CN111173887A - Vibration suppression device and robot - Google Patents
Vibration suppression device and robot Download PDFInfo
- Publication number
- CN111173887A CN111173887A CN202010023624.0A CN202010023624A CN111173887A CN 111173887 A CN111173887 A CN 111173887A CN 202010023624 A CN202010023624 A CN 202010023624A CN 111173887 A CN111173887 A CN 111173887A
- Authority
- CN
- China
- Prior art keywords
- gear shaft
- teeth
- driven
- robot
- suppression device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000001629 suppression Effects 0.000 title claims abstract description 41
- 230000002441 reversible effect Effects 0.000 claims abstract description 31
- 230000033001 locomotion Effects 0.000 claims abstract description 21
- 230000005489 elastic deformation Effects 0.000 claims abstract description 9
- 230000006835 compression Effects 0.000 claims abstract description 6
- 238000007906 compression Methods 0.000 claims abstract description 6
- 230000001681 protective effect Effects 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims 4
- 238000013016 damping Methods 0.000 abstract description 7
- 230000001133 acceleration Effects 0.000 abstract description 5
- 230000000694 effects Effects 0.000 abstract description 2
- 239000003921 oil Substances 0.000 description 10
- 238000004519 manufacturing process Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 8
- 239000003638 chemical reducing agent Substances 0.000 description 7
- 230000008569 process Effects 0.000 description 5
- 230000001360 synchronised effect Effects 0.000 description 5
- 210000000707 wrist Anatomy 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000010720 hydraulic oil Substances 0.000 description 2
- 230000000670 limiting effect Effects 0.000 description 2
- 230000001050 lubricating effect Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 241000208125 Nicotiana Species 0.000 description 1
- 235000002637 Nicotiana tabacum Nutrition 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000004519 grease Substances 0.000 description 1
- 238000000227 grinding Methods 0.000 description 1
- 230000002401 inhibitory effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000002829 reductive effect Effects 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Images
Classifications
-
- 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
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/10—Suppression of vibrations in rotating systems by making use of members moving with the system
- F16F15/12—Suppression of vibrations in rotating systems by making use of members moving with the system using elastic members or friction-damping members, e.g. between a rotating shaft and a gyratory mass mounted thereon
- F16F15/121—Suppression of vibrations in rotating systems by making use of members moving with the system using elastic members or friction-damping members, e.g. between a rotating shaft and a gyratory mass mounted thereon using springs as elastic members, e.g. metallic springs
- F16F15/123—Wound springs
- F16F15/12306—Radially mounted springs
-
- 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
-
- 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
- B25J19/0091—Shock absorbers
-
- 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
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/028—Gearboxes; Mounting gearing therein characterised by means for reducing vibration or noise
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Manipulator (AREA)
Abstract
本发明涉及机器人设备技术领域，具体是一种振动抑制装置及机器人，包括壳体，还包括：从动齿轮轴、主动齿轮轴，所述的主动齿轮轴外侧设置有一段主动齿可在由从动齿轮轴内侧设置的两段不连续的正向从动齿和反向从动齿之间所形成的非啮合区转动，在主动齿轮轴越出非啮合区后触碰正向从动齿或反向从动齿，以使从动齿轮轴转动并带动布置在从动齿轮轴与壳体之间的弹性元件做压缩或拉伸运动，以弹性变形抑制振动，还包括一种应用振动抑制装置的机器人，利用环形弹簧的阻力和弹性变形粘弹性阻尼作用来抑制抖动，同时，将振动抑制装置设置在机器人中利用弹性变形来抑制机器人减速停止和加速启动中抖动，能够有效的提高机器人运行精度。
The invention relates to the technical field of robotic equipment, in particular to a vibration suppression device and a robot, comprising a casing, and further comprising: a driven gear shaft and a driving gear shaft. The non-meshing area formed between the two discontinuous positive driven teeth and the reverse driven teeth set on the inner side of the driven gear shaft rotates, and the driving gear shaft touches the positive driven teeth or Reverse driven teeth, so as to make the driven gear shaft rotate and drive the elastic element arranged between the driven gear shaft and the casing to do compression or tension movement, to suppress vibration with elastic deformation, and also includes an application vibration suppression device The robot uses the resistance of the ring spring and the viscoelastic damping effect of elastic deformation to suppress the shaking. At the same time, the vibration suppression device is installed in the robot to use elastic deformation to suppress the shaking during the deceleration stop and acceleration start of the robot, which can effectively improve the operation accuracy of the robot. .
