A robot joint damping device

Abstract

The utility model discloses a kind of robot joint buffer devices, belong to robot technical field.The utility model includes elastic component and the fixed seat of being arranged in the elastic component both sides;Wherein, the elastic component and fixed seat all have a through hole;The through hole is equipped with universal joint, and the both ends of this universal joint are respectively set on corresponding fixed seat, for the elastic component is clamped between two fixed seats.This embodiment of a kind of robot joint buffer device, when external joint carries out non-axial motion, will drive fixed seat to incline;And because elastic component is limited between two fixed seats;Therefore, the local position of elastic component can be compressed, to be able to well adapt the buffering demand of non-axial impact force.

Description

Technical Field

[0001] This utility model belongs to the field of robot technology, and more specifically, relates to a robot joint buffer device. Background Technology

[0002] With the continuous advancement of technology, robots are being widely used in more and more industries due to their advantages such as efficiency, precision, and adaptability to complex environments. Joints, as the key hubs connecting the robot's limbs, directly affect the flexibility and accuracy of the robot's movement.

[0003] Traditional robots often use rigid support structures for their joints. Due to the lack of a buffer mechanism, when the robot moves at high speed or brakes suddenly, instantaneous impact forces are generated at the joints. Long-term use can easily lead to severe wear and even fatigue fracture, which in turn affects the normal use of the robot.

[0004] A search revealed that patent CN116922355A discloses an ankle joint for an industrial exoskeleton robot with vibration damping and cushioning functions. This application includes a lower leg support rod assembly, a vibration damping and cushioning mechanism, and an ankle joint support mechanism. The lower leg support rod assembly is connected to the lower leg shell, the ankle joint support mechanism is in contact with the ground, and the vibration damping and cushioning mechanism is located within the cavity space formed by the lower leg support rod assembly and the ankle joint support mechanism. This application uses a vibration damping spring in the ankle joint vibration damping and cushioning structure to offset the vibration, thereby reducing the vibration impact caused by the exoskeleton's contact with the ground.

[0005] The damping springs in the aforementioned applications provide good cushioning against axial impacts, but their effectiveness in cushioning non-axial impacts generated by bending, swinging, and other movements of the robotic legs is significantly insufficient. Therefore, the industry still needs more diverse and sophisticated designs to effectively cushion impacts at different angles, thereby meeting the cushioning requirements of robots at their joints in various motion scenarios. Utility Model Content

[0006] The problem to be solved

[0007] In view of at least some of the problems existing in the prior art, this utility model proposes a robot joint buffer device, the purpose of which is to solve the problem that the existing joint buffer devices cannot well adapt to the buffering requirements of non-axial impact forces.

[0008] Technical solution

[0009] To solve the above problems, the technical solution adopted by this utility model is as follows:

[0010] This utility model discloses a robot joint buffer device, comprising an elastic component and fixed seats disposed on both sides of the elastic component; wherein,

[0011] Both the elastic component and the fixing base have a through hole;

[0012] The through hole is equipped with a universal joint, and the two ends of the universal joint are respectively mounted on corresponding fixed seats to clamp the elastic component between the two fixed seats.

[0013] In some embodiments, the elastic component includes a set of positioning rings arranged opposite each other and a plurality of connecting rods distributed circumferentially along the positioning rings, and an elastic element is provided within the space enclosed by the positioning rings and the connecting rods; wherein,

[0014] The outer peripheral wall of the positioning ring is provided with a plurality of positioning posts, and the positioning posts are equipped with locking nuts; both ends of the connecting rod are respectively provided with positioning holes that cooperate with the positioning posts, and at least one of the positioning holes at the end is an oblong hole.

[0015] In some embodiments, the outer peripheral wall of the positioning ring is provided with a plurality of mounting bosses, the mounting bosses having a flat mounting surface; the positioning post is disposed on the mounting surface.

[0016] In some embodiments, four mounting bosses are evenly distributed along the outer peripheral wall of the positioning ring, and each mounting boss is provided with two positioning posts.

[0017] In some embodiments, the radial dimension of the fixing seat is greater than the radial dimension of the elastic member, and a gasket is provided between the positioning ring and the fixing seat; wherein the radial dimension of the gasket is smaller than that of the fixing seat.

[0018] In some embodiments, the universal joint and the fixed base are connected by a connector; wherein,

[0019] The connecting component includes a rod body and a limiting part disposed at the end of the rod body; the free end of the rod body passes through a through hole on the fixed seat and is threadedly connected to the universal joint.

[0020] In some embodiments, the mounting base is provided with a receiving groove for accommodating the limiting part and an assembly hole for connecting the external joint.

