CN114508563A - Multidimensional vibration isolation device for vibration aging robot - Google Patents
Multidimensional vibration isolation device for vibration aging robot Download PDFInfo
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- CN114508563A CN114508563A CN202210189990.2A CN202210189990A CN114508563A CN 114508563 A CN114508563 A CN 114508563A CN 202210189990 A CN202210189990 A CN 202210189990A CN 114508563 A CN114508563 A CN 114508563A
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- 238000002955 isolation Methods 0.000 title claims abstract description 58
- 230000032683 aging Effects 0.000 title abstract description 44
- 238000000034 method Methods 0.000 claims description 24
- 238000006073 displacement reaction Methods 0.000 claims description 22
- 238000003466 welding Methods 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 9
- 230000005284 excitation Effects 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 8
- 230000001133 acceleration Effects 0.000 claims description 7
- 230000033001 locomotion Effects 0.000 abstract description 25
- 238000013519 translation Methods 0.000 abstract description 7
- 230000014616 translation Effects 0.000 abstract description 7
- 230000000694 effects Effects 0.000 abstract description 6
- 238000005265 energy consumption Methods 0.000 abstract description 5
- 238000012423 maintenance Methods 0.000 abstract description 5
- 230000035882 stress Effects 0.000 abstract description 5
- 230000005540 biological transmission Effects 0.000 abstract description 2
- 230000002035 prolonged effect Effects 0.000 abstract description 2
- 230000007246 mechanism Effects 0.000 description 6
- 230000006835 compression Effects 0.000 description 4
- 238000007906 compression Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000007547 defect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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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
- 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
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
- F16F15/06—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs
- F16F15/067—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs using only wound springs
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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
- 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
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P10/00—Technologies related to metal processing
- Y02P10/20—Recycling
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- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Vibration Prevention Devices (AREA)
Abstract
The invention discloses a multi-dimensional vibration isolation device for a vibratory stress relief robot. The connecting flange is provided with a mounting hole connected with the tail end of the vibration aging robot, the mounting seat has five degrees of freedom of movement including two translations and three rotations, and the degree of freedom of movement of the mounting seat and the flexibility of the vibration isolation spring can be controlled through the rigid-flexible converter to execute rigid transmission movement or realize multi-dimensional vibration isolation. The vibration aging robot is used as an auxiliary device between the tail end of the vibration aging robot and a vibration exciter, the vibration of the mounting seat is greatly absorbed and eliminated through the vibration isolation spring, the vibration aging robot fixedly connected with the connecting flange is subjected to vibration isolation and safety protection, a vibration aging robot body can be effectively protected, the service life of the vibration aging robot is prolonged, noise and maintenance cost are reduced, energy consumption is reduced, and the vibration aging robot has the advantages of compact structure, convenience in assembly and disassembly, obvious vibration isolation effect and the like.
Description
Technical Field
The invention belongs to the technical field of special robot equipment, and particularly relates to a multi-dimensional vibration isolation device for a vibratory aging robot for multi-dimensional vibratory aging treatment.
Background
The vibration method is popularized and applied in the mechanical industry of China at the end of 80 years to perform aging treatment on equipment or parts such as large machine tool beds, large bearing beams, box bodies and the like by replacing a heat treatment method with the vibration method to eliminate internal stress, so that the effects of low cost and small environmental pollution are achieved. The vibration aging process is gradually mature and complete, and relevant technical standards are established.