Description
Technical Field
The invention relates to the technical field of robot equipment, in particular to a vibration suppression device and a robot.
Background
An industrial robot is one of key devices for intelligent manufacturing, and can be used in production links such as manufacturing, installation, detection, logistics and the like. The production tasks of component assembly, grinding, polishing, spraying, carrying and the like can be executed. The method is widely applied to the fields of chemical industry, automobiles, 3C, food, medicine, tobacco, household appliances, bathroom accessories, machining and the like. The requirements of modernization, intelligent production and flexible manufacturing are met. The condition that an end effector shakes in the motion process exists in the production and manufacturing process of the industrial robot, the position motion precision of the robot is influenced, and key parts of the robot are easy to damage after long-term use. The factors causing the robot shake include the structural rigidity of the mechanical arm of the industrial robot, the position precision of part assembly, the transmission stability of a product of a speed reducer and a motor servo control technology. Under the condition that all factors are well controlled, new requirements are put on the aspect of further controlling the shaking of the robot.
In the prior art, the terminal shaking condition of the industrial robot is reduced by optimizing a motor servo control technology and optimizing a control algorithm. The vibration suppression device for industrial equipment and the robot described in chinese patent application No. 201780036110.5: the vibration suppression device is arranged at a joint of the industrial robot, and the flow of hydraulic oil in the hydraulic cylinder body is controlled by the throttle valve, so that the vibration suppression device generates at least one force opposite to the motion of the industrial robot, and the vibration generated when the robot moves is suppressed in a passive damping mode. However, the vibration suppressing device described therein suppresses mechanical vibration by controlling the flow rate of the hydraulic oil, and therefore, the accuracy of control is difficult to ensure, the generated reaction force is complicated, and the magnitude of the reaction force cannot be accurately quantified, and therefore, the vibration suppressing device is not suitable for an industrial robot operating at high speed. For example, a passive vibration-damping elastic element on a flexible robot joint, which is described in a passive vibration-damping elastic element on a flexible robot joint of chinese patent No. 201610803038.1, is innovatively designed on the basis of active or semi-active vibration damping of a robot, the vibration-damping elastic element is mounted on a power output shaft of a speed reducer, and a large amount of energy loss is caused by the elastic deformation of the elastic element and the viscoelastic damping action of a fan-shaped rubber plate because the vibration of the robot normally occurs in the acceleration and deceleration processes, and the design acts on the whole operation process of the robot, and the adopted fan-shaped rubber plate is not suitable for an industrial robot moving at high speed and is not suitable for severe environments.
Disclosure of Invention
In order to solve the above problems, the present invention provides a vibration suppression device and a robot.
A vibration suppression device comprising a housing, further comprising:
the driven gear shaft is rotatably connected in the shell and is provided with a cavity;
the driving gear shaft is arranged in the cavity of the driven gear shaft and is connected with the cavity in a coaxial line and independently rotatable mode;
the driving gear shaft is provided with a section of driving teeth on the outer side, the driving teeth can rotate in a non-meshing area formed between two sections of discontinuous positive driven teeth and reverse driven teeth which are arranged on the inner side of the driven gear shaft, and the driving gear shaft touches the positive driven teeth or the reverse driven teeth after going out of the non-meshing area, so that the driven gear shaft rotates and drives an elastic element arranged between the driven gear shaft and the shell to do compression or stretching motion, and the elastic deformation is used for inhibiting vibration.
The driving gear shaft is provided with a hollow hole, and a zero notch is formed in the hollow hole.
The outer side of the driven gear shaft is provided with a plurality of groups of first fan-shaped bosses along the circumferential direction, and the inner side of the shell is provided with a plurality of groups of second fan-shaped bosses which can be matched with the corresponding first fan-shaped bosses to compress or stretch the elastic element along the circumferential direction.
The fan-shaped boss I is provided with a first non-through round hole in the circumferential direction, and the elastic element can do telescopic motion in the corresponding first non-through round hole.
The second fan-shaped boss is provided with a second non-through round hole in the circumferential direction, and the elastic element can do telescopic motion in the corresponding second non-through round hole.
The number of teeth of the forward driven teeth is the same as that of the reverse driven teeth, and the number of teeth n of the driving teeth is more than two teeth of the number of teeth m of the forward driven teeth.