[0021] Beneficial effects

[0022] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0023] (1) A robot joint buffer device of the present invention is provided, wherein two fixed seats are connected by a universal joint. After the fixed seats and the external joint are connected, the external joint can drive the fixed seats to move flexibly in multiple directions. When the external joint moves in a non-axial direction, it will drive the fixed seats to tilt. Since the elastic component is limited between the two fixed seats, the local position of the elastic component will be compressed, thereby adapting well to the buffering requirements of non-axial impact force.

[0024] (2) The robot joint buffer device of this utility model can limit the radial displacement of the positioning ring and the elastic element by setting the connecting rod, so as to ensure the accuracy of the external joint movement. At the same time, since the connecting rod is provided with a waist-shaped groove, it will not affect the axial extension and contraction of the elastic element. In addition, the relative displacement between the two positioning rings can be controlled by designing the size of the waist-shaped groove, so as to prevent the elastic element from being over-compressed and affecting its service life.

[0025] (3) In the robot joint buffer device of this utility model, the radial dimension of the fixed seat is larger than that of the positioning ring. When the fixed seat is subjected to a non-axial impact force, the force point can be kept as far away from the central axis of the elastic element as possible, ensuring the sensitivity of the external joint movement. At the same time, adding a shim between the fixed seat and the positioning ring can effectively extend the distance between the two fixed seats, so as to prevent interference between the two fixed seats when one fixed seat tilts at too large an angle, thereby affecting the compression effect on the elastic element and thus affecting the final buffer performance. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the structure of a robot joint buffer device according to the present invention;

[0027] Figure 2 This is an exploded view of the structure of a robot joint buffer device according to the present invention;

[0028] Figure 3 This is a schematic diagram of the elastic component in this utility model;

[0029] Figure 4 This is a schematic diagram of the assembly between the connector and the fixed base in this utility model.

[0030] In the diagram: 100, elastic component; 110, locating ring; 111, mounting boss; 120, connecting rod; 121, locating hole; 130, elastic component; 140, locating pin; 150, locking nut;

[0031] 200, mounting base; 210, receiving groove; 220, mounting hole; 300, universal joint; 400, gasket;

[0032] 500. Connector; 510. Rod; 520. Limiting part. Detailed Implementation

[0033] To further understand the content of this utility model, a detailed description of this utility model will be provided in conjunction with the accompanying drawings.

[0034] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0035] The present invention will be further described below with reference to specific embodiments.

[0036] like Figure 1 , Figure 2 As shown, a robot joint buffer device according to this embodiment includes an elastic component 100, a fixed base 200, and a universal joint 300. Two fixed bases 200 are provided, each for connecting to an external joint. The elastic component 100 is located between the two fixed bases 200.

[0037] Both the elastic member 100 and the fixed base 200 are provided with through holes, and the universal joint 300 is located in the channel formed by the through holes. Both ends of the universal joint 300 are respectively mounted on corresponding fixed bases 200, used to tighten the fixed bases 200 at both ends, thereby clamping the elastic member 100 between the two fixed bases 200. Simultaneously, since the fixed base 200 is connected to the universal joint 300, the fixed base 200 and its external joints can move freely at multiple angles.

[0038] This embodiment of a robot joint buffer device allows the external joint to drive the fixed base 200 to move flexibly in multiple directions after the fixed base 200 is connected to it. When the external joint moves non-axially, it causes the fixed base 200 to tilt. Since the elastic member 100 is confined between the two fixed bases 200, a localized area of ​​the elastic member 100 is compressed, thus effectively accommodating the buffering requirements of non-axial impact forces.

[0039] like Figure 3As shown, in one embodiment of the elastic component 100, the elastic component 100 includes a positioning ring 110, a connecting rod 120, and an elastic element 130. There are two positioning rings 110; multiple connecting rods 120 are distributed along the circumference of the positioning rings 110; and the elastic element 130 is confined within the space enclosed by the positioning rings 110 and the connecting rods 120.

[0040] Specifically, the outer peripheral wall of the positioning ring 110 is provided with a plurality of positioning pins 140, and the two ends of the connecting rod 120 are respectively provided with positioning holes 121 that cooperate with the positioning pins 140. At the same time, the positioning pins 140 are equipped with locking nuts 150.

[0041] It should be noted that the connecting rod 120 is designed to prevent radial displacement between the two positioning rings 110 and between the two ends of the elastic element 130 under the impact force, which would affect the accuracy of the external joint movement. However, the connecting rod 120 is not sufficient to lock the two positioning rings 110; relative movement between them is required. Therefore, at least one positioning hole 121 on the connecting rod 120 is an oblong hole, and the oblong hole is oriented along the axis of the connecting rod 120.

[0042] Furthermore, the outer peripheral wall of the positioning ring 110 is provided with a number of mounting bosses 111, each mounting boss 111 having a flat mounting surface, and the positioning post 140 is set on the mounting surface to facilitate the assembly of the connecting rod 120.

