CN111173887A

CN111173887A - Vibration suppression device and robot

Info

Publication number: CN111173887A
Application number: CN202010023624.0A
Authority: CN
Inventors: 刘凯; 徐成克; 章林; 肖永强; 赵从虎; 魏小敏; 张帷; 曹琳; 陈青
Original assignee: Efort Intelligent Equipment Co ltd
Current assignee: Efort Intelligent Equipment Co ltd
Priority date: 2020-01-09
Filing date: 2020-01-09
Publication date: 2020-05-19

Abstract

The invention relates to the technical field of robot equipment, in particular to a vibration suppression device and a robot, which comprise a shell and further comprise: the robot comprises a driven gear shaft and a driving gear shaft, wherein a section of driving tooth is arranged on the outer side of the driving gear shaft, a non-meshing area formed between two sections of discontinuous positive driven teeth and reverse driven teeth arranged on the inner side of the driven gear shaft can rotate, 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 a shell to do compression or stretching motion, and the vibration is restrained through elastic deformation.

Description

Vibration suppression device and robot

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

1. A vibration suppression device comprising a housing (12), characterized in that: further comprising:

the driven gear shaft (11) is rotatably connected in the shell (12), and the driven gear shaft (11) is provided with a cavity;

the driving gear shaft (10) is arranged in the cavity of the driven gear shaft (11) and is connected with the cavity in a coaxial line and independently rotatable mode;

the outer side of the driving gear shaft (10) is provided with a section of driving teeth (101) which can rotate in a non-meshing area formed between two sections of discontinuous forward driven teeth (110) and reverse driven teeth (111) arranged on 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 out of 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 shell (12) to do compression or stretching motion, and the elastic deformation inhibits vibration.

2. A vibration suppressing device as defined in claim 1, wherein: the driving gear shaft (10) is provided with a hollow hole (102), and a zero notch (104) is arranged in the hollow hole (102).

3. A vibration suppressing device as defined in claim 1, wherein: the outer side of the driven gear shaft (11) is provided with a plurality of groups of first fan-shaped bosses (112) along the circumferential direction, and the inner side of the shell (12) is provided with 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 along the circumferential direction.

4. A vibration suppressing device as defined in claim 3, wherein: the fan-shaped boss I (112) is provided with a first non-through round hole (112a) along the circumferential direction, and the elastic element can do telescopic motion in the corresponding first non-through round hole (112 a).

5. A vibration suppressing device as defined in claim 3, wherein: 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).

6. A vibration suppressing device as defined in claim 1, wherein: the number of teeth of the forward driven tooth (110) is the same as that of the reverse driven tooth (111), and the number of teeth n of the driving tooth (101) is more than two teeth of the number of teeth m of the forward driven tooth (110).

7. A vibration suppressing device as defined in claim 1, wherein: the number m of the forward driven teeth (110) and the reverse driven teeth (111) is in a 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.

8. A robot to which the vibration suppressing apparatus as defined in any one of claims 1 to 7 is applied, the robot comprising a swivel base (21) and a large arm (22) provided on the swivel base (21), characterized in that: the large arm (22) is fixedly connected with a shell (12) of the vibration suppression device (1), a driving gear shaft (10) of the vibration suppression device (1) is fixed on a mounting plate (215) of the rotary seat (21), and the large arm (22) is driven by driving force to rotate around the rotary seat (21).

9. A robot as claimed in claim 8, wherein: a protective sleeve (216) is arranged on the inner wall of the vibration suppression device (1).

10. A robot as claimed in claim 8, wherein: 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 movement 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 movement range B of the robot (2) is equal to the sum of the reverse non-meshing angle c and the meshing angle B.