Damping-adjustable mechanical arm
By designing the rotary connection assembly and damping adjustment mechanism in the robot arm, the damping adjustable damping of the robot arm is achieved, solving the problem that existing robot arm is difficult to meet both high damping and high structural strength, and meeting the high requirements for the performance of the robot arm.
Patent Information
- Application Number
- CN202421982480.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-15
- Publication Date
- 2025-06-17
- Estimated Expiration
- 2034-08-15
AI Technical Summary
Existing robotic arms are difficult to achieve while meeting high damping and high structural strength in some application fields, especially when carrying objects with large loads and precise control of the motion trajectory.
A mechanical arm with adjustable damping is designed to achieve the rotating connection between the shaft and the cantilever through the rotating connection assembly, and the rotating damping of the shaft is adjusted through the damping adjustment mechanism to ensure that the damping is adjustable under the premise that the structural strength is not affected.
It realizes that the damping of the robot arm is adjustable under the premise that the structural strength is not affected, which meets the high requirements for the performance of the robot arm, especially in applications with large load-bearing objects and precisely controlling the motion trajectory.
Smart Images
Figure CN222986977U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to a robotic arm with adjustable damping, belonging to the technical field of mechanical equipment. Background Art
[0002] In some application fields, higher requirements are imposed on the adjustable damping and structural strength of robotic arms. For example, in industrial production lines, robotic arms are required to be able to carry heavy objects and precisely control the movement trajectory; in construction, robotic arms are required to have strong structural strength for handling and installing heavy objects. The technical background of the present invention is precisely based on the requirements of these application fields. By providing robotic arms with adjustable damping and large structural strength, the performance requirements of robotic arms in these fields are met. Summary of the Utility Model
[0003] The utility model aims at the above-mentioned defects of the prior art and provides a robotic arm with adjustable damping.
[0004] The technical solution for the utility model to solve the above technical problems is as follows:
[0005] A robotic arm with adjustable damping includes a fixed shaft, a first cantilever and a second cantilever. One end of the first cantilever is rotatably installed on the fixed shaft through a rotating connection assembly. The other end of the first cantilever is rotatably connected to the second cantilever through a rotating connection assembly and a connecting shaft. The rotating connection assembly includes a bearing, a bearing seat and a damping adjustment mechanism. The bearing seats are installed at both ends of the first cantilever, the bearings are installed in the bearing seats, the top of the fixed shaft and the bottom of the connecting shaft are respectively inserted into the bearings at both ends of the first cantilever, the top of the connecting shaft is connected to the second cantilever, and the damping adjustment mechanisms are respectively arranged at the ends of the fixed shaft and the connecting shaft for respectively adjusting the damping of the fixed shaft and the connecting shaft.
[0006] The beneficial effect of the utility model lies in that: the utility model realizes the rotational connection between the shaft and the cantilever through the rotating connection assembly, and realizes the adjustment of the rotational damping of the shaft through the damping adjustment mechanism, so that the robotic arm can achieve adjustable damping on the premise of not affecting the structural strength.
[0007] On the basis of the above technical solution, the utility model can also make the following improvements:
[0008] Further, the damping adjustment mechanism includes a first gasket, a second gasket and a self-locking nut. The first gaskets are respectively clamped on the fixed shaft and the connecting shaft. The second gasket is a disc-shaped gasket. The ends of the fixed shaft and the connecting shaft are respectively locked by the self-locking nuts, and the second gasket is arranged between the first gasket and the self-locking nut.
[0009] Further, second bushings are respectively sleeved on the fixed shaft and the connecting shaft, and the second bushings are arranged between the first gasket and the bearing housing.
[0010] The beneficial effect of adopting the above further technical solution is as follows: when the self-locking nut is not installed, the first cantilever is in a completely free state. By clamping the first gasket on the fixed shaft, when the first cantilever rotates, since the first gasket and the fixed shaft are in a clamping relationship, the first gasket is fixed with the fixed shaft and does not rotate with the first cantilever. There is a frictional relationship between the first gasket and the second bushing. When the self-locking nut is installed, by controlling the magnitude of the pre-tightening force, the compression amount of the second gasket is changed to control the damping magnitude of the shaft.
[0011] Further, the damping adjustment mechanism further includes a third gasket, and the third gasket is arranged between the second gasket and the self-locking nut.
[0012] The beneficial effect of adopting the above further technical solution is as follows: by arranging the third gasket between the second gasket and the self-locking nut, protection is provided for the second gasket to avoid wear of the second gasket caused by the long-term action of the self-locking nut on the second gasket.
[0013] Further, two bearings are arranged in the bearing housing.
[0014] The beneficial effect of adopting the above further technical solution is as follows: the installation of the shaft in the bearing housing is more stable and the rotation is smoother.
