Buffering and energy-absorbing device for mechanical arm

Abstract

The utility model relates to the technical field of manipulators, and discloses a mechanical arm buffering and energy absorbing device, a bottom platform of a three-layer platform is provided with a rotating motor, a middle platform of the three-layer platform is provided with a buffering mechanism, and the middle of an output shaft of the rotating motor is provided with an energy absorbing mechanism which is in press fit with the buffering mechanism. The top of an output shaft of the rotating motor is fixedly connected with the rotating base. The buffering and energy absorbing device is arranged at the source end of the driving component in a built-in mode, on one hand, the buffering and energy absorbing device has more efficient and accurate tail end buffering and energy absorbing performance, the tail end movement of the mechanical arm can be stopped in time, meanwhile, interference of external impurity factors is prevented, and the service life of the mechanical arm is prolonged. And on the other hand, the gear tooth meshing transmission mode has more accurate transmission ratio performance, friction force of the energy absorption mechanism and the buffering mechanism can be accurately transmitted, and the buffering energy absorption efficiency of the energy absorption mechanism is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a buffering energy absorption device for a manipulator arm. Background Art

[0002] The robot can replace the heavy labor of people to realize the mechanization and automation of production. It can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy. During the movement of the robot arm, due to its large inertia and high kinetic energy, the kinetic energy at the end of its stroke cannot be effectively recovered, causing the robot arm to vibrate back and forth when it runs to the end. Therefore, when the robot arm is used for braking operation, it is usually equipped with a buffer energy absorption device to recover the kinetic energy at its end. For example, as shown in the existing patent technology: After searching, the China Patent Network discloses a rotating Manipulator buffer energy absorption device (public announcement number CN216543372U). When this type of device is in use, by setting up energy absorption columns and energy absorption plates, the pneumatic swing table drives the robot arm to rotate and is about to reach the end point. By setting an arc-shaped groove with shallow ends and deep middle on the energy absorption plate, the robot arm can rotate quickly without hindrance during work, and can smoothly, stably and effectively reduce the speed of the robot arm when it rotates close to the end point. The friction between the energy absorption column and the energy absorption plate is used for the final energy recovery, so that the robot arm can be smoothly docked at the end point, effectively avoiding the back and forth vibration of the robot arm when it runs to the end.

[0003] However, there are still some shortcomings in the buffering energy absorption device adopted by the above-mentioned public patent and the existing market: the existing energy absorption column and spring elastic force combination are used, and the energy absorption plate rotates and slides in the arc groove, and the friction between the energy absorption column and the energy absorption plate is used for the final energy recovery to achieve energy absorption and shock absorption. In the process of rotating back and forth to absorb energy, it is very easy for external dust and impurities to fall into the arc groove, causing its travel path to fluctuate, and the friction coefficient between the energy absorption column and the energy absorption plate deviates, resulting in its energy absorption buffering effect being greatly reduced, and it is impossible to effectively and accurately realize the energy absorption work of the end movement of the robot arm. To this end, those skilled in the art provide a buffering energy absorption device for a robot arm to solve the problems raised in the above background technology. Utility Model Content

[0004] The main purpose of the utility model is to provide a mechanical arm buffer energy absorption device, which can effectively solve the problem that the existing mechanical arm buffer energy absorption device in the background technology is easily caused by external dust, impurities, etc., which leads to a greatly reduced energy absorption and buffering effect and cannot effectively and accurately realize the energy absorption work of the mechanical arm end movement.

[0005] To achieve the above-mentioned purpose, the technical solution adopted by the utility model is: a mechanical arm buffer energy absorption device, comprising a three-layer platform and a rotating seat installed on the top platform of the three-layer platform, the bottom platform of the three-layer platform is provided with a rotating motor, and the middle platform of the three-layer platform is provided with a buffer mechanism, the middle part of the output shaft of the rotating motor is provided with an energy absorption mechanism pressed with the buffer mechanism, and the top of the output shaft of the rotating motor is fixedly connected with the rotating seat;