In order to improve the automation and intelligence degree of vibration aging treatment operation, a robot can be adopted to replace a worker to perform the tasks of moving, fixing and the like of a vibration exciter for vibration aging, which is a necessary trend of technical development in the field of vibration aging treatment. However, when the vibration exciter is moved or fixed by the robot, different connection modes are required to be adopted between the tail end of the robot and the vibration exciter in different operation states. When the vibration exciter is moved and fixed, the vibration exciter is required to be rigidly connected with the tail end of the robot so as to ensure the movement precision; in the vibration aging task process of the vibration exciter, the vibration exciter is required to be in non-rigid connection with the robot, and the vibration exciter preferably has a vibration isolation function, so that the vibration exciter is prevented from transmitting vibration to the robot. Meanwhile, the vibration direction of the vibration exciter and the equipment to be processed shows the development trend of multidimensional vibration, and the connecting device between the vibration exciter and the robot is required to have the function of multidimensional vibration isolation. The traditional vibration isolation device can only perform one-way vibration isolation and cannot meet the requirement of multi-dimensional vibration isolation of the tail end of the robot in multi-dimensional vibration aging treatment. Therefore, need to develop a strong adaptability, have multidimension vibration isolation function and safe and reliable's multidimension vibration isolation device for vibration aging robot at present to keep apart or reduce the vibration exciter to the terminal vibration of vibration aging robot, protect vibration aging robot body, prolong vibration aging robot's life, reduce noise and maintenance cost, reduce the energy consumption.
Disclosure of Invention
The invention aims to provide a multi-dimensional vibration isolation device for a vibratory stress relief robot, aiming at the defects of the prior art, and the multi-dimensional vibration isolation device can effectively isolate or reduce vibration transmission, protect the vibratory stress relief robot and reduce energy consumption and maintenance cost.
The technical problem to be solved by the invention is realized by adopting the following technical scheme.
A multi-dimensional vibration isolation device for a vibration aging robot comprises a connecting flange, a vibration isolation spring, a parallel bracket, a mounting seat, a first sensor and a second sensor. The connecting flange is provided with a mounting hole, a lower spring fixing hole and a first process hole, the mounting hole is used for connecting the connecting flange with the tail end of the vibration aging robot, the lower spring fixing hole is used for fixing the lower end of the vibration isolation spring, and the first process hole is arranged to reduce the weight of the connecting flange. The mounting seat is provided with an arc-shaped displacement groove, an upper spring fixing hole and a second process hole, the arc-shaped displacement groove is used for mounting the upper ends of the parallel brackets, the upper spring fixing hole is used for mounting the upper ends of the vibration isolation springs, and the second process hole is used for reducing the weight of the mounting seat and is convenient to disassemble and assemble. The vibration isolation springs are symmetrically arranged between the connecting flange and the mounting seat and are used for isolating or reducing vibration generated by the vibration exciter and preventing the mounting seat from transmitting the vibration to the connecting flange; the upper end and the lower end of the vibration isolation spring are respectively connected with the mounting seat and the connecting flange through screws. The parallel bracket is positioned between the connecting flange and the mounting seat and is used for supporting and adjusting the freedom degree and flexibility of the mounting seat relative to the movement of the connecting flange; the bottom of the parallel bracket is connected with the connecting flange through a screw or a welding method, and the top of the parallel bracket is inserted in the arc-shaped deflection groove of the mounting seat and can slide along the arc-shaped deflection groove. The first sensor is fixedly arranged on one side of the top of the connecting flange through a screw or a magnet and is used for measuring displacement, speed and acceleration of the connecting flange; the second sensor is fixedly arranged on one side of the top of the mounting seat through a screw or a magnet and is used for measuring displacement, speed and acceleration of the mounting seat. An electromagnet, a return spring and an excitation plate are arranged above the mounting seat. The bottom of the electromagnet is fixedly installed at the center of the top of the installation seat through a screw, the upper end and the lower end of the reset spring are fixedly installed on the excitation plate and the installation seat through screws respectively, and the excitation plate is located right above the electromagnet. The electromagnet provides power for the vibration of the excitation plate relative to the mounting seat, and the reset spring is used for enabling the excitation plate to return to the original position when the electromagnet does not work. The exciting plate is a power output device of a vibration exciter consisting of an electromagnet, a return spring and an exciting plate. The number of the vibration isolation springs is 3-6. The first sensor and the second sensor both adopt three-dimensional acceleration sensors. The number of the arc deformation positioning grooves is two or four, and the arc deformation positioning grooves are symmetrically arranged on the mounting seat.