[0015] Further, a fixed clamping block is fixedly arranged at the end of the second cantilever connected to the connecting shaft, and the top of the connecting shaft is installed in the fixed clamping block.
[0016] The beneficial effect of adopting the above further technical solution is as follows: the connection between the connecting shaft and the second cantilever is realized by clamping the connecting shaft with the fixed clamping block.
[0017] Further, a stop block is arranged at the top end of the connecting shaft.
[0018] The beneficial effect of adopting the above further technical solution is as follows: by screwing the stop block at the top end of the connecting shaft, the second cantilever is prevented from disengaging from the connecting shaft, ensuring the stability of the connection between the connecting shaft and the second cantilever.
[0019] Further, one end of the second cantilever far from the first cantilever is connected with a tail shaft through a rotating connection assembly, and a connection flange is arranged at the end of the tail shaft.
[0020] The beneficial effect of adopting the above further technical solution is as follows: the tail shaft can be used to connect other front-end application components through the connection flange.
[0021] Further, a bearing cover is arranged on the bearing housing.
[0022] Further, a first shaft sleeve is provided inside the bearing housing. BRIEF DESCRIPTION OF THE DRAWINGS
[0023] Figure 1 is a three-dimensional structural schematic diagram of the present utility model;
[0024] Figure 2 is a cross-sectional view of the present utility model;
[0025] Figure 3 is Figure 2 an enlarged view of part A of
[0026] Figure 4 is Figure 2 an enlarged view of part B of
[0027] Figure 5 is a top view of the present utility model;
[0028] Figure 6 is a structural schematic diagram of the fixed shaft;
[0029] Figure 7 is a structural schematic diagram of the first gasket.
[0030] The reference numerals are recorded as follows: 1, fixed seat; 2, bearing housing; 3, bearing; 4, first shaft sleeve; 5, bearing cover; 6, second shaft sleeve; 7, first gasket; 8, second gasket; 9, third gasket; 10, first cantilever; 11, connecting shaft; 12, fixed clamping block; 13, stop block; 14, tail shaft; 15, connecting flange; 16, self-locking nut; 17, fixed shaft; 18, second cantilever; 1701, mounting plane. DETAILED DESCRIPTION OF THE EMBODIMENTS
[0031] The principles and features of the present utility model will be described below with reference to the accompanying drawings. The examples given are only for explaining the present utility model and are not intended to limit the scope of the present utility model.
[0032] See Figures 1-7, A robotic arm with adjustable damping, comprising a fixed shaft 17, a first cantilever 10 and a second cantilever 18. In this embodiment, the fixed shaft 17 is installed through a fixed seat 1. The fixed shaft 17 and the fixed seat 1 can be integrally formed, or the fixed shaft 17 can be fixedly installed on the fixed seat 1 through a connecting member. One end of the first cantilever 10 is rotatably installed on the fixed shaft 17 through a rotating connection assembly. The other end of the first cantilever 10 is rotatably connected to the second cantilever 18 through a rotating connection assembly and a connecting shaft 11. The rotating connection assembly includes a bearing 3, a bearing seat 2, a bearing cover 5, a first bushing 4, a second bushing 6 and a damping adjustment mechanism. The bearing seat 2 is fixedly installed at both ends of the first cantilever 10 through screws. The bearing 3 is installed in the bearing seat 2. A bearing cover 5 is provided on the bearing seat 2. A first bushing 4 is provided in the bearing seat 2. The bearing 3 is installed in the first bushing 4. The top of the fixed shaft 17 and the bottom of the connecting shaft 11 are respectively inserted into the bearings 3 at both ends of the first cantilever 10. The top of the connecting shaft 11 is connected to the second cantilever 18. The damping adjustment mechanisms are respectively provided at the ends of the fixed shaft 17 and the connecting shaft 11. The damping adjustment mechanism is used to adjust the damping of the fixed shaft 17 and the connecting shaft 11 respectively.
[0033] The damping adjustment mechanism includes a first gasket 7, a second gasket 8, a third gasket 9 and a self-locking nut 16. The first gasket 7 is respectively clamped on the fixed shaft 17 and the connecting shaft 11. The second gasket 8 is a disc-shaped gasket. See Figure 6 , Threaded sections are provided at the ends of the fixed shaft 17 and the connecting shaft 11 connected to the damping adjustment mechanism. The first gasket 7 is clamped on the threaded section. An installation plane 1701 is provided on the side of the threaded section. The first gasket 7 is provided with a central hole. The central hole is provided with a linear section corresponding to the installation plane 1701. The first gasket 7 is clamped on the threaded section through the installation plane 1701. The ends of the fixed shaft 17 and the connecting shaft 11 are respectively locked by the self-locking nut 16. The second gasket 8 is provided between the first gasket 7 and the self-locking nut 16. The third gasket 9 is provided between the second gasket 8 and the self-locking nut 16.