The number m of the forward driven teeth and the reverse driven teeth is in linear relation with the elastic force F of the elastic element, and the number m of the teeth is determined according to the elastic force F of the elastic element.
A robot applying a vibration suppression device comprises a rotary seat and a large arm arranged on the rotary seat, wherein the large arm is fixedly connected with a shell of the vibration suppression device, a driving gear shaft of the vibration suppression device is fixed on a mounting plate of the rotary seat, and the large arm is driven by a driving force to rotate around the rotary seat.
And a protective sleeve is arranged on the inner wall of the vibration suppression device.
The positive non-meshing angle and the meshing angle between the driving tooth and the positive driven tooth of the vibration suppression device are a and B, the reverse non-meshing angle and the meshing angle between the driving tooth and the reverse driven tooth of the vibration suppression device are c and B, the positive motion range A of the robot is equal to the sum of the positive non-meshing angle a and the meshing angle B, and the reverse motion range B of the robot is equal to the sum of the reverse non-meshing angle c and the meshing angle B.
The invention has the beneficial effects that: the vibration suppression device is arranged in the robot and suppresses the vibration of the robot during deceleration stop and acceleration start by elastic deformation, so that the running precision of the robot can be effectively improved.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a cross-sectional view of a drive form of the vibration suppression device of the present invention;
fig. 2 is a sectional view of the entire vibration suppressing apparatus of the present invention;
FIG. 3 is a perspective view of the drive gear shaft of the present invention;
FIG. 4 is a perspective view of the housing of the present invention;
FIG. 5 is a schematic view of the vibration suppressing apparatus of the present invention mounted on a robot;
fig. 6 is a front view structural diagram of the robot of the present invention.
Description of reference numerals: 1. a vibration suppression device; 10. a driving gear shaft; 101. a driving tooth; 102. a hollow bore; 103. a shaft shoulder; 104. a zero notch; 105. a second threaded hole; 11. a driven gear shaft; 110. a positive driven tooth; 111. a reverse driven tooth; 112. a fan-shaped boss; 112a, a circular hole; 12. a housing; 120. a fan-shaped boss; 120a, a circular hole; 121. a through hole; 122. a first threaded hole; 13. an annular spring; 130. a fixed end; 131. a movable end; 14a, oil seal; 14b, oil seal; 15a, a bearing; 15b, a bearing; 16a, a shaft retainer ring; 16b, a shaft retainer ring; 17. a dust cover; 2. a robot; 20. a base; 21. rotating; 210. a motor; 211. an input pulley; 212. a synchronous belt; 213. an output pulley; 214. a speed reducer; 215. mounting a plate; 216. a protective sleeve; 22. a large arm; 23. a small arm; 24. a wrist body; 25. a terminal flange.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below.
The first embodiment is as follows:
as shown in fig. 1 to 4, a vibration suppressing apparatus includes a housing 12, and further includes:
a driven gear shaft 11 rotatably connected in the housing 12, the driven gear shaft 11 having a cavity;
a driving gear shaft 10 disposed in the cavity of the driven gear shaft 11 and connected to the cavity in a coaxial line independently rotatable manner;
the driving gear shaft 10 is provided with a section of driving teeth 101 at the outer side thereof, which can rotate in a non-meshing area formed between two discontinuous sections of forward driven teeth 110 and reverse driven teeth 111 arranged at the inner side of the driven gear shaft 11, and the driving gear shaft 10 touches the forward driven teeth 110 or the reverse driven teeth 111 after going beyond the non-meshing area, so that the driven gear shaft 11 rotates and drives an elastic element arranged between the driven gear shaft 11 and the housing 12 to perform compression or stretching motion, and the elastic deformation suppresses vibration.
In the process of forward and reverse rotation of the driving gear shaft 10, the number of teeth m and n are discontinuous and are only one section of teeth, therefore, when the driving gear shaft 10 is driven to rotate by external force, the driving tooth 101 firstly runs through one section of non-contact operation and then contacts with the forward driven tooth 110 or the reverse driven tooth 111, when the driven gear shaft 11 is forced to rotate, wherein the driving tooth 101 runs anticlockwise and contacts with the forward driven tooth 110 to form compression movement of the annular spring 13, when the annular spring 13 is compressed to the limit, the driving gear shaft 10 stops moving, otherwise, when the driving gear shaft 10 rotates in a reversing way, the annular spring 13 which is compressed twice provides counter-acting force for the driving gear shaft 10, and the driving gear shaft 10 is forced to rotate.
