Industrial robot arm end damping structure
By introducing a buffer design of rubber rings and rubber blocks into the robot gripper structure, the problem of inertial swaying at the robot's end effector was solved, thereby reducing wear on the robotic arm and improving operational accuracy.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SHANGHAI HAOYUE IND CO LTD
- Filing Date
- 2025-06-04
- Publication Date
- 2026-05-12
AI Technical Summary
When the robot's end effector grasps heavy parts, it swings due to inertia, which affects the lifespan and operational accuracy of the robotic arm and increases equipment maintenance costs.
Design a gripper structure including a cover plate, sleeve, horn cover, and shaft. Utilize a buffer structure of rubber rings and rubber blocks to eliminate inertia. Lock the shaft by changing the contact position of the locking rod with the inner wall of the horn cover to prevent detachment. A pressure sensor and a sealed bearing are installed at the end of the robotic arm to stabilize the grip.
It effectively reduces the swing amplitude of the robot's end effector, protects the robotic arm from inertial impact, extends its service life, and improves operational precision and the accuracy of the production process.
Smart Images
Figure CN224223947U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of industrial robot technology, and in particular to a shock absorption structure at the end of an industrial robot arm. Background Technology
[0002] In the field of industrial automation, robots are widely used due to their high efficiency and precision. As the part that directly contacts the workpiece being grasped, the performance of the robot's end effector plays a crucial role in the stability and efficiency of the entire production process.
[0003] Currently, during robot movement, the robotic arm drives the end effector to accelerate and grasp heavy parts. When it stops at the designated position, due to the large mass of the parts, their inertia prevents the end effector from stopping immediately, resulting in a swaying phenomenon. If this swaying amplitude is too large, it will have many adverse effects on the robotic arm itself. Furthermore, the impact force generated by the swaying may cause additional stress to the joints of the robotic arm. Over time, this will accelerate the wear of joint components, reduce the service life of the robotic arm, and increase equipment maintenance costs. The swaying will also affect the accuracy of subsequent robot operations, causing deviations in the placement of parts and affecting the accuracy of the entire production process and product quality.
[0004] The existing technical solutions have the following drawbacks: when the robot's end effector picks up a heavy part and stops, it will swing due to inertia. Therefore, a shock-absorbing and buffering structure is needed to reduce the swing amplitude of the robot's end effector and prevent the swing from affecting the robotic arm itself. Utility Model Content
[0005] The purpose of this invention is to provide a shock-absorbing structure for the end of an industrial robot arm to solve the problems existing in the prior art.
[0006] The above-mentioned technical objective of this utility model is achieved through the following technical solution:
[0007] An industrial robot end-effector shock absorption structure includes a multi-axis robotic arm and a gripper disposed at the end of the multi-axis robotic arm. The gripper includes a cover plate, a sleeve, a horn cover, and a shaft. Both ends of the sleeve are completely open. The cover plate is screwed to one end inside the sleeve. The horn cover is used to close the other end of the sleeve. A shaft hole is opened at the center of the end of the horn cover away from the sleeve. Multiple connecting rods are disposed inside the sleeve. One end of the multiple connecting rods is fixedly connected to the cover plate. The other end of the multiple connecting rods extends through the shaft hole to the outside of the horn cover and is fixedly connected to the end of the multi-axis robotic arm.
[0008] A positioning hole is provided at the center of the cover plate. One end of the shaft passes through the positioning hole and extends into the inside of the sleeve. A rubber ring fitted on the shaft is fixedly installed in the positioning hole. A boss is provided at the end of the shaft inside the sleeve. A round tube is fixedly installed inside the sleeve. One end of the round tube is fixedly connected to the cover plate. The round tube is coaxial with the shaft, and the inner diameter of the round tube is larger than the diameter of the shaft. Multiple insertion holes are provided at equal intervals at the end of the round tube away from the cover plate. A locking rod is slidably installed in the insertion holes. A rubber block is provided at the centripetal end of the locking rod inside the round tube. The centrifugal end of the locking rod outside the round tube is set as a hemisphere, and the hemisphere fits against the inner wall of the horn sleeve.
[0009] By adopting the above technical solution, during setup, one end of the horn cover with a large diameter is fixedly connected to the sleeve, while the other end of the horn cover with a small diameter is away from the sleeve. Therefore, when the sleeve is rotated, the position of the horn cover changes because the position of the cover plate and the end of the robotic arm are fixed. When the position of the horn cover changes, the contact position between the inner wall of the horn cover and the locking rod changes, and the applied force also changes. In this way, the locking rod can lock the end of the shaft located inside the sleeve, preventing the shaft from detaching from the sleeve. The mechanical gripper is locked at the end of the shaft located outside the sleeve. When the gripper is subjected to inertia, it transmits the force to the shaft. Both ends of the shaft are buffered by buffer structures (rubber rings, rubber blocks) to eliminate inertia and avoid affecting the robotic arm itself.