[0034] A second bushing 6 is sleeved on the fixed shaft 17 and the connecting shaft 11 respectively, and the second bushing 6 is arranged between the first gasket 7 and the bearing housing 2. When the self-locking nut 16 is not installed, since there are two bearings 3 in the bearing housing 2, the first cantilever 10 is in a completely free state. By clamping the first gasket 7 on the fixed shaft 17, when the first cantilever 10 rotates, due to the clamping relationship between the first gasket 7 and the fixed shaft 17, the first gasket 7 is fixed with the fixed shaft 17 and does not rotate with the first cantilever 10. There is a frictional relationship between the first gasket 7 and the second bushing 6. When the self-locking nut 16 is installed, by controlling the magnitude of the pre-tightening force, the damping magnitude of the fixed shaft 17 is controlled by changing the compression amount of the second gasket 8.
[0035] See Figure 6 , as an implementation manner of the present utility model, two installation planes are symmetrically arranged on the upper column body of the fixed shaft 17, and threads are provided on the upper column body of the fixed shaft 17. See Figure 7 , the central hole of the first gasket 7 is non-circular, and a straight section is provided corresponding to the installation plane 1701 of the fixed shaft 17. Therefore, when the first gasket 7 is clamped on the top of the fixed shaft 17, it will not rotate. Due to the action of the bearing 3, the first cantilever 10 can rotate freely around the fixed shaft 17. The second bushing 6 is installed between the first cantilever 10 and the first gasket 7. The adjustment of the damping is achieved through the frictional force of the first contact surface between the second bushing 6 and the bearing cover 5 on the first cantilever 10 and the frictional force of the second contact surface between the second bushing 6 and the first gasket 7. When the first cantilever 10 rotates, if the frictional force of the first contact surface is greater than that of the second contact surface, the second bushing 6 will rotate with the first cantilever 10. If the frictional force of the first contact surface is less than that of the second contact surface, the second bushing 6 is fixed with the first gasket 7 and the fixed shaft 17 and does not rotate. See Figure 3 , since there is a clamping relationship between the first gasket 7 and the fixed shaft 17, and there is a gap between the bearing cover 5 and the fixed shaft 17, the contact area of the first contact surface is smaller than that of the second contact surface. Since the frictional force is inversely proportional to the contact area and directly proportional to the pressure, in this embodiment, the frictional force of the first contact surface is less than that of the second contact surface. When the first cantilever 10 rotates, the second bushing 6 does not rotate.
[0036] In the present utility model, regardless of whether the second bushing 6 rotates with the rotation of the first cantilever 10, damping adjustment can be achieved. Because the damping adjustment is mainly realized by the frictional force between the first contact surface and the second contact surface. If the frictional force between the first contact surface and the second contact surface is increased, that is, an axial pressure is applied by using the second gasket 8 in cooperation with the self-locking nut 16, then the damping will increase. The present utility model can better adjust the damping through the second gasket 8. Since the second gasket 8 is a disc-shaped gasket, if there is no second gasket 8 and the axial pressure is only achieved through the pre-tightening force of the self-locking nut 16, the change rate of the axial pressure will be very fast. Even if tightened a little bit, the pressure change will be very large, which is not conducive to the adjustment of the damping change. Therefore, in the present utility model, by adding the second gasket 8, through the deformation of the second gasket 8, the axial pressure applied by the self-locking nut 16 is adjusted more smoothly, and thus the damping can be better adjusted.
[0037] A fixed clamping block 12 is fixedly provided at the end of the second cantilever 18 connected to the connecting shaft 11. The top of the connecting shaft 11 is installed in the fixed clamping block 12. The fixed clamping block 12 includes clamping blocks arranged oppositely. One end of the clamping block is fixedly installed on the second cantilever 18, and the other end of the second clamping block is locked by a screw, so as to clamp the connecting shaft 11 in the fixed clamping block 12. A stop block 13 is screwed into the top end of the connecting shaft 11 to prevent the second cantilever 18 from disengaging from the top of the connecting shaft 11.
[0038] The principle of adjusting the damping of the connecting shaft 11 is similar to that of adjusting the fixed shaft 17. When the self-locking nut 16 is not installed, the second cantilever 18 is in a completely free state. The first gasket 7 is clamped on the connecting shaft 11. When the second cantilever 18 rotates, since the connecting shaft 11 and the second cantilever 18 are fixedly connected through the fixed clamping block 12, the connecting shaft 11 rotates with the second cantilever 18. Because the first gasket 7 is in a clamping relationship with the connecting shaft 11, the first gasket 7 rotates with the connecting shaft 11 and the second cantilever 18 and does not rotate with the first cantilever 10. There is a frictional relationship between the first gasket 7 and the second bushing 6. When the self-locking nut 16 is installed, by controlling the magnitude of the pre-tightening force, the compression amount of the second gasket 8 is changed to control the damping of the connecting shaft 11.
