Damping device capable of reducing shaking of movable platform of robot

Abstract

The utility model discloses a damping device capable of reducing shaking of a movable platform of a robot, which comprises an oil buffer barrel, a first threaded hole is arranged on the upper portion of the oil buffer barrel, a barrel box cover is connected through a first bolt, a damping mechanism is arranged in the barrel, the barrel box cover is connected with a nut and a damping block through a sling, the damping block is immersed in oil in the barrel, and a groove is arranged on the outer side of the damping block. The bottom of the oil buffer barrel is stably connected with the movable platform plate through a connecting support and a second bolt, six mounting bases are evenly distributed on the movable platform plate and fixed through fastening screws, and ropes penetrate through inner holes of the bases. And the device is simple in structure and easy to implement, and has a wide application prospect in the field of industrial production.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot handling technical field especially is related to a damping device that can reduce robot dynamic platform shaking. BACKGROUND

[0002] In modern industry, the robot dynamic platform is a key execution component. In automated warehouse logistics, when the cable-driven robot carries and stacks heavy objects, high-speed and high-precision operation is required. In the electronic manufacturing industry, the dynamic platform needs to accurately control the execution of small parts. The rope tension is used to balance the dynamic platform. Due to the problem of rope traction, the dynamic platform and the power connection are non-rigid, so the dynamic platform has the problem of poor inherent disturbance resistance. When the moving platform is not heavy, this problem has little impact on sorting, but when the quality of the stacked objects is too large, the inertia has a significant impact on the acceleration of the dynamic platform at the start of the movement path and the deceleration at the end of the position, causing significant shaking and affecting the beat action of the robot.

[0003] However, the robot dynamic platform has a prominent shaking problem during operation. During acceleration and deceleration, the uneven distribution of its own mass, motor driving impact force, and external environmental interference make it inevitable to produce acceleration, which in turn causes shaking. This seriously affects the work of the execution on the dynamic platform. In the stacking operation, shaking causes the position of heavy objects to shift, reducing the carrying precision and affecting efficiency. It may also cause the goods to collapse and damage, increasing costs. In the electronic assembly process, slight shaking can also cause the execution to deviate, affecting product quality and enterprise reputation. Previously, researchers tried to optimize the structure design and improve the control algorithm, but the results were not satisfactory. Therefore, it is urgent to develop a device that effectively reduces the shaking of the dynamic platform. The damping device is born to solve this problem. SUMMARY

[0004] The purpose of this section is to outline some aspects of the embodiments of the utility model and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the abstract of the specification and the utility model name to avoid obscuring the purpose of this section, the abstract of the specification and the utility model name. Such simplifications or omissions cannot be used to limit the scope of the utility model.

[0005] Therefore, the utility model aims to provide a damping device that can reduce the shaking of the robot dynamic platform, which can solve the problem of existing solutions that affect the stable work of the execution, improve the carrying precision and efficiency.

[0006] To solve the above technical problems, the utility model provides a kind of damping device that can reduce robot moving platform shake, using the following technical solutions: moving platform plate, the upper surface of moving platform plate is connected with second bolt by second threaded hole, the outside of second bolt is provided with connecting support, the upper surface of connecting support is fixedly connected with oil buffer barrel, the upper surface of oil buffer barrel is connected with first bolt by first threaded hole, the upper end of oil buffer barrel is provided with barrel box cover, the inside of barrel box cover is provided with connecting nut, the upper end of moving platform plate is provided with mounting base, the inside of oil buffer barrel is provided with damping mechanism.

[0007] The damping mechanism includes a damping block, a sling, a groove and oil in the barrel.

[0008] Optionally, the inside of the mounting base is provided with a hole, the inner wall of the hole is connected with a rope, and the number of the ropes is six and corresponds to the holes on the mounting base one by one.

[0009] Through the above technical solution: the mounting base hole is connected with the rope to provide a basis for device installation and ensure stability.

[0010] Optionally, the upper surface of the mounting base is fixedly connected with the moving platform plate by a fastening screw, and the number of the mounting bases is six and is evenly distributed on the upper surface of the moving platform plate.

[0011] Through the above technical solution: the mounting base and the platform plate connection mode, number and distribution, ensure stable installation of the device.

[0012] Optionally, the inside of the barrel box cover is provided with a bolt hole, and the inner wall of the bolt hole is bolted with the first bolt.

[0013] Through the above technical solution: the barrel box cover is connected with the first bolt to form a closed space for the oil buffer barrel.

[0014] Optionally, the number of the first bolts is multiple and is evenly distributed in the first threaded holes on the upper surface of the oil buffer barrel.

