CN113124041A - Adjustable damping mechanism and mechanical joint with damping adjusting function - Google Patents
Adjustable damping mechanism and mechanical joint with damping adjusting function Download PDFInfo
- Publication number
- CN113124041A CN113124041A CN201911393257.7A CN201911393257A CN113124041A CN 113124041 A CN113124041 A CN 113124041A CN 201911393257 A CN201911393257 A CN 201911393257A CN 113124041 A CN113124041 A CN 113124041A
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- Prior art keywords
- friction
- damping mechanism
- adjustable damping
- friction part
- movable
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Classifications
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- 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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C11/00—Pivots; Pivotal connections
- F16C11/04—Pivotal connections
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- 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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C7/00—Connecting-rods or like links pivoted at both ends; Construction of connecting-rod heads
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- 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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C9/00—Bearings for crankshafts or connecting-rods; Attachment of connecting-rods
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- 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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C9/00—Bearings for crankshafts or connecting-rods; Attachment of connecting-rods
- F16C9/04—Connecting-rod bearings; Attachments thereof
Abstract
The invention relates to an adjustable damping mechanism and a mechanical joint with damping adjustment function, wherein the mechanism is used for connecting at least two movable parts which can rotate relatively and comprises: the rotating part is provided with an inner ring and an outer ring which can rotate relatively, and the outer ring of the rotating part is connected with the first movable part; the first friction part is connected with the inner ring of the rotating part and the second movable part; the second friction part is axially movable and circumferentially non-rotatably arranged on the first movable part, and forms a friction interface with the first friction part; the adjusting part is connected with the second friction part and is used for driving the second friction part to be close to or far away from the first friction part so as to increase or decrease the friction damping of a friction interface between the two friction parts; the mechanical joint comprises at least two movable parts which are pivoted through the adjustable damping mechanism. The invention can realize the output of large damping by using a space with smaller volume under the requirement of ensuring high rotation precision, and simultaneously can ensure the stability of the damping during long-time use and the adjustability and easy adjustability of the damping.
Description
Technical Field
The invention relates to mechanical equipment, in particular to an adjustable damping mechanism and a mechanical joint with a damping adjusting function.
Background
As is known, mechanical joints are the most common mechanical part of mechanical devices, in particular kinematic mechanisms, because different applications have different requirements on the performance of the mechanical joints. There are often mechanical joints that need to have some damping, especially mechanical joints that need to achieve an arbitrary stop function.
However, the damping mechanism in the on-the-go mechanical joint available in the market at present often has the following problems: firstly, the motion precision is not high; secondly, the damping is not adjustable; the structure is overlarge when larger damping is provided; damping varies significantly with increasing age.
Disclosure of Invention
In view of the above problems, it is an object of the present invention to provide an adjustable damping mechanism, which can achieve large damping output with a smaller space while ensuring high rotational accuracy, and at the same time, can ensure stability of the damping during long-term use and adjustability and easy adjustability of the damping; another object of the present invention is to provide a mechanical joint with damping adjustment function, which has the above adjustable damping mechanism.
In order to achieve the purpose, the invention adopts the following technical scheme: an adjustable damping mechanism for connecting at least two movable parts which are rotatable relative to each other, the mechanism comprising: the rotating part is provided with an inner ring and an outer ring which can rotate relatively, and the outer ring of the rotating part is connected with the first movable part; the first friction part is connected with the inner ring of the rotating part and the second movable part; the second friction part is axially movably and circumferentially non-rotatably arranged on the first movable part, and a friction interface is formed between the second friction part and the first friction part; and the adjusting part is connected with the second friction part and used for driving the second friction part to be close to or far away from the first friction part along the axis of the adjustable damping mechanism so as to increase or decrease the friction damping of a friction interface between the second friction part and the first friction part.
The adjustable damping mechanism is preferably arranged such that the rotation axis of the rotating part is perpendicular to the longitudinal direction of the first and second movable parts.
The adjustable damping mechanism, preferably, the adjusting part comprises: the guide piece can be screwed in or out along the axial direction of the damping mechanism; one end of the elastic piece abuts against the guide piece, and the other end of the elastic piece abuts against the first friction part.
The adjustable damping mechanism preferably further comprises a retainer connected with the outer rings of the first movable part and the rotating part at the same time, a gap is reserved between the retainer and the rotating part, and the first friction part and the second friction part are located in the gap between the retainer and the rotating part.
The adjustable damping mechanism is preferably arranged in a manner that the elastic member is a compression spring.
