CN109312805A - 振动抑制装置及机器人 - Google Patents

振动抑制装置及机器人 Download PDF

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Publication number
CN109312805A
CN109312805A CN201780036110.5A CN201780036110A CN109312805A CN 109312805 A CN109312805 A CN 109312805A CN 201780036110 A CN201780036110 A CN 201780036110A CN 109312805 A CN109312805 A CN 109312805A
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China
Prior art keywords
industrial robot
working chamber
vibration
piston rod
outer cylinder
Prior art date
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Granted
Application number
CN201780036110.5A
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English (en)
Other versions
CN109312805B (zh
Inventor
张鹏飞
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen A&E Intelligent Technology Institute Co Ltd
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Shenzhen A&E Intelligent Technology Institute Co Ltd
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Publication of CN109312805A publication Critical patent/CN109312805A/zh
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/10—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium using liquid only; using a fluid of which the nature is immaterial
    • F16F9/14—Devices with one or more members, e.g. pistons, vanes, moving to and fro in chambers and using throttling effect
    • F16F9/16—Devices with one or more members, e.g. pistons, vanes, moving to and fro in chambers and using throttling effect involving only straight-line movement of the effective parts
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/10—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium using liquid only; using a fluid of which the nature is immaterial
    • F16F9/14—Devices with one or more members, e.g. pistons, vanes, moving to and fro in chambers and using throttling effect
    • F16F9/16—Devices with one or more members, e.g. pistons, vanes, moving to and fro in chambers and using throttling effect involving only straight-line movement of the effective parts
    • F16F9/18—Devices with one or more members, e.g. pistons, vanes, moving to and fro in chambers and using throttling effect involving only straight-line movement of the effective parts with a closed cylinder and a piston separating two or more working spaces therein
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/10—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium using liquid only; using a fluid of which the nature is immaterial
    • F16F9/14—Devices with one or more members, e.g. pistons, vanes, moving to and fro in chambers and using throttling effect
    • F16F9/16—Devices with one or more members, e.g. pistons, vanes, moving to and fro in chambers and using throttling effect involving only straight-line movement of the effective parts
    • F16F9/18—Devices with one or more members, e.g. pistons, vanes, moving to and fro in chambers and using throttling effect involving only straight-line movement of the effective parts with a closed cylinder and a piston separating two or more working spaces therein
    • F16F9/19—Devices with one or more members, e.g. pistons, vanes, moving to and fro in chambers and using throttling effect involving only straight-line movement of the effective parts with a closed cylinder and a piston separating two or more working spaces therein with a single cylinder and of single-tube type

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Vibration Prevention Devices (AREA)
  • Buildings Adapted To Withstand Abnormal External Influences (AREA)

Abstract

一种振动抑制装置(10)及机器人，振动抑制装置(10)安装于一工业机器人的一关节处，包括：外缸体(11)、内缸体(12)、活塞(13)、活塞杆(14)、第一通道(15)以及节流阀(16)；内缸体(12)位于外缸体(11)内部，外缸体(11)、活塞(13)以及活塞杆(14)形成第一工作腔(A)，且第一工作腔(A)上设置有第一油口(a)，活塞杆(14)与内缸体(12)形成第二工作腔(B)，且第二工作腔(B)上设置有第二油口(b)，第一油口(a)及第二油口(b)通过第一通道(15)连通，节流阀(16)设置于第一通道(15)上，用于控制第一通道(15)上液压油的流量，并至少产生一与工业机器人运动相反的力，进而能够以被动阻尼方式抑制机器人运动时产生的振动，使机器人运行平稳。

Description

PCT国内申请，说明书已公开。

Claims (15)

  1. PCT国内申请，权利要求书已公开。
CN201780036110.5A 2017-05-25 2017-05-25 振动抑制装置及机器人 Active CN109312805B (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/085939 WO2018214102A1 (zh) 2017-05-25 2017-05-25 振动抑制装置及机器人

Publications (2)

Publication Number Publication Date
CN109312805A true CN109312805A (zh) 2019-02-05
CN109312805B CN109312805B (zh) 2021-04-02

Family

ID=64396025

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201780036110.5A Active CN109312805B (zh) 2017-05-25 2017-05-25 振动抑制装置及机器人

Country Status (2)

Country Link
CN (1) CN109312805B (zh)
WO (1) WO2018214102A1 (zh)

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4268013A (en) * 1978-06-12 1981-05-19 Nl Industries, Inc. Crane motion compensator
CN101016926A (zh) * 2007-02-06 2007-08-15 南京航空航天大学 带内节流阀的飞机起落架缓冲器
CN101798909A (zh) * 2010-04-01 2010-08-11 中国石油大学(华东) 海洋浮式钻井平台钻柱升沉补偿装置
CN102029607A (zh) * 2009-09-29 2011-04-27 库卡罗伯特有限公司 具有重力平衡系统的工业机器人
CN102537176A (zh) * 2012-03-13 2012-07-04 株洲南车时代电气股份有限公司 一种阀控式半主动减振器
CN102658553A (zh) * 2012-05-14 2012-09-12 重庆绿色智能技术研究院 一种机器人及一种机器人臂振动控制与精确定位装置
CN103587371A (zh) * 2013-11-27 2014-02-19 徐光中 一种车辆悬架单元以及互连悬架系统
WO2016122321A1 (en) * 2015-01-29 2016-08-04 Ihc Holland Ie B.V. Compensator device
CN205766120U (zh) * 2016-05-27 2016-12-07 郴州郴锦智能机器人有限公司 一种机器人底座
CN106438824A (zh) * 2016-08-12 2017-02-22 浙江工业大学 一种专用于太阳翼板吊挂装置的刹车气缸

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4268013A (en) * 1978-06-12 1981-05-19 Nl Industries, Inc. Crane motion compensator
CN101016926A (zh) * 2007-02-06 2007-08-15 南京航空航天大学 带内节流阀的飞机起落架缓冲器
CN102029607A (zh) * 2009-09-29 2011-04-27 库卡罗伯特有限公司 具有重力平衡系统的工业机器人
CN101798909A (zh) * 2010-04-01 2010-08-11 中国石油大学(华东) 海洋浮式钻井平台钻柱升沉补偿装置
CN102537176A (zh) * 2012-03-13 2012-07-04 株洲南车时代电气股份有限公司 一种阀控式半主动减振器
CN102658553A (zh) * 2012-05-14 2012-09-12 重庆绿色智能技术研究院 一种机器人及一种机器人臂振动控制与精确定位装置
CN103587371A (zh) * 2013-11-27 2014-02-19 徐光中 一种车辆悬架单元以及互连悬架系统
WO2016122321A1 (en) * 2015-01-29 2016-08-04 Ihc Holland Ie B.V. Compensator device
CN205766120U (zh) * 2016-05-27 2016-12-07 郴州郴锦智能机器人有限公司 一种机器人底座
CN106438824A (zh) * 2016-08-12 2017-02-22 浙江工业大学 一种专用于太阳翼板吊挂装置的刹车气缸

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Publication number Publication date
CN109312805B (zh) 2021-04-02
WO2018214102A1 (zh) 2018-11-29

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Address after: 518063 23 Floor (Room 2303-2306) of Desai Science and Technology Building, Yuehai Street High-tech Zone, Nanshan District, Shenzhen City, Guangdong Province

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Applicant before: Shenzhen AANDE Intelligent Technology Research Institute Co., Ltd.

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