[0006] The energy absorption mechanism comprises a fixed shaft sleeve installed in the middle of the output shaft of the rotating motor, an electric push rod is arranged on one side of the fixed shaft sleeve along the track direction of the buffer mechanism, and an energy absorption sleeve is arranged at the telescopic end of the electric push rod, a compression spring is arranged inside the sleeve seat of the energy absorption sleeve, and a compression guide rod penetrating the energy absorption sleeve is arranged at the top of the spring seat of the compression spring, a connecting seat is arranged at the top of the arm rod of the compression guide rod, and a transmission gear is rotatably connected inside the support of the connecting seat;

[0007] The buffer mechanism includes a buffer guide rail installed on the middle platform of the three-layer platform, a track groove is opened inside the buffer guide rail, a pressure release rack is arranged in the middle of the guide rail of the track groove, pressure buffer racks are symmetrically arranged at both ends of the tooth seat of the pressure release rack, and a pressure stop rack is arranged at the other end of the tooth seat of the pressure buffer rack.

[0008] As a further solution of the utility model: the telescopic direction of the electric push rod is directly opposite to the notch direction of the track slide slot.

[0009] As a further solution of the utility model: the compression guide rod is elastically engaged with the energy absorbing sleeve via a compression spring.

[0010] As a further solution of the utility model: the teeth of the transmission gear are respectively meshed with the teeth of the pressure release rack, the pressure buffer rack and the pressure stop rack; the teeth of the pressure release rack are arranged in a fan shape, the teeth of the pressure buffer rack are arranged in an arc shape, and the teeth of the pressure stop rack are arranged in a straight line.

[0011] As a further solution of the utility model: both ends of the track of the buffer guide rail are threaded with adjusting screws, one end of the shaft of the adjusting screw is provided with a knob, and the other end of the shaft of the adjusting screw is rotatably connected to a stop top block guided by the track slide groove.

[0012] As a further solution of the utility model: a robotic arm mechanism is arranged at the upper end of the support of the rotating seat, and the robotic arm mechanism includes a first robotic arm installed at the upper end of the support of the rotating seat, a second robotic arm is arranged at the top end of the support arm of the first robotic arm, a third robotic arm is arranged at the top end of the support arm of the second robotic arm, and a fourth robotic arm is arranged at the top end of the support arm of the third robotic arm.

[0013] As a further solution of the present invention: the first robotic arm and the second robotic arm are connected via a first transmission member, the second robotic arm and the third robotic arm are connected via a second transmission member, and the third robotic arm and the fourth robotic arm are connected via a third transmission member.

[0014] Compared with the prior art, the utility model has the following beneficial effects:

[0015] 1. During the rotational drive process, the mechanical arm of the utility model can rotate and displace synchronously with the rotational transmission of the rotating motor by utilizing the synchronous operation of the energy absorbing mechanism with the rotating motor. Then, when the rotating motor is rotationally driven to the mechanical end, the pressure buffer rack and the pressure stop rack in the buffer mechanism are engaged with the transmission gear in the energy absorbing mechanism by pressure, so that the compression spring is gradually compressed, and the terminal braking force is converted into compression force absorption, thereby realizing the buffering energy absorption of the terminal movement of the mechanical arm and avoiding the situation that the terminal movement cannot stop in time and inertial jitter occurs. When the rotating motor is rotationally driven to the middle section of the machine, the pressure release rack in the buffer mechanism is engaged with the transmission gear in the energy absorbing mechanism by buffering, so that the compression spring is gradually reset to prepare for the terminal energy absorption braking.

[0016] 2. This novel device has a buffering energy absorption device in a built-in form at the source end of the driving component. On the one hand, it has a more efficient and accurate end buffering energy absorption performance, which can stop the movement of the end of the robot arm in time, and prevent interference from external impurities, such as dust and impurities, to interfere with its buffering energy absorption process. On the other hand, its tooth meshing transmission method has a more accurate transmission ratio performance, which can accurately transmit the friction between the energy absorption mechanism and the buffer mechanism, thereby improving its buffering energy absorption efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic structural diagram of a mechanical arm buffer energy absorption device of the utility model;

[0018] Figure 2 It is a schematic diagram of the assembly of the energy absorbing mechanism and the buffering mechanism in a buffering energy absorbing device for a mechanical arm of the utility model;

[0019] Figure 3 It is a structural schematic diagram of an energy absorbing mechanism in a buffering energy absorbing device for a mechanical arm of the utility model;

[0020] Figure 4 This is a structural schematic diagram of a buffer mechanism in a buffer energy absorption device for a mechanical arm of the utility model;

[0021] Figure 5 It is a plan view of a buffer mechanism in a buffer energy absorption device for a mechanical arm of the utility model.

