Industrial robot output shaft damping structure

Abstract

The utility model discloses an industrial robot output shaft damping structure which comprises an output shaft A, an output shaft B, a middle adjustable damping component, a steering component and a shaft A damping component. The output shaft A and the output shaft B are connected through a middle adjustable damping component; a distance sensing piece is further arranged on the contact surface of the output shaft A and the middle adjustable damping component; the middle adjustable damping component comprises a set of connecting plates, a plurality of adjustable damping assemblies and a telescopic dustproof baffle. The two ends of the adjustable damping assembly are connected with the output shaft A and the output shaft B through connecting plates correspondingly. The telescopic dustproof baffle wraps the multiple adjustable damping assemblies. The steering components are arranged at the ends, away from the middle adjustable damping component, of the output shaft A and the output shaft B correspondingly. The A shaft damping component is arranged at one end of the steering component close to the output A shaft. According to the damping structure for the output shaft of the industrial robot, the axial floating error is reduced while damping is conducted, and the service life of equipment is prolonged.

Description

Technical Field

[0001] This utility model belongs to the field of industrial robot output shafts, and specifically relates to a vibration damping structure for industrial robot output shafts. Background Technology

[0002] In the use of industrial robot output shafts, traditional structures mainly employ the following methods for vibration reduction. One method is to use rubber materials for vibration reduction, which is simple in structure and low in cost, but has poor vibration reduction effect. The rubber material itself is unstable and cannot quickly attenuate vibration, nor does it buffer vibration effectively. Another method is to use semi-active vibration reduction control, which mainly reduces vibration by controlling additional vibration reduction components such as motors, but it is bulky, complex in structure, and expensive.

[0003] In addition, there is also a passive vibration reduction method, which integrates vibration damping materials or structures at the end of the robot to absorb and buffer the impact force. However, the addition of the vibration damping structure causes the output shaft to float axially, making it difficult to guarantee production accuracy.

[0004] Therefore, the above problems urgently need to be solved. Utility Model Content

[0005] Purpose of the utility model: In order to overcome the above shortcomings, the purpose of this utility model is to provide a vibration damping structure for the output shaft of an industrial robot. By setting an adjustable vibration damping component, passive vibration damping of the output shaft is achieved. In addition, with the help of a distance sensor, subsequent processing steps are carried out only after the set sensing distance is reached, which reduces axial floating error. At the same time, by setting the A-axis vibration damping component, the vibration of force transmission at the output end is reduced, and the service life of the equipment is extended.

[0006] Technical Solution: To achieve the above objectives, this utility model provides an industrial robot output axis vibration damping structure, including an output A-axis, an output B-axis, a central adjustable vibration damping component, a steering component, and an A-axis vibration damping component; the output A-axis and output B-axis are connected by the central adjustable vibration damping component; a distance sensor is also provided on the contact surface between the output A-axis and the central adjustable vibration damping component for detecting the distance between the output A-axis and output B-axis; the central adjustable vibration damping component includes a set of connecting plates, several adjustable vibration damping components, and a retractable dustproof baffle; both ends of the adjustable vibration damping components are connected to the output A-axis and output B-axis respectively through the connecting plates; the retractable dustproof baffle covers several adjustable vibration damping components and is connected to the connecting plates at both ends; the steering component is located at the end of the output A-axis and output B-axis away from the central adjustable vibration damping component; the A-axis vibration damping component is located at the end of the steering component near the output A-axis away from the output B-axis.

[0007] Furthermore, by installing a distance sensor on the contact surface between the output A-axis and the central adjustable damping component, the distance change between the output A-axis and the output B-axis can be monitored in real time. Subsequent machining steps are only performed after the set sensing distance is reached, reducing axial float error. The dual damping design of the central adjustable damping component and the A-axis damping component more effectively absorbs and disperses vibrations. The central adjustable damping component primarily handles vibration damping between the output A-axis and the output B-axis, while the A-axis damping component further enhances the damping effect of the output A-axis, ensuring the smooth operation of the entire system. The retractable dustproof baffle prevents dust and impurities from entering the damping components, thereby extending their service life and reducing the risk of performance degradation or malfunction due to dust accumulation.

[0008] Furthermore, the adjustable damping assembly includes a telescopic guide rod, an adjusting nut, and an elastic element; the telescopic guide rod is disposed between the connecting plates; the adjusting nut is disposed on the telescopic guide rod; the elastic element is sleeved on the telescopic guide rod, with both ends abutting against the adjusting nut and the connecting plate. The telescopic guide rod not only provides a mechanical connection but also serves a guiding function, ensuring that the elastic element maintains stable axial movement during compression and extension, preventing the elastic element from skewing or twisting under force, thereby improving the stability and consistency of the damping effect; the elastic element can effectively absorb and buffer the vibration and impact between the output A-axis and the output B-axis, thereby reducing the vibration amplitude of the output shaft and improving the robot's operational smoothness and accuracy.