[0010] In a further embodiment, a pressure sensor is provided at the position where the locking rod contacts the inner wall of the horn sleeve.
[0011] By adopting the above technical solution, the change in the pressure sensor value determines the relative position of the sleeve and the cover plate, so that the rubber block driven by the locking rod can stably clamp one end of the shaft, ensuring the coaxiality accuracy of the shaft.
[0012] In a further embodiment, the rubber block is provided with a wire mesh frame inside.
[0013] By adopting the above technical solution, the strength of the rubber block can be maintained, preventing it from collapsing and breaking under heavy loads.
[0014] In a further embodiment, a through hole is provided at the center of the shaft, a wire harness is provided in the through hole, and threads are provided at both ends of the through hole.
[0015] By adopting the above technical solution, it is easy to hide the wire harness and facilitate wiring and installation of clamps.
[0016] In a further embodiment, the thickness of the speaker cover is the same as the thickness of the sleeve, and the speaker cover and the sleeve are integrally formed.
[0017] In a further embodiment, a sealed bearing is fixedly installed in the shaft hole of the horn cover, and the sealed bearing is provided with receiving holes corresponding to the connecting rods.
[0018] By adopting the above technical solution, dust and water are prevented from entering the interior of the sleeve.
[0019] In summary, this utility model has the following beneficial effects:
[0020] 1. By fixing one end of the horn cover with the sleeve during setup, and keeping the other end away from the sleeve, the position of the horn cover changes when the sleeve is rotated because the position of the cover plate and the end of the robotic arm are fixed. When the position of the horn cover changes, the contact position between the inner wall of the horn cover and the locking rod changes, and the applied force also changes. This allows the locking rod to lock the end of the shaft inside the sleeve, preventing the shaft from detaching from the sleeve. The mechanical gripper is locked to the end of the shaft outside the sleeve. When the gripper is subjected to inertia, it transmits the force to the shaft. Both ends of the shaft are buffered by a buffer structure (rubber ring, rubber block) to eliminate the inertia and avoid the impact on the robotic arm itself. Attached Figure Description
[0021] Figure 1 This is a schematic diagram of the overall structure of this utility model;
[0022] Figure 2 This is a schematic diagram illustrating the internal structure of the sleeve in this utility model.
[0023] In the diagram, 1 is a multi-axis robotic arm; 2 is a gripper; 21 is a cover plate; 22 is a sleeve; 23 is a horn cover; 24 is a shaft; 25 is a connecting rod; 3 is a round tube; and 4 is a locking rod. Detailed Implementation
[0024] The present invention will be further described in detail below with reference to the accompanying drawings.
[0025] Identical parts are indicated by the same reference numerals. It should be noted that the terms "front," "rear," "left," "right," "upper," and "lower" used in the following description refer to the attached figures. Figure 1 In this specification, the terms "bottom surface" and "top surface," "inner" and "outer" refer to the direction toward or away from the geometry of a specific component. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this specification, "a plurality of" means two or more, unless otherwise explicitly and specifically defined by the direction of the center.
[0026] Example 1:
[0027] like Figures 1-2 As shown, an industrial robot arm end shock absorption structure includes a multi-axis robotic arm 1 and a gripper 2 disposed at the end of the multi-axis robotic arm 1. The gripper 2 includes a cover plate 21, a sleeve 22, a horn cover 23, and a shaft 24. Both ends of the sleeve 22 are completely open. The cover plate 21 is screwed to one end of the sleeve 22. The horn cover 23 is used to close the other end of the sleeve 22. A shaft hole is opened at the center of the end of the horn cover 23 away from the sleeve 22. Multiple connecting rods 25 are disposed inside the sleeve 22. One end of the multiple connecting rods 25 is fixedly connected to the cover plate 21, and the other end of the multiple connecting rods 25 extends through the shaft hole to the outside of the horn cover 23 and is fixedly connected to the end of the multi-axis robotic arm 1.