[0022] In the figure: 1. three-layer platform; 2. rotating seat; 3. first mechanical arm; 4. second mechanical arm; 5. third mechanical arm; 6. fourth mechanical arm; 7. first transmission member; 8. second transmission member; 9. third transmission member; 10. rotating motor; 11. energy absorption mechanism; 111. fixed shaft sleeve; 112. electric push rod; 113. energy absorption sleeve; 114. compression spring; 115. compression guide rod; 116. connecting seat; 117. transmission gear; 12. buffer mechanism; 121. buffer guide rail; 122. track slide groove; 123. stop top block; 124. adjusting screw; 125. knob; 126. pressure release rack; 127. pressure buffer rack; 128. pressure stop rack. DETAILED DESCRIPTION

[0023] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further described below in conjunction with specific implementation methods.

[0024] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0025] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0026] Please refer to Figure 1-4As shown, a mechanical arm buffering energy absorption device comprises a three-layer platform 1 and a rotating seat 2 installed on the top platform of the three-layer platform 1, a rotating motor 10 is arranged on the bottom platform of the three-layer platform 1, the top of the output shaft of the rotating motor 10 is fixedly connected to the rotating seat 2, a mechanical arm mechanism is arranged on the upper end of the support of the rotating seat 2, the mechanical arm mechanism comprises a first mechanical arm 3 installed on the upper end of the support of the rotating seat 2, a second mechanical arm 4 is arranged on the top end of the support of the first mechanical arm 3, a third mechanical arm 5 is arranged on the top end of the support of the second mechanical arm 4, a fourth mechanical arm 6 is arranged on the top end of the support of the third mechanical arm 5, and the first mechanical arm 3 and the second mechanical arm 4 are connected via a first transmission The first transmission member 7 is connected with the second mechanical arm 4 and the third mechanical arm 5 through the second transmission member 8, and the third mechanical arm 5 and the fourth mechanical arm 6 are connected with each other through the third transmission member 9. When the multi-axis operation of the mechanical arm is utilized, the first transmission member 7, the second transmission member 8, and the third transmission member 9 can be driven by a motor, a rotary cylinder, or a hydraulic cylinder to drive the first mechanical arm 3, the second mechanical arm 4, the third mechanical arm 5, and the fourth mechanical arm 6 to operate in linkage with each other, and the rotating motor 10 can be used to drive the rotating seat 2 to rotate, so as to promote the horizontal rotation of the overall direction of the mechanical arm and drive it to rotate in a large direction.

[0027] A buffer mechanism 12 is provided on the middle platform of the three-layer platform 1. The buffer mechanism 12 includes a buffer guide rail 121 installed on the middle platform of the three-layer platform 1. A track groove 122 is provided inside the buffer guide rail 121. A pressure release rack 126 is provided in the middle of the guide rail of the track groove 122. Pressure buffer racks 127 are symmetrically provided at both ends of the tooth seat of the pressure release rack 126, and a pressure stop rack 128 is provided at the other end of the tooth seat of the pressure buffer rack 127. A transmission gear 117 is rotatably connected to the support of the connecting seat 116. The teeth of the transmission gear 117 are respectively meshed with the teeth of the pressure release rack 126, the pressure buffer rack 127, and the pressure stop rack 128. The teeth of the pressure release rack 126 are arranged in a fan shape, and the teeth of the pressure buffer rack 127 are arranged in an arc shape. The teeth of the pressure stop rack 128 are arranged in a straight line. When the rotating motor 10 is driven to the end of the machine, the arc-shaped pressure buffer rack 127 and the linear pressure stop rack 128 in the buffer mechanism 12 gradually pressure-engage the transmission gear 117 in the energy absorption mechanism 11, so that the compression spring 114 can be gradually compressed, and the terminal braking force is gradually converted into compression force absorption, so as to realize the buffering energy absorption of the terminal movement of the robot arm and avoid the situation that the terminal movement cannot stop in time and inertial jitter occurs. When the rotating motor 10 is driven to the middle section of the machine, the fan-shaped pressure release rack 126 in the buffer mechanism 12 buffers the transmission gear 117 in the energy absorption mechanism 11, so that the compression spring 114 can be gradually reset on its rack to prepare for the next terminal energy absorption braking.