The driven gear shaft 11 is matched with the shell 12 in a rotating mode through a second bearing 15b, and the driving gear shaft 10 is matched with the driven gear shaft 11 in a rotating mode through a first bearing 15 a.
The left end of the first bearing 15a is in contact with a shaft shoulder 103 of the driving gear shaft 10, and a first shaft retainer ring 16a for limiting the axial displacement of the first bearing 15a is arranged on the right side of the first bearing 15 a; the second bearing 15b is arranged at the left end of the driven gear shaft 11, and a second shaft retainer ring 16b for limiting the axial displacement of the second bearing 15b is arranged on the right side of the second bearing 15 b.
The driving gear shaft 10 is provided with a hollow hole 102, and a zero notch 104 is arranged in the hollow hole 102.
A plurality of groups of first fan-shaped bosses 112 are arranged on the outer side of the driven gear shaft 11 along the circumferential direction, and a plurality of groups of second fan-shaped bosses 120 which can be matched with the corresponding first fan-shaped bosses 112 to compress or stretch the elastic element are arranged on the inner side of the shell 12 along the circumferential direction.
The elastic element is a ring spring 13.
The fixed end 130 of the annular spring 13 is arranged in the shell 12, the movable end 131 of the annular spring 13 is arranged in the driven gear shaft 11, the dust cover 17 is installed on the right side of the annular spring 13, the fixed end 130 of the annular spring 13 is fixed in the circular hole two 120a of the shell 12, and the movable end 131 of the annular spring 13 is arranged in the circular hole one 112a of the driven gear shaft 11.
The number, diameter and length of the ring springs 13 can be selected according to the actual compression amount, and the ring springs 13 are preferably 4 ring springs 13.
The diameters of the first round hole 112a and the second round hole 120a are larger than the outer diameter of the annular spring 13, so that the annular spring 13 is ensured not to be interfered when moving in the first round hole 112a and the second round hole 120 a.
The first fan-shaped boss 112 is provided with a first non-through round hole 112a along the circumferential direction, and the elastic element can perform telescopic motion in the corresponding first non-through round hole 112 a.
The second fan-shaped boss 120 is provided with a second non-through round hole 120a along the circumferential direction, and the elastic element can perform telescopic motion in the corresponding second non-through round hole 120 a.
The number of the forward driven teeth 110 is the same as that of the reverse driven teeth 111, and the number of the teeth n of the driving tooth 101 is more than two teeth of the number of the teeth m of the forward driven teeth 110.
The number m of the forward driven teeth 110 and the reverse driven teeth 111 is in linear relation with the elastic force F of the elastic element, and the number m of the teeth is determined according to the elastic force F of the elastic element.
Example two:
as shown in fig. 5 and 6, a robot applying a vibration suppressing device, the robot 2 includes a rotating base 21 and a large arm 22 disposed on the rotating base 21, the large arm 22 is fixedly connected to the housing 12 of the vibration suppressing device 1, the driving gear shaft 10 of the vibration suppressing device 1 is fixed on a mounting plate 215 of the rotating base 21, and the large arm 22 is driven to rotate around the rotating base 21 by a driving force.
The robot 2 further comprises a small arm 23 arranged on the rotary base 21, a wrist body 24 arranged on the small arm 23, and an end flange 25 arranged at the end of the wrist body 24.
The drive gear shaft 10 of the vibration suppression device 1 is fixed to the mounting plate 215 by screws.
A protective sleeve 216 is arranged on the inner wall of the vibration suppression device 1.
The driving force is a synchronous belt mechanism.
The synchronous belt mechanism comprises a motor 210 arranged on the rotary base 21, a belt wheel 211 matched with the motor 210, an output belt wheel 213 matched with the belt wheel 211 through a synchronous belt 212 for power output, and a speed reducer 214 matched with the output belt wheel 213, wherein the speed reducer 214 is arranged on the large arm 22.
The positive non-meshing angle and the meshing angle between the driving tooth 101 and the positive driven tooth 110 of the vibration suppression device 1 are a and B, the reverse non-meshing angle and the meshing angle between the driving tooth 101 and the reverse driven tooth 111 of the vibration suppression device 1 are c and B, the positive motion range A of the robot 2 is equal to the sum of the positive non-meshing angle a and the meshing angle B, and the reverse motion range B of the robot 2 is equal to the sum of the reverse non-meshing angle c and the meshing angle B.
