lead screw 3. Therefore, the damping element 23 can move as the lead screw 3 rotates. When the damping element 23 rotates under the action of the lead screw 3, the central part of the damping element 23 is an annular structure, with straight structures on both sides. The lead screw 3 is fixed to the inner wall of the annular structure, and the second chamber 24 can be located within the annular structure. Therefore, the damping element 23 has a convex shape, which increases the contact area between the lead screw 3 and the damping fluid 8, thereby intensifying the shearing action on the damping fluid 8 and improving the damping characteristics induced by the damping fluid 8. In addition, when the damping component 23 rotates under the action of the lead screw 3, it promotes the collision between the damping particles 26 in the second chamber 24 or between the damping particles 26 and the inner wall of the second chamber 24, thereby realizing the energy consumption of the damping particles 26 and the effect of suppressing vibration. Overall, it can improve the vibration suppression effect of the robot arm component 22 to a certain extent.

[0032] In some embodiments, the first sleeve 1 includes a first part and a second part, which are L-shaped. The first baffle 2, the lead screw 3, and the second partition 7 are all located in the first part. A second baffle 14 is provided at one end of the second part facing away from the first part. The first connecting part 15 is provided on the second baffle 14. A transmission rod 11 is provided in the second part. The ends of the transmission rod 11 are rotatably connected to the inner sidewall of the second part. A second moving wheel 10 is provided on the transmission rod 11. A first moving wheel 9 is provided at the other end of the lead screw 3. The first moving wheel 9 and the second moving wheel 10 are connected to the belt 17. In this technical solution, both the first and second parts are hollow structures and are connected to each other. The second baffle 14 is provided with the first connecting part 15, that is, the first sleeve 1 has a first connecting part 15 at each of its three ends. The controlled structure is fixed to the controlled structure through at least three first connecting parts 15, thereby ensuring the stability of the controlled structure and the uniform force on the robot vibration reduction structure of the present invention. The ends of the transmission rod 11 are rotatably connected to the inner sidewall of the second part. The transmission rod 11 is provided with a second motion wheel 10, and the other end of the lead screw 3 is provided with a first motion wheel 9. The first motion wheel 9 and the second motion wheel 10 are connected to the belt 17. When the lead screw 3 rotates, the first motion wheel 9 can drive the second motion wheel 10 to rotate, further improving the damping of the robot. In order to ensure that the rotation speed of the second motion wheel 10 is greater than that of the first motion wheel 9, the diameter of the second motion wheel 10 should be smaller than that of the first motion wheel 9.

[0033] In some embodiments, the first moving wheel 9 and the second moving wheel 10 are arranged opposite to the belt 17. The first moving wheel 9 is fixed to the part of the lead screw 3 that extends out of the second partition 7. The second moving wheel 10 is fixedly connected to the transmission rod 11, thereby ensuring that the second moving wheel 10 can drive the transmission rod 11 to rotate.

[0034] In some embodiments, the first sleeve 1 has sufficient space to ensure that the lead screw 3, the first moving wheel 9 and the second moving wheel 10 move normally and without interference during operation. The second baffle 14 and the end of the second part facing away from the first part can be fixed by means of threaded connection or other methods.

[0035] In some embodiments, a second sleeve 12 is provided on the outer wall of the second part. One end of the transmission rod 11 extends into the second sleeve 12 and is rotatably connected to the inner wall of the second sleeve 12. A third motion wheel 13 is provided on the transmission rod 11. The third motion wheel 13 is located inside the second sleeve 12 and is connected to the inner wall of the robot arm component 22. In this technical solution, both ends of the transmission rod 11 are fixed by bearings 16. The outer ring of the bearing 16 is fixed to the inner wall of the second sleeve 12 and the second part, and the inner ring is fixedly connected to the transmission rod 11. The robot arm component 22 is the target structural component. When the third motion wheel 13 rotates, the inner wall of the robot arm component 22 will be subjected to a downward pulling force, so that the robot arm component 22 is in a taut state, thereby improving the overall rigidity of the robot arm component 22 and thus enhancing the robot arm component 22's ability to resist vibration loads.

