Industrial robot joint damping device

Abstract

The utility model discloses an industrial robot joint shock absorption and buffering device, specifically relates to robot technical field, including lower limb subassembly, the upside of lower limb subassembly outer surface is provided with inside shock attenuation mechanism, the opposite side of lower limb subassembly and upper limb subassembly is installed with elastic protective outer pad and inside shock attenuation mechanism respectively, the left and right ends of lower limb subassembly and upper limb subassembly outer surface are all installed with outside buffering mechanism and are forward and backward symmetry. The utility model discloses an industrial robot joint shock absorption and buffering device, when using, through shock attenuation damper and elastic sheet can play the effect of protection, slow down the impact force effect to lower limb subassembly and upper limb subassembly when contacting, shock attenuation damper and elastic sheet pass to the impact energy that lower limb subassembly and upper limb subassembly contact produced through absorption and dissipation, the direct influence of impact force to joint has been reduced significantly, and outside buffering mechanism and elastic protective outer pad can play the role of protection and wear resistance to the connecting place of lower limb subassembly and upper limb subassembly from outside.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a shock absorption and buffer device for industrial robot joints. Background Technology

[0002] Industrial robots are key equipment for achieving automated and intelligent production in modern manufacturing. They are widely used in welding, spraying, handling, assembly, palletizing and other operation scenarios. Industrial robots are usually composed of multiple links and joints connected in series, forming an open-chain structure similar to a human arm. Among them, the robot joints are the core components that connect the links and transmit motion and power. Their performance directly determines the motion accuracy, stability, response speed and working life of the whole machine. In practical industrial applications, industrial robots face complex working conditions. When robots perform high-speed movements, heavy-duty handling, frequent starts and stops, or accidental collisions, their joints will experience severe impacts and vibrations. Currently, most existing industrial robot joint structures focus on transmission accuracy and rigidity to ensure positioning accuracy. However, the high-rigidity design lacks an effective internal shock absorption mechanism, which can easily lead to joint damage when subjected to impacts.

[0003] In some existing technologies, the impact force at the joints is often directly transmitted through rigid connectors during robot operation, lacking a shock-absorbing and buffering structure that can effectively absorb and dissipate the impact energy. When the robot's end effector contacts the workpiece or suddenly stops during movement, the instantaneous impact force will directly act on the precision transmission components inside the joint. This instantaneous high-intensity load can easily cause mechanical damage to these critical components, thereby affecting the robot's service life and operational safety, and consequently increasing maintenance costs and downtime. Utility Model Content

[0004] The main purpose of this utility model is to provide a shock absorption and buffer device for industrial robot joints, which can effectively solve the problem mentioned above in some existing technologies. When the robot is running, the impact force at the joint is often directly transmitted through rigid connecting parts, and there is a lack of shock absorption and buffer structure that can effectively absorb and dissipate the impact energy. When the robot end effector contacts the workpiece or stops suddenly during movement, the instantaneous impact force generated will directly act on the precision transmission components inside the joint. This instantaneous high-intensity load can easily cause mechanical damage to these key components, thereby affecting the service life and operational safety of the robot, and thus increasing maintenance costs and downtime.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows: An industrial robot joint shock absorption and buffer device includes a lower limb assembly. An internal shock absorption mechanism is provided on the upper side of the outer surface of the lower limb assembly. Elastic protective outer pads and internal shock absorption mechanisms are respectively installed on the opposite sides of the lower limb assembly and the upper limb assembly. External buffer mechanisms are symmetrically installed at the left and right ends of the outer surfaces of the lower limb assembly and the upper limb assembly.

[0006] Preferably, the elastic protective outer pad is disposed on the inner side of the internal shock absorption mechanism.

[0007] Preferably, the lower limb assembly includes a lower connecting limb, a connecting joint shaft is mounted on the upper side of the outer surface of the lower connecting limb, and the elastic protective outer pad is mounted on the outer surface of the connecting joint shaft.

[0008] Preferably, the upper limb assembly includes an upper connecting limb, and a connecting rotating cylinder is installed at the bottom of the upper connecting limb.