The adjustable damping mechanism preferably comprises a guide rod and a screw head integrally formed at one end of the guide rod, wherein the periphery of the screw head is provided with an external thread, the inner ring of the retainer is provided with an internal thread matched with the external thread of the screw head, and the screw head is in threaded connection with the inside of the retainer; a spring positioning sleeve is formed between the guide rod and the screw head, the compression spring is sleeved on the guide rod, one end of the compression spring is positioned in the spring positioning sleeve, and the other end of the compression spring abuts against the first friction part.
The adjustable damping mechanism is preferably arranged such that the rotating part is a cross roller bearing.
Preferably, the inner ring of the cross roller bearing is simultaneously connected with the first friction part and the second movable part through a first connecting piece, and the outer ring of the cross roller bearing is simultaneously connected with the movable part and the retainer through a second connecting piece.
Preferably, the adjustable damping mechanism is characterized in that a plurality of convex teeth are formed on the periphery of the second friction part, a guide groove matched with the outer contour of the second friction part is formed on the first movable part, and the second friction part is matched in the guide groove, so that the guide groove can limit the circumferential movement of the second friction part but not limit the movement of the second friction part along the axis of the adjustable damping mechanism.
The adjustable damping mechanism is preferably provided with a trapezoidal contact area on a contact interface of the first friction part and the second friction part.
Preferably, the first friction part and the second friction part are made of wear-resistant phosphor bronze.
A mechanical joint with a damping adjusting function comprises at least two movable parts which can rotate relatively, and the at least two movable parts are pivoted together through the adjustable damping mechanism.
Due to the adoption of the technical scheme, the invention has the following advantages: 1. the adjustable damping mechanism of the invention adopts the crossed roller bearing, so the movement precision and the use performance of the mechanism can be effectively ensured. 2. The adjustable damping mechanism can conveniently adjust the magnitude of the friction damping between the inner ring friction ring and the outer ring friction ring by adjusting the compression amount of the compression spring. 3. The compression spring of the invention can be a die spring, thereby providing a large axial force and realizing large damping output in a space with a small volume. 4. The adjustable damping mechanism adopts the compression spring to tightly press the inner ring friction ring and the outer ring friction ring, under the condition of larger compression amount, the abrasion of the inner ring friction ring and the outer ring friction ring has little influence on the axial force and can be ignored, thereby being capable of maintaining the friction damping basically constant.
Drawings
FIG. 1 is a schematic structural diagram of a mechanical joint according to an embodiment of the present invention;
FIG. 2 is a cross-sectional view of this embodiment of the invention;
FIG. 3 is a schematic structural diagram of the adjustable damping mechanism of the embodiment of the present invention;
FIG. 4 is an exploded view of the adjustable damping mechanism of this embodiment of the present invention;
FIGS. 5(a) and (b) are schematic structural views of a guide screw according to an embodiment of the present invention;
FIG. 6 is a schematic view of the assembly of the connecting rod and the outer race friction ring according to an embodiment of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the objects, features and advantages of the invention can be more clearly understood. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present invention, but are merely intended to illustrate the spirit of the technical solution of the present invention.
As shown in fig. 1 to 3, the present embodiment provides an adjustable damping mechanism 1 including: the crossed roller bearing 11, and the outer ring of the crossed roller bearing 11 is fixedly connected with the connecting rod 2 through bolts and nuts; the inner ring friction ring 12 (which can also be a friction block or a friction plate) is fixedly connected with the inner ring of the crossed roller bearing 11 and the connecting rod 3 through a bolt 17 and a nut 18, and the rotation axis of the crossed roller bearing 11 is vertical to the length directions of the connecting rod 2 and the connecting rod 3; the outer ring friction ring 13 is axially movably and circumferentially non-rotatably arranged on the connecting rod 2, and a contact interface is formed between the outer ring friction ring 13 and the inner ring friction ring 12; and the adjusting part 10 is connected with the outer ring friction ring 13 and is used for driving the outer ring friction ring 13 to approach or depart from the inner ring friction ring 12 along the axis of the adjustable damping mechanism 1 so as to increase or decrease the friction damping of the contact interface between the outer ring friction ring 13 and the inner ring friction ring 12.
In the above embodiment, preferably, as shown in fig. 2 to 4, the adjustable damping mechanism 1 further includes a retainer 14 fixedly connected to the connecting rod 2 and the outer ring of the cross roller bearing 11 at the same time through a bolt 19 and a nut 20, and a gap is left between the retainer 14 and the cross roller bearing 11, and the inner ring friction ring 12 and the outer ring friction ring 12 are located in the gap between the retainer 14 and the cross roller bearing 11.