[0028] Adjusting screws 124 are threaded through both ends of the track of the buffer guide rail 121, and a knob 125 is provided at one end of the shaft of the adjusting screw 124, and the other end of the shaft of the adjusting screw 124 is rotatably connected to a stop top block 123 guided by the track slot 122. When the buffer energy absorption device is used to absorb energy and stop the movement of the end of the robot arm, by turning the knob 125, the adjusting screw 124 is driven to spirally push, and the stop top block 123 is pushed to slide in the track slot 122 to keep it in a suitable position, and the transmission gear 117 that moves to the end is auxiliary stopped, thereby improving the timeliness of the movement stop of the end of the robot arm.

[0029] An energy absorbing mechanism 11 pressed into the buffer mechanism 12 is provided in the middle of the output shaft of the rotating motor 10. The energy absorbing mechanism 11 includes a fixed shaft sleeve 111 installed in the middle of the output shaft of the rotating motor 10. An electric push rod 112 is provided on one side of the fixed shaft sleeve 111 along the track direction of the buffer mechanism 12. The telescopic direction of the electric push rod 112 is exactly opposite to the notch direction of the track groove 122. By utilizing the telescopic transmission of the electric push rod 112, the transmission gear 117 can be pushed into the track groove 122 of the buffer mechanism 12, so that it maintains a suitable elastic friction pressure with the three groups of pressure racks in the track groove 122, and the elastic friction pressure is used to accurately and timely stop the movement of the end of the robot arm.

[0030] An energy absorbing sleeve 113 is provided at the telescopic end of the electric push rod 112, a compression spring 114 is provided inside the sleeve seat of the energy absorbing sleeve 113, and a compression guide rod 115 penetrating the energy absorbing sleeve 113 is provided at the top of the spring seat of the compression spring 114, and a connecting seat 116 is provided at the top of the arm of the compression guide rod 115. The compression guide rod 115 is elastically engaged with the energy absorbing sleeve 113 through the compression spring 114. By utilizing the elastic force of the compression spring 114 to compress, the compression guide rod 115 and the energy absorbing sleeve 113 are kept in an elastically pressed state, which can buffer the energy absorption conversion of the braking force at the end of the robot arm and convert the braking force into elastic pressure to stop the end movement in time.

[0031] The working principle of the utility model is as follows: when the multi-axis operation of the mechanical arm is utilized, the driving of the first transmission member 7, the second transmission member 8, and the third transmission member 9 can be utilized to drive the linkage operation between the first mechanical arm 3, the second mechanical arm 4, the third mechanical arm 5, and the fourth mechanical arm 6, and the rotation drive of the rotating seat 2 by the rotating motor 10 can be utilized to promote the horizontal rotation of the overall direction of the mechanical arm, and perform a large-scale rotation drive on it. When the rotating motor 10 drives the overall structure of the mechanical arm to rotate and displace, when the rotating motor 10 is rotated and driven to the mechanical end, the arc-shaped pressure buffer rack 127 and the straight-line pressure stop rack 128 in the buffer mechanism 12 gradually pressure-engage the transmission gear 117 in the energy absorption mechanism 11, so that the compression spring 114 can be gradually compressed, and the terminal braking force can be gradually converted into compression force absorption, so as to realize the buffering energy absorption of the terminal movement of the mechanical arm, and avoid the situation that the terminal movement cannot stop in time and inertial jitter occurs. When the machine 10 is driven to rotate to the middle section of the machine, the fan-shaped pressure release rack 126 in the buffer mechanism 12 is engaged with the transmission gear 117 in the energy absorption mechanism 11 through the buffering engagement, so that the compression spring 114 can be gradually reset on its rack, preparing for the next end energy absorption braking, and in the subsequent working operation process, by utilizing the telescopic transmission of the electric push rod 112, the transmission gear 117 can be pushed into the track groove 122 of the buffer mechanism 12 to keep it in a suitable orientation, and maintain a suitable elastic friction pressure with the three groups of pressure racks in the track groove 122, and utilize the elastic friction pressure to accurately and timely stop the movement of the end of the robot arm. Synchronously, by arranging the buffer energy absorption device in a built-in form at the source end of the driving component, it has a more efficient and accurate end buffer energy absorption performance, can timely stop the movement of the end of the robot arm, and at the same time prevent interference from external impurities, and avoid external dust, impurities and other factors from interfering with its buffer energy absorption process.