[0009] Furthermore, the retractable guide rod has threads on the circumferential surface of the connecting plate near one side; the adjusting nut is connected to the retractable guide rod via the threads and can be adjusted along the axial direction of the retractable guide rod. Through the threaded connection, the adjusting nut can be adjusted within a certain range along the axial direction of the retractable guide rod, allowing the shock absorption assembly to adapt to different working conditions and load requirements, thus enhancing the system's versatility and adaptability.

[0010] Furthermore, the steering component includes a U-shaped connecting flange and a cross-shaped steering shaft; the U-shaped connecting flange is connected to the ends of the output A-axis and output B-axis away from the central adjustable damping component via the cross-shaped steering shaft. The design of the cross-shaped steering shaft allows the output A-axis and output B-axis to be adjusted within a certain range, increasing the motion flexibility of the robot's output axes and enabling them to better adapt to complex motion trajectories and task requirements.

[0011] Furthermore, both the output A-axis and output B-axis have a U-shaped opening at the end furthest from the central adjustable damping component; the U-shaped openings of the output A-axis and output B-axis are positioned opposite each other to the openings of the U-shaped connecting flanges, and are both connected via a cross-shaped steering shaft. The relative arrangement of the U-shaped openings and U-shaped connecting flanges of the output A-axis and output B-axis, along with the cross-shaped steering shaft connection, provides a stable mechanical connection, reducing the risk of failure due to loose or insecure connections; it also provides multi-angle operating space, increasing the versatility of the robot's output axes.

[0012] Furthermore, the A-axis vibration damping component includes a vibration damping connecting plate and several springs; the vibration damping connecting plate is connected to the end of the U-shaped connecting flange near the output A-axis away from the cross-shaped steering shaft via several springs. The combination structure of the vibration damping connecting plate and springs is simple and easy to manufacture and assemble; at the same time, the vibration damping connecting plate, together with several springs, reduces the vibration transmitted at the output end, extending the service life of the equipment.

[0013] Furthermore, the retractable dustproof baffle includes a first baffle and a second baffle; the first baffle and the second baffle are coaxially disposed between the connecting plates and can move relative to each other along the axial direction. The design that the first baffle and the second baffle can move relative to each other prevents dust from entering and affecting the damping effect of the adjustable damping component, while also allowing for changes in distance during damping.

[0014] As can be seen from the above technical solution, this utility model has the following beneficial effects:

[0015] 1. This utility model discloses an industrial robot output shaft vibration reduction structure. By setting an adjustable vibration reduction component, passive vibration reduction of the output shaft is achieved. In conjunction with a distance sensor, subsequent processing steps are carried out only after the set sensing distance is reached, thereby reducing axial floating error.

[0016] 2. This utility model provides a vibration damping structure for the output shaft of an industrial robot. By setting up a vibration damping component on the A-axis, the vibration of force transmission at the output end is reduced, thus extending the service life of the equipment. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the industrial robot output shaft vibration damping structure described in this utility model;

[0018] Figure 2 This is a schematic diagram of the adjustable damping component in the industrial robot output shaft damping structure of this utility model;

[0019] In the picture:

[0020] 1- Output A-axis;

[0021] 2- Output B-axis;

[0022] 3-Adjustable shock absorber in the middle; 31-Connecting plate; 32-Adjustable shock absorber assembly; 33-Retractable dustproof baffle;

[0023] 321-Retractable guide rod; 322-Adjusting nut; 323-Elastic element; 331-First baffle; 332-Second baffle;

[0024] 4-Proximity sensor;

[0025] 5-Steering component; 51-U-type connecting flange; 52-Cross steering shaft;

[0026] 6-A-axis damping component; 61-Damping connecting plate; 62-Spring. Detailed Implementation

[0027] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model. Example

[0028] In this embodiment, as Figure 1 and Figure 2 This utility model discloses a vibration damping structure for the output axis of an industrial robot, including an output A-axis 1, an output B-axis 2, a central adjustable vibration damping component 3, a steering component 5, and an A-axis vibration damping component 6; the output A-axis 1 and the output B-axis 2 are connected by the central adjustable vibration damping component 3; a distance sensor 4 is also provided on the contact surface between the output A-axis 1 and the central adjustable vibration damping component 3 for detecting the distance between the output A-axis 1 and the output B-axis 2; the central adjustable vibration damping component 3 includes a set of connecting plates 31, and several... The system includes an adjustable shock absorber 32 and a retractable dustproof baffle 33. The two ends of the adjustable shock absorber 32 are connected to the output A-axis 1 and the output B-axis 2 respectively via connecting plates 31. The retractable dustproof baffle 33 encloses several adjustable shock absorbers 32 and is connected to the connecting plates 31 at both ends. The steering components 5 are located at the ends of the output A-axis 1 and the output B-axis 2 away from the central adjustable shock absorber 3. The A-axis shock absorber 6 is located at the end of the steering component 5 near the output A-axis 1 away from the output B-axis 2.