The parallel support comprises a left branched chain, a right branched chain and a rigid-flexible converter. The bottoms of the left branched chain and the right branched chain are fixedly arranged at the top of the connecting flange by a screw or a welding method, and the tops of the left branched chain and the right branched chain are inserted into the arc-shaped deflection groove of the mounting seat and can slide along the arc-shaped deflection groove; the left end of the rigid-flexible converter is connected with the middle part of the left branched chain through a hinge, and the right end of the rigid-flexible converter is connected with the middle part of the right branched chain through a hinge and used for controlling the compression amount and flexibility of the vibration isolation spring; the left branched chain and the right branched chain have the same structure and the same degree of freedom, and are used for supporting the mounting seat and limiting the degree of freedom of movement of the mounting seat relative to the connecting flange. The number of the left branched chain and the number of the right branched chain are two or four.
The left branched chain comprises a left ear seat, a left lower connecting rod, a left upper connecting rod, a left rotating joint and a left sliding block. The bottom of the left ear seat is fixedly connected with the top of the connecting flange through a screw or welding method; the lower end of the left lower connecting rod is connected with the left ear seat through a hinge, and the upper end of the left lower connecting rod is connected with the lower end of the left upper connecting rod through a hinge; the upper end of the left upper connecting rod is connected with the lower end of the left rotating joint through a hinge, and the upper end of the left rotating joint is fixedly connected with the lower end of the left sliding block; the left sliding block is arranged in the arc-shaped displacement groove on the left side of the mounting seat and can slide along the arc-shaped displacement groove, and the left sliding block is connected with the arc-shaped displacement groove of the mounting seat through a bearing.
The right branched chain comprises a right ear seat, a right lower connecting rod, a right upper connecting rod, a right rotating joint and a right sliding block. The bottom of the right ear seat is fixedly connected with the top of the connecting flange through a screw or welding method; the lower end of the right lower connecting rod is connected with the right ear seat through a hinge, and the upper end of the right lower connecting rod is connected with the lower end of the right upper connecting rod through a hinge; the upper end of the right upper connecting rod is connected with the lower end of the right rotating joint through a hinge, and the upper end of the right rotating joint is fixedly connected with the lower end of the right sliding block; the right slider is arranged in the arc deformation displacement groove on the right side of the mounting seat and can slide along the arc displacement groove, and the right slider is connected with the arc displacement groove of the mounting seat through a bearing.
The rigid-flexible converter comprises a left U-shaped frame, a telescopic cylinder, an adjusting bolt and a right U-shaped frame. The left end of the left U-shaped frame is connected with the left lower connecting rod and the left upper connecting rod through the same hinge, the left end of the telescopic cylinder is fixedly connected with the right end of the left U-shaped frame through screws, the left end and the right end of the adjusting bolt are respectively connected with the right end of the telescopic cylinder and the left end of the right U-shaped frame through threads, and the right end of the right U-shaped frame is connected with the right lower connecting rod and the right upper connecting rod through the same hinge.
The axis of the connecting hinge between the left upper connecting rod and the left rotating joint is vertical to the axis of the rotating pair of the left rotating joint; the axis of the connecting hinge between the right upper connecting rod and the right rotating joint is vertical to the axis of the revolute pair of the right rotating joint; the axes of the connecting hinge between the left lower connecting rod and the left ear seat and the connecting hinge between the right lower connecting rod and the right ear seat are kept parallel. The purpose of the design is to ensure that the parallel mechanism formed by the mounting seat, the left branched chain, the right branched chain and the connecting flange has a certain freedom degree of movement.