[0015] Through the above technical solution: the number and distribution of the first bolts enhance the connection stability of the barrel box cover and the buffer barrel.

[0016] Optionally, the top of the sling is fixedly connected with the connecting nut, and the lower end of the sling is fixedly connected with the damping block.

[0017] Through the above technical solution: the sling is connected with the connecting nut and the damping block, so that the damping block can move in the oil in a predetermined manner.

[0018] Optionally, the oil in the barrel is located in the inside of the oil buffer barrel, and the damping block is immersed in the oil in the barrel.

[0019] By the above technical solution: the position relationship between the oil liquid in the barrel and the damping block is a key condition for realizing the function of the damping device.

[0020] Optionally, the number of damping blocks is multiple and stacked layer by layer, and the outer side of the damping block is provided with a groove.

[0021] By the above technical solution: the number of damping blocks, stacking and groove characteristics increase the resistance of the oil liquid and determine the performance effect of the damping device.

[0022] In summary, the utility model has at least one of the following beneficial effects:

[0023] 1. Greatly improve the stability of the moving platform: during the acceleration and deceleration process of the robot moving platform, based on inertia, the damping block will move in the opposite direction of acceleration, cooperating with the reverse resistance generated by the oil liquid flowing through the groove of the damping block, which can effectively suppress the shaking of the moving platform. According to test, the device can reduce about 1 / 3 of the acceleration acting on the moving platform, greatly reducing the shaking of the moving platform, laying a solid foundation for the stable operation of subsequent equipment.

[0024] 2. Significantly optimize the application cost and efficiency: the device structure is only composed of simple components such as oil liquid buffer barrel, damping block and sling, without complex mechanical structure and additional control program, which not only makes the installation of new equipment easy, but also is very convenient for the modification of existing robot system, with low implementation difficulty. At the same time, it effectively reduces the shaking of the moving platform, improves the robot stacking accuracy, reduces the cost of goods loss and rework, significantly improves the production efficiency, realizes the double benefits of cost reduction and efficiency increase. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical scheme of the embodiments of the utility model, the following will briefly introduce the drawings needed to be used in the embodiment description, obviously, the drawings in the following description are only some embodiments of the utility model, and for those skilled in the art, other drawings can also be obtained according to these drawings without creating labor.

[0026] Figure 1 It is the overall structure schematic diagram of the utility model;

[0027] Figure 2 It is the overall structure schematic diagram of the utility model Figure 1 It is the enlarged schematic diagram of A in the utility model;

[0028] Figure 3 It is the internal structure schematic diagram of the utility model;

[0029] Figure 4 It is the sectional view schematic diagram of the damping mechanism of the utility model.

[0030] Explanation of reference signs: 1, mobile platform plate; 2, rope; 3, oil buffer barrel; 4, first bolt; 5, bolt hole; 6, first threaded hole; 7, connecting nut; 8, second threaded hole; 9, connecting support; 10, second bolt; 11, mounting base; 12, fastening screw; 13, hole; 14, damping block; 15, sling; 16, groove; 17, oil in barrel; 18, barrel cover; 19, damping mechanism. DETAILED DESCRIPTION

[0031] This part will describe the specific embodiments of the utility model in detail, the preferred embodiments of the utility model are shown in the drawings, the role of the drawings is to supplement the description of the text part with graphics, so that people can intuitively and visually understand each technical feature and the overall technical scheme of the utility model, but it cannot be understood as the limitation of the protection scope of the utility model.

[0032] Reference Figures 1-4 The damping device for reducing the shaking of the mobile platform of the robot comprises a mobile platform plate 1, the upper surface of the mobile platform plate 1 is threadedly connected with a second bolt 10 through a second threaded hole 8, the outer side of the second bolt 10 is provided with a connecting support 9, the upper surface of the connecting support 9 is fixedly connected with an oil buffer barrel 3, the upper surface of the oil buffer barrel 3 is threadedly connected with a first bolt 4 through a first threaded hole 6, the upper end of the oil buffer barrel 3 is provided with a barrel cover 18, the inner middle of the barrel cover 18 is provided with a connecting nut 7, the upper end of the mobile platform plate 1 is provided with a mounting base 11, the inside of the oil buffer barrel 3 is provided with a damping mechanism 19, the inside of the mounting base 11 is provided with a hole 13, the inner wall of the hole 13 is connected with a rope 2 through a through hole, the number of the ropes 2 is six and corresponds to the holes 13 on the mounting base 11 one by one, the upper surface of the mounting base 11 is fixedly connected with the mobile platform plate 1 through a fastening screw 12, the number of the mounting bases 11 is six and is evenly distributed on the upper surface of the mobile platform plate 1, the inside of the barrel cover 18 is provided with a bolt hole 5, the inner wall of the bolt hole 5 is boltedly connected with the first bolt 4, and the number of the first bolts 4 is multiple and is evenly distributed in the first threaded holes 6 on the upper surface of the oil buffer barrel 3.