In the above embodiment, preferably, as shown in fig. 4 and fig. 5(a), (b), the adjusting part 10 includes a compression spring 15 and a guide screw 16, the guide screw 16 is mainly composed of a guide rod 21 and a screw head 22 integrally formed at one end of the guide rod 21, and the outer circumference of the screw head 22 has an external thread, while the inner ring of the holder 14 has an internal thread matching the external thread of the screw head 22, and the screw head 22 is screwed in the holder 14; a spring positioning sleeve 23 is formed between the guide rod 21 and the screw head 22, the compression spring 15 is sleeved on the guide rod 21, one end of the compression spring 15 is positioned in the spring positioning sleeve 23, and the other end of the compression spring 15 abuts against the inner ring friction ring 12. Thus, when the guide screw 16 is rotated by the wrench groove 24 on the end face of the screw head 22 to move (i.e., screw) inward along the axis of the damping mechanism 1, the compression amount of the compression spring 15 is increased, so that a greater frictional damping is generated between the outer-ring friction ring 13 and the inner-ring friction ring 12 to restrict the relative rotation between the inner and outer rings of the crossed roller bearing 11, and further, the relative rotation of the connecting rod 2 and the connecting rod 3 connected to the inner and outer rings of the crossed roller bearing 11, respectively; conversely, when the guide screw 16 is rotated by the wrench groove 24 on the end face of the screw head 22 to move (i.e., unscrew) outward along the axis of the damping mechanism 1, the compression amount of the compression spring 15 is reduced, so that the frictional damping between the outer-ring friction ring 13 and the inner-ring friction ring 12 is reduced, to promote the relative rotation between the inner and outer rings of the crossed roller bearing 11, and thus the relative rotation of the link 2 and the link 3 connected to the inner and outer rings of the crossed roller bearing 11, respectively.
In the above embodiment, preferably, as shown in fig. 4 and 6, the outer circumference of the outer ring friction ring 13 is formed with a plurality of convex teeth, the connecting rod 2 is formed with a guide groove matching with the outer contour of the outer ring friction ring 13, and the outer ring friction ring 13 is fitted in the guide groove, so that the guide groove can limit the circumferential movement of the outer ring friction ring 13 but not limit the movement of the outer ring friction ring 13 along the axis of the adjustable damping mechanism 1.
In the above embodiment, it is preferable that a trapezoidal contact area is formed on the contact surface of the inner ring friction ring 12 and the outer ring friction ring 13, whereby the friction force therebetween can be increased with the same axial force.
In the above embodiment, the inner ring friction ring 12 and the outer ring friction ring 13 are preferably made of wear-resistant phosphor bronze.
Based on the adjustable damping mechanism provided by the embodiment, the invention further provides a mechanical joint with a damping adjusting function. As shown in fig. 1 and fig. 2, the mechanical joint mainly comprises an adjustable damping mechanism 1, a connecting rod 2 and a connecting rod 3, wherein the connecting rod 2 is fixedly connected with an outer ring of the cross roller bearing 11 through a bolt and a nut, and the connecting rod 3 is fixedly connected with an inner ring of the cross roller bearing 11 through a bolt 17 and a nut 18.
The above embodiments are only used for illustrating the present invention, and the structure, connection mode, manufacturing process, etc. of the components may be changed, and all equivalent changes and modifications performed on the basis of the technical solution of the present invention should not be excluded from the protection scope of the present invention.
Claims (10)
1. An adjustable damping mechanism for connecting at least two movable parts (2,3) which are rotatable relative to each other, characterized in that the mechanism comprises:
the rotating part (11) is provided with an inner ring and an outer ring which can rotate relatively, and the outer ring of the rotating part (11) is connected with the first movable part (2);
a first friction part (12) connected to the inner ring of the rotating part (11) and the second movable part (3);
a second friction part (13) which is axially movable and circumferentially non-rotatably arranged on the first movable part (2), wherein a friction interface is formed between the second friction part (13) and the first friction part (12);
and the adjusting part is connected with the second friction part (13) and is used for driving the second friction part (13) to be close to or far away from the first friction part (12) so as to increase or decrease the friction damping of the friction interface between the second friction part (13) and the first friction part (12).
2. The adjustable damping mechanism according to claim 1, characterised in that the rotation axis of the rotating part (11) is perpendicular to the length direction of both the first (2) and the second (3) moving part.