From the perspective of mechanics, the left branched chain and the right branched chain of the invention are both series mechanisms with 5R structures, and have five degrees of freedom of movement including two translations and three rotations. The mounting seats arranged at the tops of the left branched chain and the right branched chain have five degrees of freedom of movement including two translations and three rotations, and have one redundant degree of freedom of rotation around a horizontal shaft. The connecting flange, the left branched chain, the right branched chain and the mounting seat form a parallel mechanism with five freedom degrees of motion, including at most two translation and three rotation. When the telescopic cylinder in the rigid-flexible converter is freely stretched, the motion freedom degrees of the left branched chain and the right branched chain in the parallel support are not limited. When a telescopic cylinder in the rigid-flexible converter extends to the limit position, the vibration isolation spring is compressed to the limit and cannot deform, the connecting flange, the vibration isolation spring, the left branched chain, the right branched chain and the mounting seat form a rigid body, and the mounting seat cannot move relative to the connecting flange. In the extension process of the telescopic cylinder, along with the extension of the telescopic cylinder, the vibration isolation spring is continuously compressed, and the motion flexibility of the mounting seat relative to the connecting flange is gradually weakened until the motion flexibility completely disappears. The rigid-flexible converter is used for adjusting the motion flexibility of the mounting seat relative to the connecting flange. In order to improve the vibration isolation effect, a damper can be additionally arranged between the mounting seat and the connecting flange.
Before the rigid-flexible converter is used, the telescopic cylinder in the rigid-flexible converter is controlled to extend to the limit position, so that the relative movement of the mounting seat relative to the connecting flange is eliminated. The main body equipment, namely the vibration aging robot, drives the vibration aging robot to move to the designated position of the equipment to be subjected to vibration aging treatment, and the excitation plate and the equipment to be subjected to vibration aging treatment are fixed through the clamp. Then, the telescopic cylinder is controlled to retract, and the compression amount of the vibration isolation spring is released to restore the elasticity. After the electromagnet is started, the vibration of the electromagnet is transmitted to the equipment to be subjected to vibration aging treatment by the vibration exciting plate. Meanwhile, the vibration of the mounting seat is greatly absorbed and eliminated through the vibration isolation spring, and the connecting flange and the vibration aging robot fixedly connected with the connecting flange are vibration isolated and safely protected.
The multi-dimensional vibration isolation device for the vibratory aging robot has the advantages that the multi-dimensional vibration isolation device is used as an intermediate connection auxiliary device between the tail end of the vibratory aging robot and a vibration exciter, a vibratory aging robot body can be effectively protected, the service life of the vibratory aging robot is prolonged, noise and maintenance cost are reduced, and energy consumption is reduced. The invention has the advantages of compact structure, convenient assembly and disassembly, obvious vibration isolation effect and the like, and can overcome the defects of the prior art.
Drawings
FIG. 1 is a schematic diagram of the general structure of the present invention;
FIG. 2 is a schematic structural view of a parallel bracket of the present invention;
FIG. 3 is a schematic diagram of the structure of the left branch chain in the parallel stent of the present invention;
FIG. 4 is a schematic diagram of the structure of the right branch chain in the parallel stent of the present invention;
FIG. 5 is a schematic structural view of a coupling flange of the present invention;
FIG. 6 is a schematic structural view of the mounting base of the present invention;
FIG. 7 is a schematic diagram of the assembly relationship between the vibration exciter, the return spring and the vibration exciting plate.
Detailed Description
In order to make the technical means, the original characteristics, the achieved purposes and the effects of the invention easy to understand, the invention is further explained by combining the specific embodiments and the drawings.