[0009] Preferably, the internal damping mechanism includes two arc plates, which are arranged symmetrically from left to right. Elastic connecting strips are symmetrically installed on opposite sides of the two arc plates. Shock dampers are symmetrically installed at the front, rear, and middle ends of opposite sides of the outer surfaces of the two arc plates. Mounting seats are installed at both ends of the outer surfaces of the shock dampers.

[0010] Preferably, the mounting seats near one end of the connecting drum are all installed on the inner side of the connecting drum, the mounting seats at the bottom of the dampers near the left end of the upper elastic connecting strip are all installed and fixed to the left arc plate, and the mounting seats at the top of the dampers near the right end of the lower elastic connecting strip are all installed and fixed to the right arc plate.

[0011] Preferably, the two adjacent dampers are provided with spring plates on their opposite sides, and elastic limiting strips are symmetrically installed on the outer surfaces of the two arc plates. The two elastic limiting strips are installed on the front and rear sides of the two arc plates and the connecting drum.

[0012] Preferably, each of the aforementioned external buffer mechanisms includes a fixing block 1, which is installed on the outside of the lower limb assembly. A fixing block 2 is provided on the upper side of each of the aforementioned fixing blocks 1, and the aforementioned fixing blocks 2 are installed on the outside of the upper limb assembly. A spring is installed on the opposite sides of the fixing blocks 1 and 2 located on the same end and the same side. A limiting arc plate 2 is installed at the bottom of each fixing block 1, and an elastic extension pad is installed on the opposite surfaces of the two limiting arc plates 2 located on the same side.

[0013] Compared with the prior art, the present invention has the following beneficial effects: 1. This device utilizes an internal shock absorption mechanism installed at the connection between the lower limb and upper limb components. Through dampers and springs, it protects the lower limb and upper limb components and mitigates impact forces upon contact. By absorbing and dissipating the impact energy generated when the lower limb and upper limb components come into contact, the dampers and springs significantly reduce the direct impact of the impact force on the joints. This buffering effect prevents mechanical damage to the joints caused by excessive instantaneous force. Furthermore, through the damping effect of the dampers and the elastic deformation of the springs, the internal shock absorption mechanism can quickly attenuate vibrations, preventing vibrations from being transmitted between the robot joints. This effectively improves the robot's operational stability under high-speed movement or heavy load conditions, ensuring more precise and stable movements.

[0014] 2. This device, through its designed external buffer mechanism and elastic protective pads, can protect the connection between the lower limb and upper limb components from the outside, based on the shock absorption of the internal shock absorption mechanism. At the connection between the lower limb components and the internal shock absorption mechanism, the elastic protective pads enhance the protection of the connecting joint shaft, reducing joint wear caused by prolonged use. By effectively mitigating impact and reducing joint wear, the external buffer mechanism and elastic protective pads help extend the service life of the robot joints and related components to a certain extent. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the explosion effect structure of this utility model; Figure 3 This is a cross-sectional view of the lower limb assembly of this utility model; Figure 4 This is a schematic diagram of the explosion effect structure of the internal shock absorption mechanism of this utility model; Figure 5 This is a schematic diagram of the external buffer device structure of this utility model.

[0016] In the diagram: 1. Lower limb assembly; 101. Lower connecting limb; 102. Connecting joint axis; 2. Upper limb assembly; 201. Upper connecting limb; 202. Connecting rotating cylinder; 3. Elastic protective outer pad; 4. Internal shock absorption mechanism; 401. Arc plate one; 402. Elastic connecting strip; 403. Mounting base; 404. Shock absorber; 405. Spring; 406. Elastic limiting side strip; 5. External buffer mechanism; 501. Fixing block one; 502. Fixing block two; 503. Spring; 504. Limiting arc plate two; 505. Elastic extension pad. Detailed Implementation

[0017] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the present utility model will be further described below in conjunction with specific embodiments.