[0032] The above shows and describes the basic principle and main features of the utility model and the advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments. The above embodiments and descriptions are only for explaining the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, which fall within the scope of the utility model to be protected. The scope of protection claimed by the utility model is defined by the attached claims and their equivalents.

Claims

1. A mechanical arm buffering energy absorption device, comprising a three-layer platform (1) and a rotating seat (2) installed on the top platform of the three-layer platform (1), characterized in that: The bottom platform of the three-layer platform (1) is provided with a rotating motor (10), and the middle platform of the three-layer platform (1) is provided with a buffer mechanism (12); an energy absorbing mechanism (11) pressed against the buffer mechanism (12) is provided in the middle of the output shaft of the rotating motor (10), and the top of the output shaft of the rotating motor (10) is fixedly connected to the rotating seat (2); The energy absorption mechanism (11) comprises a fixed shaft sleeve (111) installed at the middle of the output shaft of the rotating motor (10); an electric push rod (112) is arranged on one side of the fixed shaft sleeve (111) along the track direction of the buffer mechanism (12); an energy absorption sleeve (113) is arranged at the telescopic end of the electric push rod (112); a compression spring (114) is arranged inside the sleeve seat of the energy absorption sleeve (113); a compression guide rod (115) penetrating the energy absorption sleeve (113) is arranged at the top of the spring seat of the compression spring (114); a connecting seat (116) is arranged at the top of the arm of the compression guide rod (115); and a transmission gear (117) is rotatably connected inside the support of the connecting seat (116); The buffer mechanism (12) comprises a buffer guide rail (121) installed on the middle platform of the three-layer platform (1), a track groove (122) is provided inside the buffer guide rail (121), a pressure release rack (126) is provided in the middle of the guide rail of the track groove (122), pressure buffer racks (127) are symmetrically provided at both ends of the tooth seat of the pressure release rack (126), and a pressure stop rack (128) is provided at the other end of the tooth seat of the pressure buffer rack (127).

2. A mechanical arm buffering energy absorption device according to claim 1, characterized in that: The telescopic direction of the electric push rod (112) is directly opposite to the notch direction of the track slide groove (122).

3. A mechanical arm buffering energy absorption device according to claim 1, characterized in that: The compression guide rod (115) is elastically engaged with the energy absorbing sleeve (113) via a compression spring (114).

4. The mechanical arm buffering energy absorption device according to claim 1, characterized in that: The teeth of the transmission gear (117) are respectively meshed with the teeth of the pressure release rack (126), the pressure buffer rack (127), and the pressure stop rack (128); the teeth of the pressure release rack (126) are arranged in a fan shape, the teeth of the pressure buffer rack (127) are arranged in an arc shape, and the teeth of the pressure stop rack (128) are arranged in a straight line shape.

5. The mechanical arm buffer energy absorption device according to claim 1, characterized in that: Both ends of the track of the buffer guide rail (121) are threadedly connected with an adjusting screw (124), one end of the shaft of the adjusting screw (124) is provided with a knob (125), and the other end of the shaft of the adjusting screw (124) is rotatably connected with a stop block (123) guided by the track slide groove (122).

6. The mechanical arm buffering energy absorption device according to claim 1, characterized in that: A mechanical arm mechanism is arranged at the upper end of the support of the rotating seat (2), and the mechanical arm mechanism comprises a first mechanical arm (3) mounted on the upper end of the support of the rotating seat (2), a second mechanical arm (4) is arranged at the top end of the support arm of the first mechanical arm (3), a third mechanical arm (5) is arranged at the top end of the support arm of the second mechanical arm (4), and a fourth mechanical arm (6) is arranged at the top end of the support arm of the third mechanical arm (5).

7. A mechanical arm buffering energy absorption device according to claim 6, characterized in that: The first mechanical arm (3) and the second mechanical arm (4) are connected in transmission via a first transmission member (7), the second mechanical arm (4) and the third mechanical arm (5) are connected in transmission via a second transmission member (8), and the third mechanical arm (5) and the fourth mechanical arm (6) are connected in transmission via a third transmission member (9).

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