As shown in fig. 1, 2, 5, 6, and 7, a multi-dimensional vibration isolation device for a vibration aging robot includes a connection flange 1, a vibration isolation spring 2, a parallel bracket 3, a mounting base 4, a first sensor 5, and a second sensor 6. The connecting flange 1 is provided with a mounting hole 11, a lower spring fixing hole 12 and a first fabrication hole 13, the mounting hole 11 is used for connecting the connecting flange 1 with the tail end of the vibration aging robot, the lower spring fixing hole 12 is used for fixing the lower end of the vibration isolation spring 2, and the first fabrication hole 13 is arranged for reducing the weight of the connecting flange 1. The mounting seat 4 is provided with an arc-shaped displacement groove 41, an upper spring fixing hole 42 and a second fabrication hole 43, the arc-shaped displacement groove 41 is used for mounting the upper end of the parallel support 3, the upper spring fixing hole 42 is used for mounting the upper end of the vibration isolation spring 2, and the second fabrication hole 43 is used for reducing the weight of the mounting seat 4 and facilitating disassembly and assembly. The vibration isolation springs 2 are symmetrically arranged between the connecting flange 1 and the mounting seat 4 and are used for isolating or reducing vibration generated by the vibration exciter and preventing the mounting seat 4 from transmitting the vibration to the connecting flange 1; the upper end and the lower end of the vibration isolation spring 2 are respectively connected with the mounting seat 4 and the connecting flange 1 through screws. The parallel support 3 is positioned between the connecting flange 1 and the mounting seat 4 and is used for supporting and adjusting the freedom degree and flexibility of the mounting seat 4 relative to the connecting flange 1; the bottom of the parallel bracket 3 is connected with the connecting flange 1 through a screw or welding method, and the top of the parallel bracket 3 is inserted in the arc-shaped displacement groove 41 of the mounting seat 4 and can slide along the arc-shaped displacement groove 41. The first sensor 5 is fixedly arranged on one side of the top of the connecting flange 1 through a screw or a magnet and is used for measuring the displacement, the speed and the acceleration of the connecting flange 1; the second sensor 6 is fixedly installed on one side of the top of the installation seat 4 through a screw or a magnet and is used for measuring displacement, speed and acceleration of the installation seat 4. An electromagnet 7, a return spring 8 and an excitation plate 9 are also arranged above the mounting seat 4. The bottom of the electromagnet 7 is fixedly installed at the center of the top of the installation seat 4 through a screw, the upper end and the lower end of the reset spring 8 are fixedly installed on the vibration exciting plate 9 and the installation seat 4 through screws respectively, and the vibration exciting plate 9 is located right above the electromagnet 7. The electromagnet 7 provides power for the vibration of the vibration exciting plate 9 relative to the mounting base 4, and the return spring 8 is used for returning the vibration exciting plate 9 to the original position when the electromagnet 7 does not work. The exciting plate 9 is a power output device of the vibration exciter consisting of the electromagnet 7, the return spring 8 and the exciting plate 9. The number of the vibration isolation springs 2 is 3-6. The first sensor 5 and the second sensor 6 both adopt three-dimensional acceleration sensors. The number of the arc-shaped deflection grooves 41 is two or four, and the arc-shaped deflection grooves are symmetrically arranged on the mounting seat 4.
As shown in fig. 1, 2, 3, 4 and 7, the parallel support 3 includes a left branch chain 31, a right branch chain 32 and a rigid-flexible converter 33. The bottoms of the left branched chain 31 and the right branched chain 32 are fixedly installed at the top of the connecting flange 1 through screws or welding methods, and the tops of the left branched chain 31 and the right branched chain 32 are inserted into the arc-shaped displacement groove 41 of the installation seat 4 and can slide along the arc-shaped displacement groove 41; the left end of the rigid-flexible converter 33 is connected with the middle part of the left branched chain 31 through a hinge, and the right end of the rigid-flexible converter 33 is connected with the middle part of the right branched chain 32 through a hinge and used for controlling the compression amount and flexibility of the vibration isolation spring 2; the left branched chain 31 and the right branched chain 32 have the same structure and the same degree of freedom, and are used for supporting the mounting seat 4 and limiting the degree of freedom of movement of the mounting seat 4 relative to the connecting flange 1. The number of the left branched chain 31 and the right branched chain 32 is two or four.
As shown in fig. 1, 2, 3 and 7, the left branched chain 31 includes a left ear seat 311, a left lower link 312, a left upper link 313, a left rotation joint 314 and a left slider 315. The bottom of the left ear seat 311 is fixedly connected with the top of the connecting flange 1 through a screw or welding method; the lower end of the left lower connecting rod 312 is connected with the left ear seat 311 through a hinge, and the upper end of the left lower connecting rod 312 is connected with the lower end of the left upper connecting rod 313 through a hinge; the upper end of the left upper connecting rod 313 is connected with the lower end of the left rotating joint 314 through a hinge, and the upper end of the left rotating joint 314 is fixedly connected with the lower end of the left sliding block 315; the left slider 315 is disposed in the arc deflection groove 41 on the left side of the mounting seat 4, can slide along the arc deflection groove 41, and is connected with the arc deflection groove 41 of the mounting seat 4 through a bearing.