The vibration suppression device 1 is arranged in the robot 2, and the vibration suppression device suppresses the vibration of the robot 2 during deceleration stop and acceleration start by elastic deformation, so that the running precision of the robot 2 can be effectively improved.
The housing 12 is provided with a first threaded hole 122 and a second threaded hole 105.
The inner walls of the two ends of the driven gear shaft 11 are respectively provided with a first oil seal 14a and a second oil seal 14b which are used for placing a lubricating gear to prevent lubricating grease from leaking, the first oil seal 14a and the second oil seal 14b are fixed on the driven gear shaft 11, the lips of the first oil seal 14a and the second oil seal 14b are in contact with the driving gear shaft 10, and the lips of the first oil seal 14a and the second oil seal 14b are arranged inwards.
The use method of the invention comprises the following steps: when the robot 2 rotates, torque is transmitted to the speed reducer 214 through the input pulley 211, the synchronous belt 212 and the output pulley 213, the speed reducer 214 is fixed on the large arm 22 to drive the large arm 22 to rotate, when the robot 2 operates in a forward direction, that is, rotates counterclockwise, the vibration suppression device 1 receives driving force, the housing 12 rotates relative to the driving gear shaft 11, during operation, the driving tooth 101 passes through a forward non-meshing angle a, when the forward operation of the robot 2 approaches a limit position, the motor 210 starts to operate in a deceleration direction, at this time, the driving tooth 101 contacts with the forward driven tooth 110, the annular spring 13 is compressed to generate a reverse acting force to suppress the shake of the robot 2 during the deceleration process, when the robot 2 reaches the positive limit position, the annular spring 13 is completely compressed, when the robot 2 rotates in a reverse direction from the positive limit position, the annular spring 13 can give the robot 2a thrust to assist the robot 2 to operate, and the gravity that receives when the reduction robot 2 that can be great is starting with higher speed further alleviates the shake influence at the acceleration in-process.
In the above embodiment, the vibration suppression device 1 may be configured such that the housing 12 is fixed to the small arm 23 and the drive gear shaft 10 is attached to the large arm 22, thereby achieving a vibration suppression effect on the other axial movement of the robot 2.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010023624.0A CN111173887A (en) | 2020-01-09 | 2020-01-09 | Vibration suppression device and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010023624.0A CN111173887A (en) | 2020-01-09 | 2020-01-09 | Vibration suppression device and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111173887A true CN111173887A (en) | 2020-05-19 |
Family
ID=70656287
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010023624.0A Pending CN111173887A (en) | 2020-01-09 | 2020-01-09 | Vibration suppression device and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111173887A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111839846A (en) * | 2020-07-27 | 2020-10-30 | 深圳市健行仿生科技有限公司 | Bionic ankle joint artificial limb |
| CN113306645A (en) * | 2021-07-12 | 2021-08-27 | 北京理工大学 | Separable torsion damping mechanism capable of being applied to wheel-leg type vehicle |
| CN113757306A (en) * | 2021-07-22 | 2021-12-07 | 中国北方车辆研究所 | Vibration filtering and buffering device for electromechanical suspension |
| CN114161392A (en) * | 2021-12-16 | 2022-03-11 | 徐州永佳液压设备有限公司 | Machine tool mechanical arm slewing mechanism |
| CN116423282A (en) * | 2023-04-10 | 2023-07-14 | 中国长江电力股份有限公司 | Robot milling chatter suppression device and chatter suppression method |
| CN117047830A (en) * | 2023-10-13 | 2023-11-14 | 广东隆崎机器人有限公司 | Robot joint balancing device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4185728A (en) * | 1977-10-14 | 1980-01-29 | Borg-Warner Corporation | Clutch disc with variable deflection rate vibration damper |
| FR2652398A1 (en) * | 1989-09-25 | 1991-03-29 | Automotive Prod France | Driven discs of a friction clutch |