[0029] Specifically, the adjustable shock-absorbing components 32 are evenly distributed between the connecting plates 31; the retractable dustproof baffle 33 is cylindrical and wraps around the adjustable shock-absorbing components 32.

[0030] Specifically, an ultrasonic sensor is preferred for the distance sensing element 4, which ensures a certain measurement accuracy while reducing costs.

[0031] Specifically, a thermal expansion compensation shim can be added between the adjustable damping component 32 and the connecting plate 31 as an option. Through the thermal expansion compensation design, the impact of temperature changes on the performance of the adjustable damping component 32 can be reduced.

[0032] Specifically, a bearing or radial support ring or other radial positioning device can be added to the central adjustable damping component 3 to ensure the radial stability of output A shaft 1 and output B shaft 2 and reduce radial vibration and sway.

[0033] In this embodiment, as Figure 1 and Figure 2 The adjustable shock absorption assembly 32 includes a telescopic guide rod 321, an adjusting nut 322, and an elastic element 323; the telescopic guide rod 321 is disposed between the connecting plates 31; the adjusting nut 322 is disposed on the telescopic guide rod 321; the elastic element 323 is sleeved on the telescopic guide rod 321, and its two ends abut against the adjusting nut 322 and the connecting plate 31.

[0034] In particular, a self-lubricating coating such as polytetrafluoroethylene can be applied to the contact surfaces of the telescopic guide rod 312 and the connecting plate 311 to reduce friction and wear and improve the service life of the adjustable shock absorption assembly 32.

[0035] Specifically, a spring washer can be added to the adjusting nut 322 or a nylon insert locking nut can be selected for anti-loosening design to prevent the connection from loosening due to vibration.

[0036] In the embodiments, such as Figure 2 The retractable guide rod 321 has threads on the circumferential surface of the connecting plate 31 near one side; the adjusting nut 322 is connected to the retractable guide rod 321 by threads and can be adjusted along the axial direction of the retractable guide rod 321.

[0037] Specifically, fine-pitch threads are preferred on the telescopic guide rod 321 to achieve higher self-locking performance and smaller pitch, thereby improving the accuracy and stability of adjustment.

[0038] In this embodiment, as Figure 1 The steering component 5 includes a U-shaped connecting flange 51 and a cross steering shaft 52; the U-shaped connecting flange 51 is connected to the ends of the output A shaft 1 and the output B shaft 2 away from the central adjustable damping component 3 via the cross steering shaft 52.

[0039] Specifically, an adjustable hinge or ball joint angle adjustment device can be added between the U-shaped connecting flange 51 and the output A-axis 1 and output B-axis 2. At the same time, an angle sensor can be integrated to monitor the angle change between output A-axis 1 and output B-axis 2 in real time, and precise angle adjustment can be achieved through feedback control.

[0040] In this embodiment, as Figure 1 The ends of the output A-axis 1 and the output B-axis 2 furthest from the central adjustable damping component 3 are both U-shaped openings; the U-shaped openings of the output A-axis 1 and the output B-axis 2 are opposite to one end of the opening of the U-shaped connecting flange 51, and are both connected by a cross steering shaft 52.

[0041] Specifically, a rubber seal or labyrinth seal can be added between the U-shaped opening and U-shaped connecting flange 51 of output A-axis 1 and output B-axis 2 to prevent dust, impurities and liquids from entering the connection part, thereby improving the reliability and service life of the structure.

[0042] In this embodiment, as Figure 1 The A-axis damping component 6 includes a damping connecting plate 61 and several springs 62; the damping connecting plate 61 is connected to the end of the U-shaped connecting flange 51 near the output A-axis 1 away from the cross steering shaft 52 by several springs 62.

[0043] Specifically, a damping element can be added to the A-axis damping component 6 as an option, combining the spring 62 and the damper to form a composite damping structure, which provides both elastic buffering and damping attenuation, thereby improving the overall damping performance.