[0036] In some embodiments, the robot vibration damping structure further includes a fourth motion wheel 19, which is located outside the first sleeve 1 and the second sleeve 12. The third motion wheel 13 is connected to the fourth motion wheel 19 via a rope 18, and the fourth motion wheel 19 is connected to the inner wall of the robot arm component 22. In this technical solution, the rope 18 is used to transmit the motion of the third motion wheel 13 to the fourth motion wheel 19. When the third motion wheel 13 rotates, the rope 18 will be subjected to a downward pulling force under the action of the third motion wheel 13. When the rope 18 moves, the robot arm component 22 will be in a taut state through the fourth motion wheel 19, thereby improving the overall rigidity of the robot arm component 22.

[0037] In some embodiments, the inner wall of the robot arm component 22 is provided with multiple second connecting parts 21. The fourth motion wheel 19 is connected to the second connecting parts 21 through multiple elastic elements 20, and the second connecting parts 21 correspond one-to-one with the elastic elements 20. In this technical solution, the elastic element 20 can be a spring, and the second connecting part 21 can be a cylindrical fixed column or a ring connection structure. When the robot arm component 22 vibrates and displaces in the direction shown in the figure, the lead screw 3 will also vibrate and displace in the same direction. Under the action of the lead screw nut 5, the lead screw 3 will move linearly and rotate around its own axis. When the lead screw 3 rotates, it will further agitate the damping fluid 8 between the first partition 4 and the second partition 7. When the damping fluid 8 is subjected to shearing action, it will generate damping characteristics, consume energy, and prevent the movement of the lead screw 3, thereby suppressing the vibration displacement of the robot arm component 22 and achieving a vibration suppression effect. When the vibration displacement of the robot arm component 22 is too large, and the damping fluid 8 alone is insufficient to suppress the vibration, the first motion wheel 9, mounted on the other side of the lead screw 3, will rotate with a large amplitude. This motion is then transmitted to the second motion wheel 10 via the belt 17. Since the size of the second motion wheel 10 is smaller than that of the first motion wheel 9, the amplitude of motion of the second motion wheel 10 will be greater than that of the first motion wheel 9. The second motion wheel 10 then drives the transmission rod 11 to rotate, and the rotation of the transmission rod 11 will also drive the third motion wheel 13 to rotate. Finally, when the third motion wheel 13 rotates, it will exert a downward pulling force on the rope 18 with the assistance of the fourth motion wheel 19. This will cause the rope 18 to exert a tensile force on the elastic element 20. When the spring 20 is in a taut state, it will further exert a tension on the robot arm component 22 through the annular connection structure 21, keeping the robot arm component 22 in a taut state. This improves the overall rigidity of the robot arm component 22 and enhances its ability to resist vibration loads.

[0038] Current vibration control methods for collaborative robots primarily rely on active control strategies such as control algorithms. However, achieving ideal vibration suppression often requires complex logical derivations to ensure algorithm convergence, and also necessitates the placement of precision sensors as feedback devices in appropriate locations, which undoubtedly increases the cost of the control method. Therefore, a control method that can achieve vibration suppression or improve the overall stiffness of collaborative robots while maintaining advantages such as low cost and high efficiency has become a focus of attention.

[0039] The robot vibration reduction structure of the present invention can improve the overall stiffness and damping characteristics of the collaborative robot in real time when vibration occurs, thereby effectively suppressing the vibration of the collaborative robot during operation. The device does not require the addition of sensors or rely on complex control strategies, so it is low in cost and easy to implement.

[0040] In some embodiments, the fourth motion wheel 19 is located above the second sleeve 12, and the second sleeve 12 has a through hole through which the rope 18 passes and connects with the fourth motion wheel 19. In this technical solution, the fourth motion wheel 19 is located above the second sleeve 12, thereby ensuring that the robot vibration damping structure of the present invention provides tension to the target component, thus improving the stiffness of the device. The rope 18 passes through the through hole and connects with the fourth motion wheel 19, ensuring that the rope 18 is connected to the fourth motion wheel 19.

[0041] In some embodiments, a sealing ring is provided between the first partition 4, the second partition 7 and the inner wall of the first sleeve 1.

[0042] In some embodiments of this technical solution, sealing components such as sealing rings can be installed between the first partition 4, the second partition 7, and the inner wall of the first sleeve 1. The sealing rings can be rubber rings or other existing sealing structures to ensure that the damping fluid 8 does not leak. In the robot vibration reduction structure of the present invention, the damping fluid 8 can be a conventional damping fluid.