[0018] Example 1, as Figure 1 As shown, an industrial robot joint shock absorption and buffer device includes a lower limb assembly 1. An internal shock absorption mechanism 4 is provided on the upper side of the outer surface of the lower limb assembly 1. Elastic protective outer pads 3 and internal shock absorption mechanisms 4 are respectively installed on the opposite sides of the lower limb assembly 1 and the upper limb assembly 2. External buffer mechanisms 5 are symmetrically installed on the left and right ends of the outer surfaces of the lower limb assembly 1 and the upper limb assembly 2.

[0019] In the implementation of this embodiment, the core is to achieve effective suppression and absorption of the impact force and vibration generated by the robot joint under working conditions such as movement, start-stop, and load changes through the triple synergistic mechanism of "internal shock absorption mechanism 4 as the main internal shock absorption, external buffer mechanism 5 as the auxiliary external buffer, and elastic protective outer pad 3 as the protection of key parts", thereby protecting the joint structure and improving operational stability and service life.

[0020] For details, please refer to Figure 1 , Figure 2 , Figure 3 and Figure 4 In this embodiment, the elastic protective outer pad 3 is disposed on the inner side of the internal shock absorption mechanism 4; Further reference Figure 1 and Figure 4 In this embodiment, the lower limb assembly 1 includes a lower connecting limb 101, a connecting joint shaft 102 is installed on the upper side of the outer surface of the lower connecting limb 101, and an elastic protective outer pad 3 is installed on the outer surface of the connecting joint shaft 102. The upper limb assembly 2 includes an upper connecting limb 201, and a connecting rotating cylinder 202 is installed at the bottom of the upper connecting limb 201. The elastic protective outer pad 3 wraps around the outer surface of the key connecting joint shaft 102 and is located inside the internal shock absorption mechanism 4. During the long-term, high-frequency reciprocating motion of the joint, small relative friction and collisions will inevitably occur between the connecting joint shaft 102 and the connecting rotating cylinder 202. The elastic protective outer pad 3, as a flexible material, directly fills between these contact surfaces. Its core functions are "wear prevention" and "micro-buffering". On the one hand, it isolates the direct contact between metals, greatly reduces the wear rate of key moving pairs, and extends the service life of core components such as the connecting joint shaft 102. On the other hand, for high-frequency micro-vibrations generated during movement, the damping characteristics of the elastic protective outer pad 3 material itself can also play a certain role in absorption and suppression, achieving the final filtering of micro-vibrations. Further reference Figure 1 , Figure 2 and Figure 4 In this embodiment, the internal shock absorption mechanism 4 includes two arc plates 401. The two arc plates 401 are arranged symmetrically from left to right. Elastic connecting strips 402 are symmetrically installed on the opposite sides of the two arc plates 401. Shock absorbers 404 are symmetrically installed on the front, rear and middle ends of the opposite sides of the outer surfaces of the two arc plates 401. Mounting seats 403 are installed at both ends of the outer surfaces of the shock absorbers 404. Further reference Figure 2 and Figure 4 In this embodiment, several mounting seats 403 near one end of the connecting drum 202 are installed on the inner side of the connecting drum 202. The mounting seats 403 installed at the bottom of several damping dampers 404 near the left end of the upper elastic connecting band 402 are installed and fixed to the arc plate 401 at the left end. The mounting seats 403 installed at the top of several damping dampers 404 near the right end of the lower elastic connecting band 402 are installed and fixed to the arc plate 401 at the right end. Further reference Figure 2 and Figure 4 In this embodiment, two adjacent damping devices 404 are provided with spring sheets 405 on opposite sides. The outer surfaces of the two arc plates 401 are symmetrically equipped with elastic limiting side strips 406. The two elastic limiting side strips 406 are installed on the front and rear sides of the two arc plates 401 and the connecting drum 202. When the upper limb assembly 2 of the industrial robot rotates, accelerates, decelerates, or is subjected to external impact relative to the lower limb assembly 1, the impact force is transmitted to the internal shock absorption mechanism 4 through the connecting drum 202. The impact force first acts on the damper 404 and the spring 405. The damper 404 expands and contracts, and the spring 405 deforms accordingly, thereby playing a role in absorbing energy and dispersing the load. These two, as the first line of defense, can effectively mitigate the peak value of the impact. The damper 404 is usually composed of a piston, a cylinder and viscous fluid. When it is stretched or compressed, the piston moves in the cylinder, forcing the viscous fluid through tiny channels, generating huge flow resistance. This process converts a large amount of the mechanical energy of the impact into heat energy and dissipates it, thereby significantly reducing the residual impact force transmitted to the joint connecting shaft 102 and the connecting drum 202. During the entire buffering process, the elastic limiting side strip 406 installed on the opposite side of the arc plate 401 and the connecting rotating cylinder 202 plays the role of limiting the maximum swing angle. It can prevent the joint from exceeding the safe range of motion due to excessive impact, and after the impact, it can use its own elasticity to help the entire internal shock absorption mechanism 4 quickly return to the initial balance position and prepare for the next action. The internal shock absorption mechanism 4 is designed and installed at the connection between the lower limb assembly 1 and the upper limb assembly 2. Through the shock absorber 404 and the spring plate 405, the lower limb assembly 1 and the upper limb assembly 2 can be protected and the impact force can be reduced when they come into contact. The shock absorber 404 and the spring plate 405 absorb and dissipate the impact energy generated when the lower limb assembly 1 and the upper limb assembly 2 come into contact, which significantly reduces the direct impact force on the joint. This buffering effect can avoid mechanical damage to the joint due to excessive instantaneous force. Moreover, through the damping effect of the shock absorber 404 and the elastic deformation of the spring plate 405, the internal shock absorption mechanism 4 can quickly attenuate the vibration and prevent the vibration from being transmitted between the robot joints. This effectively improves the robot's operational stability under high-speed movement or heavy load conditions and ensures that its movements are more precise and stable.