| CN101680493A (en) * | 2007-06-01 | 2010-03-24 | 株式会社艾科赛迪 | Damper mechanism |
| CN110605739A (en) * | 2019-09-18 | 2019-12-24 | 珠海格力电器股份有限公司 | Active vibration damping device for joints of industrial robot and robot |
| CN211901447U (en) * | 2020-01-09 | 2020-11-10 | 埃夫特智能装备股份有限公司 | A vibration suppressing device and robot |
-
2020
- 2020-01-09 CN CN202010023624.0A patent/CN111173887A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4185728A (en) * | 1977-10-14 | 1980-01-29 | Borg-Warner Corporation | Clutch disc with variable deflection rate vibration damper |
| FR2652398A1 (en) * | 1989-09-25 | 1991-03-29 | Automotive Prod France | Driven discs of a friction clutch |
| CN101680493A (en) * | 2007-06-01 | 2010-03-24 | 株式会社艾科赛迪 | Damper mechanism |
| CN110605739A (en) * | 2019-09-18 | 2019-12-24 | 珠海格力电器股份有限公司 | Active vibration damping device for joints of industrial robot and robot |
| CN211901447U (en) * | 2020-01-09 | 2020-11-10 | 埃夫特智能装备股份有限公司 | A vibration suppressing device and robot |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111839846A (en) * | 2020-07-27 | 2020-10-30 | 深圳市健行仿生科技有限公司 | Bionic ankle joint artificial limb |
| CN111839846B (en) * | 2020-07-27 | 2022-10-18 | 深圳市健行仿生科技有限公司 | Bionic ankle joint artificial limb |
| CN113306645A (en) * | 2021-07-12 | 2021-08-27 | 北京理工大学 | Separable torsion damping mechanism capable of being applied to wheel-leg type vehicle |
| CN113757306A (en) * | 2021-07-22 | 2021-12-07 | 中国北方车辆研究所 | Vibration filtering and buffering device for electromechanical suspension |
| CN114161392A (en) * | 2021-12-16 | 2022-03-11 | 徐州永佳液压设备有限公司 | Machine tool mechanical arm slewing mechanism |
| CN116423282A (en) * | 2023-04-10 | 2023-07-14 | 中国长江电力股份有限公司 | Robot milling chatter suppression device and chatter suppression method |
| CN116423282B (en) * | 2023-04-10 | 2024-03-29 | 中国长江电力股份有限公司 | Robot milling chatter suppression device and chatter suppression method |
| CN117047830A (en) * | 2023-10-13 | 2023-11-14 | 广东隆崎机器人有限公司 | Robot joint balancing device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111173887A (en) | Vibration suppression device and robot | |
| CN107866804B (en) | Robot, gear device, and method for manufacturing gear device | |
| CN102001095B (en) | Robot arm component and robot | |
| TWI273009B (en) | Speed reducer for industrial robot | |
| CN108297127B (en) | A passively compliant joint with variable stiffness based on elastic elements | |
| US4807486A (en) | Three-axes wrist mechanism | |
| JP6613437B2 (en) | Decelerator | |
| JP2007085530A (en) | Hollow reducer | |
| JP7533005B2 (en) | Gearing and robots | |
| CN108818528B (en) | Robot joint transmission mechanism and operation method thereof | |
| CN108775302B (en) | Blade swinging type hydraulic cylinder special for robot motion joint | |
| CN211901447U (en) | A vibration suppressing device and robot | |
| JP2009085267A (en) | Gear device | |
| JP2013006259A (en) | Industrial robot | |
| CN109048869B (en) | Wrist body transmission structure and six-axis robot | |
| CN108167394B (en) | A Rotating Base and Cylindrical Coordinate System Robot | |
| EP2674642A1 (en) | Harmonic drive with stationary gear | |
| CN110000755B (en) | Parallel mechanism with two-movement-one-screw and two-movement-one-rotation motion modes | |
| EP0243508B1 (en) | Industrial robot having dust-proof structure | |
| CN204295689U (en) | Deceleration system four axle robot | |
| CN108413006A (en) | A kind of harmonic driving device of vibratory wave generator | |
| CN108386514B (en) | Vibration double wave type harmonic wave driving mechanism | |
| CN204366956U (en) | Highly integrated four axle robots | |
| JP2018194094A (en) | Robot, gear unit, and method of manufacturing the gear unit | |
| CN112356067A (en) | Intelligent integrated robot joint |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Country or region after: China Address after: 241000 No. 96, Wanchun East Road, Wuhu District, China (Anhui) pilot Free Trade Zone, Wuhu City, Anhui Province Applicant after: Efte Intelligent Robot Co.,Ltd. Address before: Anhui city of Wuhu province Jiujiang Economic Development Zone Wan Chun Road No. 96 Applicant before: EFORT INTELLIGENT EQUIPMENT Co.,Ltd. Country or region before: China |
|
| CB02 | Change of applicant information |