As shown in fig. 1, 2, 4 and 7, the right branched chain 32 includes a right ear seat 321, a right lower link 322, a right upper link 323, a right rotary joint 324 and a right slider 325. The bottom of the right ear seat 321 is fixedly connected with the top of the connecting flange 1 through a screw or welding method; the lower end of the right lower connecting rod 322 is connected with the right ear seat 321 through a hinge, and the upper end of the right lower connecting rod 322 is connected with the lower end of the right upper connecting rod 323 through a hinge; the upper end of the right upper connecting rod 323 is connected with the lower end of the right rotating joint 324 through a hinge, and the upper end of the right rotating joint 324 is fixedly connected with the lower end of the right sliding block 325; the right slider 325 is disposed in the arc deflection groove 41 on the right side of the mounting seat 4, can slide along the arc deflection groove 41, and is connected with the arc deflection groove 41 of the mounting seat 4 through a bearing.
As shown in fig. 1, 2 and 7, the rigid-flexible converter 33 includes a left U-shaped frame 331, a telescopic cylinder 332, an adjusting bolt 333 and a right U-shaped frame 334. The left end of the left U-shaped frame 331 is connected with the left lower connecting rod 312 and the left upper connecting rod 313 through the same hinge, the left end of the telescopic cylinder 332 is fixedly connected with the right end of the left U-shaped frame 331 through screws, the left end and the right end of the adjusting bolt 333 are respectively connected with the right end of the telescopic cylinder 332 and the left end of the right U-shaped frame 334 through threads, and the right end of the right U-shaped frame 334 is connected with the right lower connecting rod 322 and the right upper connecting rod 323 through the same hinge.
As shown in fig. 1, 2, 3, 4 and 7, the axes of the connecting hinge between the left lower link 312 and the left ear mount 311, the connecting hinge between the left lower link 312 and the left upper link 313, and the connecting hinge between the left upper link 313 and the left revolute joint 314 are kept parallel, and the axis of the connecting hinge between the left upper link 313 and the left revolute joint 314 is kept perpendicular to the axis of the revolute pair of the left revolute joint 314; the axes of the connecting hinge between the right lower link 322 and the right ear seat 321, the connecting hinge between the right lower link 322 and the right upper link 323, and the connecting hinge between the right upper link 323 and the right rotary joint 324 are kept parallel, and the axis of the connecting hinge between the right upper link 323 and the right rotary joint 324 is kept perpendicular to the axis of the revolute pair of the right rotary joint 324; the axes of the connecting hinge between the left lower link 312 and the left ear mount 311 and the connecting hinge between the right lower link 322 and the right ear mount 321 are kept parallel. The purpose of this design is to ensure that the parallel mechanism formed by the mounting base 4, the left branch chain 31, the right branch chain 32 and the connecting flange 1 has a certain degree of freedom of movement.
As shown in fig. 1, 2 and 7, from the mechanical perspective, the left branched chain 31 and the right branched chain 32 of the present invention are both series mechanisms with 5R structure, and have five degrees of freedom of movement, two translations and three rotations. The mounting seats 4 mounted on the tops of the left branched chain 31 and the right branched chain 32 have five degrees of freedom of movement including two translation and three rotation, and have one redundant degree of freedom of rotation around a horizontal axis. The connecting flange 1, the left branched chain 31, the right branched chain 32 and the mounting seat 4 form a parallel mechanism with five freedom degrees of movement including at most two translation and three rotation. When the telescopic cylinder 332 in the rigid-flexible converter 33 is freely extended and retracted, the freedom of movement of the left branched chain 31 and the right branched chain 32 in the parallel bracket 3 is not limited. When the telescopic cylinder 332 in the rigid-flexible converter 33 is extended to the limit position, the vibration isolation spring 2 is compressed to the limit and cannot be deformed, the connecting flange 1, the vibration isolation spring 2, the left branched chain 31, the right branched chain 32 and the mounting seat 4 form a rigid body, and the mounting seat 4 cannot move relative to the connecting flange 1. In the extension process of the telescopic cylinder 332, the vibration isolation spring 2 is continuously compressed along with the extension of the telescopic cylinder 332, and the motion flexibility of the mounting seat 4 relative to the connecting flange 1 is gradually weakened until the motion flexibility completely disappears. The rigid-flexible converter 33 is used for adjusting the motion flexibility of the mounting seat 4 relative to the connecting flange 1.