[0021] Example 2: Based on Example 1, this example adds an elastic protective outer pad 3 to prevent wear at the connection between the lower limb assembly 1 and the upper limb assembly 2, and an external buffer mechanism 5 to provide buffer protection from the outside. By setting the external buffer mechanism 5 and the elastic protective outer pad 3, the external buffer mechanism 5 and the elastic protective outer pad 3 can effectively reduce impact force and joint wear, which to a certain extent helps to extend the service life of the robot joints and related components.

[0022] For details, please refer to Figure 1 , Figure 2 and Figure 5 In this embodiment, each of the external buffer mechanisms 5 includes a fixing block 501. The fixing block 501 is installed on the outside of the lower limb assembly 1. The upper side of each fixing block 501 is provided with a fixing block 502. The fixing block 502 is installed on the outside of the upper limb assembly 2. The opposite sides of the fixing block 501 and the fixing block 502 located on the same end and the same side are jointly equipped with a spring 503. The bottom of each fixing block 501 is equipped with a limiting arc plate 504. The opposite surfaces of the two limiting arc plates 504 located on the same side are equipped with elastic extension pads 505. When a joint is subjected to a large inertial force from a lateral impact or movement, the fixing block 501 installed on the lower limb assembly 1 and the fixing block 502 installed on the upper limb assembly 2 will have a relative displacement. The spring 503 connected between the two will be stretched or compressed immediately, providing an elastic force opposite to the direction of displacement, thereby offsetting part of the external impact force or inertial force. At the same time, the bottom limiting arc plate 504 and the elastic extension pad 505 on it will come into contact with each other when the joint is bent to the limit angle, which will play the role of hard limiting and end buffering to prevent rigid collision. The external buffer mechanism 5 and the elastic protective pad 3, based on the shock absorption of the internal shock absorption mechanism 4, can protect the connection between the lower limb assembly 1 and the upper limb assembly 2 from the outside. The elastic protective pad 3 at the connection between the lower limb assembly 1 and the internal shock absorption mechanism 4 enhances the protection of the connecting joint shaft 102, reducing joint wear caused by long-term use. By effectively mitigating impact and reducing joint wear, the external buffer mechanism 5 and the elastic protective pad 3 help extend the service life of the robot joint and related components to a certain extent.