3. The adjustable damping mechanism according to claim 1 or 2, wherein the adjusting portion comprises:
a guide (16) that can be screwed in or out along the axis of the adjustable damping mechanism;
one end of the elastic piece (15) abuts against the guide piece (16), and the other end of the elastic piece (15) abuts against the first friction part (12).
4. The adjustable damping mechanism according to claim 1 or 2, further comprising a cage (14) connected to both the first movable part (2) and the outer ring of the rotating part (11), and wherein a gap is left between the cage (14) and the rotating part (11), and wherein the first friction part (12) and the second friction part (13) are located in the gap between the cage (14) and the rotating part (11).
5. The adjustable damping mechanism according to claim 4, characterized in that the elastic member (15) is a compression spring.
6. The adjustable damping mechanism according to claim 5, characterized in that the guide member (16) comprises a guide rod and a screw head integrally formed at one end of the guide rod, the screw head having an external thread on its outer circumference, the inner ring of the cage (14) having an internal thread matching the external thread of the screw head, the screw head being screwed into the cage (14); a spring positioning sleeve is formed between the guide rod and the screw head, the compression spring is sleeved on the guide rod, one end of the compression spring is positioned in the spring positioning sleeve, and the other end of the compression spring abuts against the first friction part (12).
7. The adjustable damping mechanism according to any of claims 1 to 6, characterized in that the rotating part (11) is a cross roller bearing, the inner ring of which is connected simultaneously with the first friction part (12) and the second movable part (3) by a first connection and the outer ring of which is connected simultaneously with the movable part (2) and the cage (14) by a second connection.
8. The adjustable damping mechanism according to any one of claims 1 to 7, characterized in that the second friction part (13) is formed with a plurality of teeth on its periphery, and the first movable part (2) is formed with a guide groove that matches the outer contour of the second friction part (13), and the second friction part (13) fits in the guide groove so that the guide groove can limit the circumferential movement of the second friction part (13) but not the movement of the second friction part (13) along the axis of the adjustable damping mechanism.
9. The adjustable damping mechanism according to any one of claims 1 to 8, characterized in that a trapezoidal contact area is formed on a contact interface of the first friction portion (12) and the second friction portion (13);
preferably, the first friction part (12) and the second friction part (13) are both made of wear-resistant phosphor bronze.
10. Mechanical joint with damping adjustment function, comprising at least two movable parts (2,3) that can rotate relatively, characterized in that the at least two movable parts (2,3) are pivoted together by means of an adjustable damping mechanism according to any of claims 1 to 9.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911393257.7A CN113124041A (en) | 2019-12-30 | 2019-12-30 | Adjustable damping mechanism and mechanical joint with damping adjusting function |
| PCT/CN2020/138009 WO2021136003A1 (en) | 2019-12-30 | 2020-12-21 | Torque balance device, self-balancing joint, and surgical robot |
| US17/790,477 US20230042160A1 (en) | 2019-12-30 | 2020-12-21 | Torque balancing device, self-balancing joint, and surgical robot |
| EP20909879.7A EP4086047A1 (en) | 2019-12-30 | 2020-12-21 | Torque balance device, self-balancing joint, and surgical robot |
| CN202080089153.1A CN114945449B (en) | 2019-12-30 | 2020-12-21 | Torque balancing device, self-balancing joint, and surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911393257.7A CN113124041A (en) | 2019-12-30 | 2019-12-30 | Adjustable damping mechanism and mechanical joint with damping adjusting function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113124041A true CN113124041A (en) | 2021-07-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911393257.7A Pending CN113124041A (en) | 2019-12-30 | 2019-12-30 | Adjustable damping mechanism and mechanical joint with damping adjusting function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113124041A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114934975A (en) * | 2022-05-27 | 2022-08-23 | 重庆长安新能源汽车科技有限公司 | Damping adjusting mechanism for rotating component, vehicle-mounted display screen assembly and vehicle |
-
2019
- 2019-12-30 CN CN201911393257.7A patent/CN113124041A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114934975A (en) * | 2022-05-27 | 2022-08-23 | 重庆长安新能源汽车科技有限公司 | Damping adjusting mechanism for rotating component, vehicle-mounted display screen assembly and vehicle |
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Address after: 100192 Tiandi Adjacent to Feng2 Building 106, No. 1 North Yongtaizhuang Road, Haidian District, Beijing Applicant after: Beijing Shurui Robot Co.,Ltd. Address before: 100192 Tiandi Adjacent to Feng2 Building 106, No. 1 North Yongtaizhuang Road, Haidian District, Beijing Applicant before: BEIJING SURGERII TECHNOLOGY Co.,Ltd. |