Before use, the telescopic cylinder 332 in the rigid-flexible converter 33 is controlled to extend to the limit position, so that the relative movement of the mounting seat 4 relative to the connecting flange 1 is eliminated. The main equipment of the invention, namely the vibration aging robot drives the invention to move to the appointed position of the equipment to be subjected to vibration aging treatment, and the vibration exciting plate 9 of the invention is fixed with the equipment to be subjected to vibration aging treatment through a clamp. Then, the telescopic cylinder 332 is controlled to retract, and the compression amount of the vibration isolating spring 2 is released to restore the elasticity. After the electromagnet 7 is started, the vibration exciting plate 9 transmits the vibration of the electromagnet 7 to the equipment to be subjected to vibration aging treatment. Meanwhile, the vibration of the mounting seat 4 is greatly absorbed and eliminated through the vibration isolation spring 2, and the connecting flange 1 and the vibration aging robot fixedly connected with the connecting flange 1 are subjected to vibration isolation and safety protection.
In order to improve the vibration isolation effect, a damper can be additionally arranged between the mounting seat 4 and the connecting flange 1. The vibration aging robot is used as an intermediate connection auxiliary device between the tail end of the vibration aging robot and the vibration exciter, can effectively protect the body of the vibration aging robot, prolongs the service life of the vibration aging robot, reduces noise and maintenance cost, and reduces energy consumption.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", "top", "bottom", "inner", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
The foregoing illustrates and describes the principles, general features, and advantages of the present 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 described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present 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 (5)
1. The utility model provides a multidimension vibration isolation mounting for vibration prescription robot, includes flange, vibration isolation spring, parallelly connected support, mount pad, first sensor and second sensor, its characterized in that: the connecting flange is provided with a mounting hole, a lower spring fixing hole and a first process hole, and the mounting seat is provided with an arc deformation positioning groove, an upper spring fixing hole and a second process hole; the vibration isolation springs are symmetrically arranged between the connecting flange and the mounting seat, and the upper end and the lower end of each vibration isolation spring are respectively connected with the mounting seat and the connecting flange through screws; the parallel bracket is positioned between the connecting flange and the mounting seat, the bottom of the parallel bracket is connected with the connecting flange through a screw or a welding method, and the top of the parallel bracket is inserted in the arc-shaped deflection groove of the mounting seat; the first sensor is fixedly arranged on one side of the top of the connecting flange through a screw or a magnet, and the second sensor is fixedly arranged on one side of the top of the mounting seat through a screw or a magnet; an electromagnet, a return spring and an excitation plate are arranged above the mounting seat; the number of the arc deformation positioning grooves is two or four, and the arc deformation positioning grooves are symmetrically arranged on the mounting seat;
the parallel support comprises a left branched chain, a right branched chain and a rigid-flexible converter, the bottoms of the left branched chain and the right branched chain are fixedly installed at the top of the connecting flange through screws or a welding method, the tops of the left branched chain and the right branched chain are inserted into the arc-shaped deflection groove of the installation seat, the left end of the rigid-flexible converter is connected with the middle part of the left branched chain through a hinge, and the right end of the rigid-flexible converter is connected with the middle part of the right branched chain through a hinge;
the left branched chain comprises a left ear seat, a left lower connecting rod, a left upper connecting rod, a left rotating joint and a left sliding block, wherein the bottom of the left ear seat is fixedly connected with the top of the connecting flange through a screw or welding method; the lower end of the left lower connecting rod is connected with the left ear seat through a hinge, and the upper end of the left lower connecting rod is connected with the lower end of the left upper connecting rod through a hinge; the upper end of the left upper connecting rod is connected with the lower end of the left rotating joint through a hinge, and the upper end of the left rotating joint is fixedly connected with the lower end of the left sliding block; the left sliding block is arranged in the arc-shaped displacement groove on the left side of the mounting seat and is connected with the arc-shaped displacement groove of the mounting seat through a bearing;