[0044] In this embodiment, as Figure 1 and Figure 2 The retractable dustproof baffle 33 includes a first baffle 331 and a second baffle 332; the first baffle 331 and the second baffle 332 are coaxially arranged between the connecting plate 31 and can move relative to each other along the axial direction.

[0045] Specifically, the first baffle 331 and the second baffle 332 can preferably be connected by a pull-out mechanism to ensure that their relative axial positions can be adjusted as the vibration is reduced.

[0046] The working principle of the above embodiments is as follows:

[0047] This utility model discloses a vibration damping structure for the output shaft of an industrial robot. The power end is connected to the output A-axis 1 through a vibration damping connecting plate 61, and the output end is connected to the robot arm through a U-shaped connecting flange 51 to complete the power transmission. The degree of vibration damping is adjusted by adjusting the position of the adjusting nut 322 on the telescopic guide rod 321.

[0048] When in use, the sensing distance needs to be set in advance. This sensing distance is the distance at which the robot output axis is stable and will not float axially. At this time, the elastic element 323 is under pressure and balanced and will not float axially. The distance sensor 4 detects whether the preset sensing distance has been reached. If the preset sensing distance has been reached, the subsequent control steps are performed. If the preset sensing distance has not been reached, the output end continues to apply pressure to the output A axis 1 to reduce axial float.

[0049] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements can be made without departing from the principle of the present utility model, and these improvements should also be considered within the protection scope of the present utility model.

Claims

1. A vibration damping structure for the output shaft of an industrial robot, characterized in that: include: Output A-axis (1), output B-axis (2) and central adjustable damping component (3), wherein the output A-axis (1) and output B-axis (2) are connected by the central adjustable damping component (3); The contact surface between the output A-axis (1) and the central adjustable damping component (3) is also provided with a distance sensor (4) for detecting the distance between the output A-axis (1) and the output B-axis (2); The central adjustable shock absorber (3) includes a set of connecting plates (31), several adjustable shock absorber components (32), and a retractable dustproof baffle (33). The adjustable shock absorber (32) is connected to the output A shaft (1) and the output B shaft (2) at both ends via connecting plates (31); the retractable dustproof baffle (33) is set to wrap several adjustable shock absorbers (32), and its two ends are connected to the connecting plates (31) respectively; Steering component (5), the steering component (5) is respectively located at the end of the output A shaft (1) and the output B shaft (2) away from the middle adjustable damping component (3); A-axis damping component (6), the A-axis damping component (6) is located at the end of the steering component (5) near the output A-axis (1) away from the output B-axis (2).

2. The industrial robot output shaft vibration damping structure according to claim 1, characterized in that: The adjustable shock absorption assembly (32) includes a telescopic guide rod (321), an adjusting nut (322), and an elastic element (323). The telescopic guide rod (321) is located between the connecting plates (31); the adjusting nut (322) is located on the telescopic guide rod (321); the elastic element (323) is sleeved on the telescopic guide rod (321) and its two ends abut against the adjusting nut (322) and the connecting plate (31).

3. The industrial robot output shaft vibration damping structure according to claim 2, characterized in that: The retractable guide rod (321) has a thread on the circumferential surface of the connecting plate (31) on one side; the adjusting nut (322) is connected to the retractable guide rod (321) by the thread and can be adjusted along the axial direction of the retractable guide rod (321).

4. The industrial robot output shaft vibration damping structure according to claim 1, characterized in that: The steering component (5) includes a U-shaped connecting flange (51) and a cross steering shaft (52); The U-shaped connecting flange (51) is connected to the ends of the output A shaft (1) and the output B shaft (2) away from the central adjustable damping component (3) via the cross steering shaft (52).

5. The industrial robot output shaft vibration damping structure according to claim 4, characterized in that: The output A shaft (1) and output B shaft (2) are both U-shaped openings at the ends away from the central adjustable damping component (3); the U-shaped openings of the output A shaft (1) and output B shaft (2) are arranged opposite to one end of the opening of the U-shaped connecting flange (51), and are both connected by a cross steering shaft (52).

6. The industrial robot output shaft vibration damping structure according to claim 4, characterized in that: The A-axis damping component (6) includes a damping connecting plate (61) and several springs (62). The shock-absorbing connecting plate (61) is connected to the end of the U-shaped connecting flange (51) near the output A shaft (1) away from the cross steering shaft (52) by several springs (62).

7. The industrial robot output shaft vibration damping structure according to claim 1, characterized in that: The retractable dustproof baffle (33) includes a first baffle (331) and a second baffle (332); The first baffle (331) and the second baffle (332) are coaxially disposed between the connecting plate (31) and can move relative to each other along the axial direction.

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