[0028] A positioning hole is provided at the center of the cover plate 21. One end of the shaft 24 passes through the positioning hole and extends into the interior of the sleeve 22. A rubber ring fitted on the shaft 24 is fixedly installed in the positioning hole. A boss is provided at the end of the shaft 24 inside the sleeve 22. A round tube 3 is fixedly installed inside the sleeve 22. One end of the round tube 3 is fixedly connected to the cover plate 21. The round tube 3 is coaxial with the shaft 24, and the inner diameter of the round tube 3 is larger than the diameter of the shaft 24. Multiple insertion holes are provided at equal intervals at the end of the round tube 3 away from the cover plate 21. A locking rod 4 is slidably installed in the insertion holes. The locking rod 4 is located in the center of the round tube 3. A rubber block is provided at one end. The locking rod 4 is located on the outer side of the circular tube 3, and the centrifugal end is set as a hemisphere, which fits against the inner wall of the horn sleeve. A pressure sensor is provided at the position where the locking rod 4 contacts the inner wall of the horn sleeve. A wire mesh frame is provided inside the rubber block. A through hole is provided at the center of the shaft 24, and a wire harness is provided in the through hole. Both ends of the through hole are threaded. The thickness of the horn cover 23 is the same as the thickness of the sleeve 22. The horn cover 23 and the sleeve 22 are integrally formed. A sealed bearing is fixedly installed in the shaft hole of the horn cover 23. The sealed bearing is provided with receiving holes that correspond one-to-one with the connecting rod 25.
[0029] Specific implementation process: During setup, one end of the horn cover with a large diameter is fixedly connected to the sleeve, while the other end with a small diameter is away from the sleeve. Therefore, when the sleeve is rotated, the position of the horn cover changes because the position of the cover plate and the end of the robotic arm are fixed. When the position of the horn cover changes, the contact position between the inner wall of the horn cover and the locking rod changes, and the applied force also changes. In this way, the locking rod can lock the end of the shaft inside the sleeve, preventing the shaft from detaching from the sleeve. The mechanical gripper is locked at the end of the shaft outside the sleeve. When the gripper is subjected to inertia, it transmits the force to the shaft. Both ends of the shaft are buffered by buffer structures (rubber rings, rubber blocks) to eliminate inertia and avoid affecting the robotic arm itself.
[0030] In the embodiments disclosed in this utility model, the terms "installation," "connection," "linking," and "fixing" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; "linking" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments disclosed in this utility model according to the specific circumstances.
[0031] This specific embodiment is merely an explanation of the present utility model and is not intended to limit the present utility model. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but as long as they are within the scope of the claims of the present utility model, they are protected by patent law.
Claims
1. A vibration damping structure at the end of an industrial robot arm, characterized in that: The device includes a multi-axis robotic arm (1) and a gripper (2) located at the end of the multi-axis robotic arm (1). The gripper (2) includes a cover plate (21), a sleeve (22), a horn cover (23), and a shaft (24). Both ends of the sleeve (22) are completely open. The cover plate (21) is screwed and fixed to one end of the sleeve (22). The horn cover (23) is used to close the other end of the sleeve (22). A shaft hole is provided at the center of the end of the horn cover (23) away from the sleeve (22). Multiple connecting rods (25) are provided inside the sleeve (22). One end of the multiple connecting rods (25) is fixedly connected to the cover plate (21). The other end of the multiple connecting rods (25) extends through the shaft hole to the outside of the horn cover (23) and is fixedly connected to the end of the multi-axis robotic arm (1). A positioning hole is provided at the center of the cover plate (21). One end of the shaft (24) passes through the positioning hole and extends into the inside of the sleeve (22). A rubber ring is fixedly installed in the positioning hole and fitted on the shaft (24). A boss is provided at the end of the shaft (24) inside the sleeve (22). A round tube (3) is fixedly installed inside the sleeve (22). One end of the round tube (3) is fixedly connected to the cover plate (21). The round tube (3) is coaxial with the shaft (24), and the inner diameter of the round tube (3) is larger than the diameter of the shaft (24). A plurality of insertion holes are provided at equal intervals at the end of the round tube (3) away from the cover plate (21). A locking rod (4) is slidably installed in the insertion hole. A rubber block is provided at the centripetal end of the locking rod (4) inside the round tube (3). The centrifugal end of the locking rod (4) outside the round tube (3) is set as a hemisphere, and the hemisphere fits against the inner wall of the horn sleeve.
2. The vibration damping structure at the end of an industrial robot arm according to claim 1, characterized in that: A pressure sensor is installed at the position where the locking rod (4) contacts the inner wall of the horn sleeve.
3. The vibration damping structure at the end of an industrial robot arm according to claim 1, characterized in that: The rubber block has a wire mesh frame inside.
4. The vibration damping structure at the end of an industrial robot arm according to claim 1, characterized in that: A through hole is provided at the center of the shaft (24), a wire harness is provided in the through hole, and threads are provided at both ends of the through hole.
5. The vibration damping structure at the end of an industrial robot arm according to claim 1, characterized in that: The thickness of the horn cover (23) is the same as the thickness of the sleeve (22), and the horn cover (23) and the sleeve (22) are integrally formed.
6. The vibration damping structure at the end of an industrial robot arm according to claim 1, characterized in that: A sealed bearing is fixedly installed in the shaft hole of the horn cover (23), and the sealed bearing is provided with receiving holes that correspond one-to-one with the connecting rod (25).