[0039] One end of the second cantilever 18 away from the first cantilever 10 is connected with a tail shaft 14 through a rotating connection assembly. The rotating connection assembly arranged at the end of the second cantilever 18 has the same structure as the rotating connection assemblies arranged at both ends of the first cantilever 10. That is, the rotating connection assembly includes a bearing 3, a bearing seat 2, a bearing cover 5, a first bushing 4, a second bushing 6 and a damping adjustment mechanism. The bearing seat 2 is fixedly connected with the second cantilever 18 by screws. The bearing seat 2 is internally provided with a bearing 3 and a first bushing 4. The top of the tail shaft 14 is inserted into the bearing 3. The bearing seat 2 is provided with a bearing cover 5. The second bushing 6 is sleeved on the tail shaft 14. The tail shaft 14 is successively provided with a first gasket 7, a second gasket 8, a third gasket 9 and a self-locking nut 16. When installed through the self-locking nut 16, the magnitude of the pre-tightening force is controlled, and the compression amount of the second gasket 8 is changed to control the damping magnitude of the connecting tail shaft 14.
[0040] A connecting flange 15 is arranged at the bottom end of the tail shaft 14, and the connecting flange 15 can be used to connect other front-end application components.
[0041] The above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.
Claims
1. A mechanical arm with adjustable damping, characterized in that: The invention comprises a fixed shaft (17), a cantilever arm 1 (10) and a cantilever arm 2 (18); one end of the cantilever arm 1 (10) is rotatably mounted on the fixed shaft (17) via a rotating connection assembly; the other end of the cantilever arm 1 (10) is rotatably connected to the cantilever arm 2 (18) via a rotating connection assembly and a connecting shaft (11); the rotating connection assembly comprises a bearing (3), a bearing seat (2) and a damping adjustment mechanism; the bearing seat (2) is mounted at both ends of the cantilever arm 1 (10); the bearing (3) is mounted in the bearing seat (2); the top of the fixed shaft (17) and the bottom of the connecting shaft (11) are respectively inserted into the bearings (3) at both ends of the cantilever arm 1 (10); the top of the connecting shaft (11) is connected to the cantilever arm 2 (18); the damping adjustment mechanism is respectively arranged at the ends of the fixed shaft (17) and the connecting shaft (11); the damping adjustment mechanism is used to adjust the damping of the fixed shaft (17) and the connecting shaft (11) respectively.
2. The mechanical arm with adjustable damping according to claim 1, characterized in that: The damping adjustment mechanism comprises a first gasket (7), a second gasket (8) and a self-locking nut (16); the first gasket (7) is respectively clamped on the fixed shaft (17) and the connecting shaft (11); the second gasket (8) is a disc-shaped gasket; the end of the fixed shaft (17) and the end of the connecting shaft (11) are respectively locked by the self-locking nut (16); and the second gasket (8) is arranged between the first gasket (7) and the self-locking nut (16).
3. The mechanical arm with adjustable damping according to claim 2, characterized in that: The fixed shaft (17) and the connecting shaft (11) are respectively sleeved with a second shaft sleeve (6), and the second shaft sleeve (6) is arranged between the first gasket (7) and the bearing seat (2).
4. The mechanical arm with adjustable damping according to claim 3, characterized in that: The damping adjustment mechanism further comprises a third gasket (9), wherein the third gasket (9) is arranged between the second gasket (8) and the self-locking nut (16).
5. The mechanical arm with adjustable damping according to claim 4, characterized in that: Two bearings (3) are arranged in the bearing seat (2).
6. The mechanical arm with adjustable damping according to claim 5, characterized in that: A fixing clamp block (12) is fixedly provided at the end of the second cantilever (18) connected to the connecting shaft (11), and the top of the connecting shaft (11) is installed in the fixing clamp block (12).
7. The mechanical arm with adjustable damping according to claim 6, characterized in that: A stopper (13) is provided at the top end of the connecting shaft (11).
8. The mechanical arm with adjustable damping according to claim 7, characterized in that: One end of the second cantilever (18) away from the first cantilever (10) is connected to a tail shaft (14) via a rotating connection assembly, and a connecting flange (15) is provided at the end of the tail shaft (14).
9. The mechanical arm with adjustable damping according to any one of claims 1 to 8, characterized in that: A bearing cover (5) is provided on the bearing seat (2).
10. The mechanical arm with adjustable damping according to any one of claims 1 to 8, characterized in that: A first shaft sleeve (4) is provided in the bearing seat (2).