the right branched chain comprises a right ear seat, a right lower connecting rod, a right upper connecting rod, a right rotating joint and a right sliding block, wherein the bottom of the right ear seat is fixedly connected with the top of the connecting flange through a screw or a welding method; the lower end of the right lower connecting rod is connected with the right ear seat through a hinge, and the upper end of the right lower connecting rod is connected with the lower end of the right upper connecting rod through a hinge; the upper end of the right upper connecting rod is connected with the lower end of the right rotating joint through a hinge, and the upper end of the right rotating joint is fixedly connected with the lower end of the right sliding block; the right sliding block is arranged in the arc-shaped displacement groove on the right side of the mounting seat and is connected with the arc-shaped displacement groove of the mounting seat through a bearing;
the rigid-flexible converter comprises a left U-shaped frame, a telescopic cylinder, an adjusting bolt and a right U-shaped frame, wherein the left end of the left U-shaped frame is connected with a left lower connecting rod and a left upper connecting rod through the same hinge, the left end of the telescopic cylinder is fixedly connected with the right end of the left U-shaped frame through a screw, the left end and the right end of the adjusting bolt are respectively connected with the right end of the telescopic cylinder and the left end of the right U-shaped frame through threads, and the right end of the right U-shaped frame is connected with a right lower connecting rod and a right upper connecting rod through the same hinge.
2. The multi-dimensional vibration isolation device for the vibratory stress relief robot according to claim 1, wherein: the first sensor and the second sensor both adopt three-dimensional acceleration sensors.
3. The multi-dimensional vibration isolation device for the vibratory stress relief robot according to claim 1, wherein: the axis of the connecting hinge between the left upper connecting rod and the left rotating joint is vertical to the axis of the rotating pair of the left rotating joint; the axis of the connecting hinge between the right upper connecting rod and the right rotating joint is vertical to the axis of the revolute pair of the right rotating joint; the axes of the connecting hinge between the left lower connecting rod and the left ear seat and the connecting hinge between the right lower connecting rod and the right ear seat are kept parallel.
4. The multi-dimensional vibration isolation device for the vibratory stress relief robot according to claim 1, wherein: the number of the vibration isolation springs is 3-6.
5. The multi-dimensional vibration isolation device for the vibratory stress relief robot according to claim 1, wherein: the structure and the degree of freedom of the left branched chain and the right branched chain are the same.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210189990.2A CN114508563B (en) | 2022-02-28 | Multidimensional vibration isolation device for vibration aging robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210189990.2A CN114508563B (en) | 2022-02-28 | Multidimensional vibration isolation device for vibration aging robot |
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| CN114508563A true CN114508563A (en) | 2022-05-17 |
| CN114508563B CN114508563B (en) | 2024-10-29 |
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| US20150048234A1 (en) * | 2012-02-29 | 2015-02-19 | Pontificia Universidad Catolica De Chile | Vibration-Insulating Device and System |
| KR101508148B1 (en) * | 2015-01-09 | 2015-04-16 | (주)파워엔텍 | Three Dimensional Seismic Isolation System Equipped with Isolation Properties Using Electric Control Panel |
| CN105538293A (en) * | 2016-01-28 | 2016-05-04 | 燕山大学 | Three-freedom-degree parallel posture adjustment and vibration isolation platform comprising variable angled branches |
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| CN101813156A (en) * | 2010-04-20 | 2010-08-25 | 江苏工业学院 | Flexible high-precision spacial vibration damping platform |
| US20150048234A1 (en) * | 2012-02-29 | 2015-02-19 | Pontificia Universidad Catolica De Chile | Vibration-Insulating Device and System |
| RU136112U1 (en) * | 2013-07-25 | 2013-12-27 | Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования Иркутский государственный университет путей сообщения (ФГБОУ ВПО ИрГУПС) | Vibration damping device |
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