[0043] The robot vibration reduction structure of this invention incorporates a damping structure that applies a damping force to the robot arm when it vibrates, thereby improving the damping characteristics of the structure. Furthermore, if the vibration is so severe that the damper's effect is insignificant, a cable stiffening mechanism built into the device can be used to increase the overall stiffness of the robot arm, thus enhancing the vibration suppression effect.

[0044] The present invention also provides a robot, including the above-described robot vibration reduction structure.

[0045] It will be readily understood by those skilled in the art that, without conflict, the advantageous technical features of the above-mentioned methods can be freely combined and superimposed.

[0046] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention. The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the protection scope of the present invention.

Claims

1. A robot vibration reduction structure, characterized by: The utility model relates to a damping device for robot arm, including: First sleeve (1), one end of first sleeve (1) is provided with first baffle (2), be provided with screw rod (3) and second baffle (7) in first sleeve (1), one end of screw rod (3) is sequentially penetrated second baffle (7), first baffle (2) after the stretch out first sleeve (1) outside, the second baffle (7) with first baffle (2) between form first chamber, first chamber is filled with damping liquid (8), be provided with nut (5) on first baffle (2), the portion of screw rod (3) that stretches out first sleeve (1) outside with nut (5) screw pair cooperation, the end of screw rod (3) that stretches out first sleeve (1) outside, the other end of first sleeve (1) is provided with first connecting portion (15), and first connecting portion (15) is used to be fixed with controlled structure piece each other.

2. The robot vibration reduction structure of claim 1, wherein: Still be provided with first baffle (4) in first sleeve (1), first baffle (4) is located between second baffle (7) and first baffle (2), screw rod (3) penetrates first baffle (4), and first chamber forms between first baffle (4) and second baffle (7), and the end of screw rod (3) that stretches out first sleeve (1) outside is provided with fixing part (6), and first connecting portion (15) is arranged on fixing part (6).

3. The robot vibration reduction structure of claim 2, wherein: Be provided with damping part (23) on screw rod (3), and damping part (23) is located between first baffle (4) and second baffle (7), and damping part (23) has second chamber (24) in it, and second chamber (24) is filled with damping particle (26).

4. The robotic vibration reduction structure of claim 1, wherein: First sleeve (1) includes first part and second part, and first part and second part are L-shaped structure, first baffle (2), screw rod (3) and second baffle (7) are all located in first part, and second baffle (14) is arranged on the end of second part away from first part, and first connecting portion (15) is arranged on second baffle (14), and transmission rod (11) is arranged in second part, and the end of transmission rod (11) is rotatably connected with the inner side wall of second part respectively, and second motion wheel (10) is arranged on transmission rod (11), and first motion wheel (9) is arranged on the other end of screw rod (3), and first motion wheel (9) is connected with second motion wheel (10) with belt (17).

5. The robot vibration reduction structure of claim 4, wherein: Second sleeve (12) is arranged on the outer side wall of second part, one end of transmission rod (11) is stretched into second sleeve (12), and is rotatably connected with the inner wall of second sleeve (12), and third motion wheel (13) is arranged on transmission rod (11), and third motion wheel (13) is located in second sleeve (12), and third motion wheel (13) is connected with the inner wall of robot arm lever component (22).

6. The robotic vibration reduction structure of claim 4, wherein: The robot damping structure further comprises a fourth motion wheel (19) located outside the first sleeve (1) and the second sleeve (12), the third motion wheel (13) is connected with the fourth motion wheel (19) through a rope (18), and the fourth motion wheel (19) is connected with the inner wall of the robot arm rod component (22).

7. The robot vibration reduction structure of claim 6, wherein: The inner wall of the robot arm rod component (22) is provided with a plurality of second connecting parts (21), the fourth motion wheel (19) is connected with the second connecting parts (21) through a plurality of elastic members (20), and the second connecting parts (21) correspond to the elastic members (20) one by one.

8. The robotic vibration reduction structure of claim 6, wherein: The fourth motion wheel (19) is located above the second sleeve (12), and a through hole is formed in the second sleeve (12), the rope (18) passes through the through hole and is connected with the fourth motion wheel (19).

9. The robotic vibration reduction structure of claim 2, wherein: A sealing ring is arranged between the first partition plate (4), the second partition plate (7) and the inner wall of the first sleeve (1).

10. A robot, characterized in that The robot damping structure comprises the robot damping structure according to any one of claims 1 to 9.

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