[0033] The damping mechanism 19 comprises a damping block 14, a sling 15, a groove 16 and oil in barrel 17, the top of the sling 15 is fixedly connected with the connecting nut 7, the lower end of the sling 15 is fixedly connected with the damping block 14, the oil in barrel 17 is located in the inside of the oil buffer barrel 3, the damping block 14 is immersed in the oil in barrel 17, and the outer side of the damping block 14 is provided with the groove 16.

[0034] Working principle: the middle position of the barrel box cover 18 is provided with a connecting nut 7, the upper part of the sling 15 is stably connected with the connecting nut 7, and the lower part is tightly connected with the damping block 14. The side surface of the damping block 14 is carefully designed with multiple layers of grooves 16, and the cutting direction of each layer of grooves 16 is crossed. This unique design structure makes the liquid passing through the damping block 14 receive significant resistance, thereby causing the flow speed of the liquid to be greatly slowed down. The inside of the oil buffer barrel 3 is pre-filled with an appropriate amount of barrel oil 17. The damping block 14 is suspended below the center of the barrel box cover 18 through the sling 15 and is completely immersed in the barrel oil 17. When the robot moving platform is working, whether it is accelerating or decelerating, once the direction of acceleration is X+, according to the principle of inertia of objects, the damping block 14 counterweight object in the barrel oil 17 will move in the opposite direction X-. This process is like moving the object on a shaking platform in the opposite direction of the platform to achieve balance. At this time, the internal barrel oil 17 will flow through the damping block 14. Due to the special structure of the grooves 16 in the damping block 14, the barrel oil 17 flowing through this place will receive a certain degree of resistance. This resistance makes the damper generate a force opposite to the direction of acceleration, thereby effectively resolving the shaking degree of the moving platform components and maximizing the impact of acceleration on the moving platform.

[0035] The above are preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. Therefore, any equivalent changes made according to the structure, shape and principle of the present application should be covered within the protection scope of the present application.

Claims

1. A damping device for reducing the sway of a moving platform of a robot, comprising a moving platform plate (1), characterized in that: The upper surface of the mobile platform plate (1) is threadedly connected with a second bolt (10) through a second threaded hole (8), the outer side of the second bolt (10) is provided with a connecting support (9), the upper surface of the connecting support (9) is fixedly connected with an oil buffer barrel (3), the upper surface of the oil buffer barrel (3) is threadedly connected with a first bolt (4) through a first threaded hole (6), the upper end of the oil buffer barrel (3) is provided with a barrel cover (18), the inner side of the barrel cover (18) is provided with a connecting nut (7), the upper end of the mobile platform plate (1) is provided with a mounting base (11), and the inner side of the oil buffer barrel (3) is provided with a damping mechanism (19). The damping mechanism (19) comprises a damping block (14), a sling (15), a groove (16) and barrel oil (17).

2. The damping device for reducing the shaking of the moving platform of a robot according to claim 1, wherein: The inner side of the mounting base (11) is provided with a hole (13), and the inner wall of the hole (13) is connected with a rope (2) through a through hole, the number of the rope (2) is six and corresponds to the hole (13) on the mounting base (11) one by one.

3. The damping device for reducing the shaking of the moving platform of a robot according to claim 1, wherein: The upper surface of the mounting base (11) is fixedly connected with the mobile platform plate (1) through a fastening screw (12), the number of the mounting base (11) is six and is uniformly distributed on the upper surface of the mobile platform plate (1).

4. The damping device for reducing the swing of the moving platform of a robot according to claim 1, wherein: The inner side of the barrel cover (18) is provided with a bolt hole (5), and the inner wall of the bolt hole (5) is boltedly connected with the first bolt (4).

5. The damping device of claim 1, wherein: The number of the first bolt (4) is multiple and is uniformly distributed in the first threaded hole (6) on the upper surface of the oil buffer barrel (3).

6. The damping device of claim 1, wherein: The top of the sling (15) is fixedly connected with the connecting nut (7), and the lower end of the sling (15) is fixedly connected with the damping block (14).

7. The damping device of claim 1, wherein: The barrel oil (17) is located in the inner side of the oil buffer barrel (3), and the damping block (14) is immersed in the barrel oil (17).

8. The damping device of claim 1, wherein: The number of the damping block (14) is multiple and is stacked layer by layer, and the outer side of the damping block (14) is provided with a groove (16).

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