[0043] In this specific embodiment, the elastic element 130 is a spring. Meanwhile, four mounting bosses 111 are evenly distributed along the outer peripheral wall of the positioning ring 110, and each mounting boss 111 is provided with two positioning posts 140.

[0044] In some implementations, the relative displacement between the two positioning rings 110 can be controlled by designing the dimensions of the waist-shaped groove, so as to prevent the elastic element 130 from being over-compressed and affecting its service life.

[0045] like Figure 2 As shown, in some embodiments, the radial dimension of the fixed base 200 is designed to be better than that of the elastic member 100. The purpose of this design is to ensure that when the fixed base 200 is subjected to a non-axial impact force, the point of impact is as far away from the central axis of the elastic member 100 as possible, thus ensuring the sensitivity of the external joint movement.

[0046] Furthermore, a gasket 400 is provided between the positioning ring 110 and the fixing seat 200, and the outer diameter of the gasket 400 is smaller than that of the fixing seat 200. Preferably, the gasket 400 has a positioning boss on one side for engaging with the positioning ring 110.

[0047] In this embodiment, the spacer 400 effectively extends the distance between the two fixed seats 200. This prevents interference between the fixed seat 200 and the other fixed seat 200 when the tilt angle of one fixed seat 200 is too large, thus affecting the compression effect on the elastic element 130 and consequently the final buffering performance.

[0048] like Figure 4 As shown, in some embodiments, the universal joint 300 and the fixed base 200 are connected by a connector 500. Specifically, the connector 500 includes a rod 510 and a limiting portion 520 disposed at the end of the rod 510. The end of the rod 510 away from the limiting portion 520 is provided with an internal thread; the end of the universal joint 300 is provided with a matching external thread.

[0049] During assembly, the free end of the rod 510 passes through the through hole on the fixing seat 200 and is threadedly connected to the universal joint 300. Furthermore, the fixing seat 200 is provided with a receiving groove 210 for accommodating the limiting part 520. Simultaneously, the fixing seat 200 is also provided with an assembly hole 220 for connecting an external joint. Preferably, the assembly hole 220 is a threaded hole.

[0050] The present invention and its embodiments have been described above illustratively. This description is not restrictive, and the figures shown are only one embodiment of the present invention; the actual structure is not limited thereto. Therefore, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the inventive spirit of the present invention, such designs should fall within the protection scope of the present invention.

Claims

1. A robot joint cushioning device, characterized by: It includes an elastic member (100) and fixing seats (200) disposed on both sides of the elastic member (100); wherein, Both the elastic component (100) and the fixing base (200) have a through hole; The through hole is provided with a universal joint (300), and the two ends of the universal joint (300) are respectively set on the corresponding fixed seats (200) for clamping the elastic component (100) between the two fixed seats (200).

2. The robot joint buffer device according to claim 1, characterized in that: The elastic component (100) includes a set of positioning rings (110) arranged opposite to each other and a plurality of connecting rods (120) distributed in a ring along the positioning rings (110), and an elastic element (130) is provided within the space enclosed by the positioning rings (110) and the connecting rods (120); wherein, The outer peripheral wall of the positioning ring (110) is provided with a plurality of positioning posts (140), and the positioning posts (140) are equipped with locking nuts (150); the two ends of the connecting rod (120) are respectively provided with positioning holes (121) that cooperate with the positioning posts (140), and at least one of the positioning holes (121) at the end is a waist-shaped hole.

3. The robot joint buffer device according to claim 2, characterized in that: The outer peripheral wall of the positioning ring (110) is provided with a plurality of mounting bosses (111), and the mounting bosses (111) have a flat mounting surface; the positioning post (140) is disposed on the mounting surface.

4. A robot joint buffer device according to claim 3, characterized in that: The assembly boss (111) is evenly distributed in four places along the outer peripheral wall of the positioning ring (110), and each assembly boss (111) is provided with two positioning posts (140).

5. A robot joint buffer device according to any one of claims 1-4, characterized in that: The radial dimension of the fixed seat (200) is greater than the radial dimension of the elastic member (100), and a gasket (400) is provided between the positioning ring (110) and the fixed seat (200); wherein the radial dimension of the gasket (400) is smaller than that of the fixed seat (200).

6. A robot joint buffer device according to claim 5, characterized in that: The universal joint (300) and the fixed base (200) are connected by a connector (500); wherein, The connector (500) includes a rod (510) and a limiting part (520) provided at the end of the rod (510); the free end of the rod (510) passes through the through hole on the fixed seat (200) and is threadedly connected to the universal joint (300).

7. A robot joint buffer device according to claim 6, characterized in that: The fixed base (200) is provided with a receiving groove (210) for accommodating the limiting part (520) and an assembly hole (220) for connecting the external joint.

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