[0023] The damper 404 in this solution can be a dual-stage tuned damper in the existing technology, which has two independent damping oscillators. By tuning the frequency to match the vibration characteristics, a more efficient damping effect can be achieved. In this solution, the elastic protective outer pad 3 can be made of nitrile rubber, the elastic connecting strip 402 can be made of polyurethane, the spring sheet 405 can be made of spring steel, the elastic limiting side strip 406 can be made of silicone, and the elastic extension pad 505 can be made of neoprene. Since the above are all very mature products in the prior art, they will not be described in detail in this application.

[0024] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A shock-absorbing and buffering device for the joint of an industrial robot, comprising a lower limb assembly (1), characterized in that: An internal shock-absorbing mechanism (4) is provided on the upper side of the outer surface of the lower limb assembly (1). Elastic protective outer pads (3) and internal shock-absorbing mechanisms (4) are respectively installed on the opposite sides of the lower limb assembly (1) and the upper limb assembly (2). External buffer mechanisms (5) are symmetrically installed on the left and right ends of the outer surfaces of the lower limb assembly (1) and the upper limb assembly (2).

2. The industrial robot joint shock absorption and buffer device according to claim 1, characterized in that: The elastic protective outer pad (3) is located inside the internal shock absorption mechanism (4).

3. The industrial robot joint shock absorption and buffer device according to claim 1, characterized in that: The lower limb assembly (1) includes a lower connecting limb (101), and a connecting joint shaft (102) is installed on the upper side of the outer surface of the lower connecting limb (101). The elastic protective outer pad (3) is installed on the outer surface of the connecting joint shaft (102).

4. The industrial robot joint shock absorption and buffer device according to claim 1, characterized in that: The upper limb assembly (2) includes an upper connecting limb (201), and a connecting drum (202) is installed at the bottom of the upper connecting limb (201).

5. The industrial robot joint shock absorption and buffer device according to claim 4, characterized in that: The internal damping mechanism (4) includes two arc plates (401), which are arranged symmetrically from left to right. Elastic connecting strips (402) are symmetrically installed on the opposite sides of the two arc plates (401). Shock dampers (404) are symmetrically installed on the front, rear and middle ends of the opposite sides of the outer surfaces of the two arc plates (401). Mounting seats (403) are installed at both ends of the outer surfaces of the shock dampers (404).

6. The industrial robot joint shock absorption and buffer device according to claim 5, characterized in that: Several mounting seats (403) near one end of the connecting drum (202) are installed on the inner side of the connecting drum (202). The mounting seats (403) at the bottom of several damping devices (404) near the left end of the upper elastic connecting strip (402) are installed and fixed to the arc plate (401) at the left end. The mounting seats (403) at the top of several damping devices (404) near the right end of the lower elastic connecting strip (402) are installed and fixed to the arc plate (401) at the right end.

7. The industrial robot joint shock absorption and buffer device according to claim 6, characterized in that: Two adjacent dampers (404) are provided with spring sheets (405) on their opposite sides. Elastic limiting strips (406) are symmetrically installed on the outer surfaces of the two arc plates (401). The two elastic limiting strips (406) are installed on the front and rear sides of the two arc plates (401) and the connecting drum (202).

8. The industrial robot joint shock absorption and buffer device according to claim 1, characterized in that: Each of the external buffer mechanisms (5) includes a fixing block 1 (501), which is installed on the outside of the lower limb assembly (1). Each of the fixing blocks 1 (501) has a fixing block 2 (502) on its upper side. Each of the fixing blocks 2 (502) is installed on the outside of the upper limb assembly (2). The fixing blocks 1 (501) and 2 (502) located on the same end and the same side are equipped with springs (503) on their opposite sides. Each of the fixing blocks 1 (501) has a limiting arc plate 2 (504) installed at its bottom. Each of the two limiting arc plates 2 (504) located on the same side has an elastic extension pad (505) installed on its opposite surface.

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