CN117189833B - Damping base of mechanical arm - Google Patents
Damping base of mechanical arm Download PDFInfo
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- CN117189833B CN117189833B CN202311468423.1A CN202311468423A CN117189833B CN 117189833 B CN117189833 B CN 117189833B CN 202311468423 A CN202311468423 A CN 202311468423A CN 117189833 B CN117189833 B CN 117189833B
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- 238000013016 damping Methods 0.000 title claims abstract description 34
- 230000005540 biological transmission Effects 0.000 claims abstract description 187
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- 239000012530 fluid Substances 0.000 claims abstract description 25
- 238000000926 separation method Methods 0.000 claims description 23
- 238000004804 winding Methods 0.000 claims description 23
- 238000007885 magnetic separation Methods 0.000 claims description 8
- 230000002146 bilateral effect Effects 0.000 claims 1
- 230000035939 shock Effects 0.000 claims 1
- 238000006243 chemical reaction Methods 0.000 abstract description 7
- 230000000694 effects Effects 0.000 abstract description 7
- 230000002441 reversible effect Effects 0.000 abstract description 6
- 238000000034 method Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000001360 synchronised effect Effects 0.000 description 5
- 230000002829 reductive effect Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000009826 distribution Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000036961 partial effect Effects 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000000670 limiting effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000011084 recovery Methods 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Abstract
The invention discloses a damping vibration attenuation base of a mechanical arm, which comprises a transmission mechanism, a damping buffer mechanism, a control module and an equipment base. The invention belongs to the field of mechanical arm damping, in particular to a mechanical arm damping base, which effectively reduces vibration generated when a mechanical arm rotates in the vertical axis direction by adopting a reverse transmission and torque balance mode through a transmission mechanism, absorbs reaction force when the mechanical arm stops rotating, realizes the technical effect of axial damping rotation, and solves the technical problem that the stability is influenced when the vibration is caused when the conventional mechanical arm is rigidly connected with the base and rotates; the damping buffer mechanism is arranged, and the viscosity of the magnetorheological fluid is changed by using an external magnetic field applied by the electromagnetic polar plate, so that the energy of the reaction force is absorbed, and the stability of the mechanical arm during operation is further improved.
Description
Technical Field
The invention belongs to the technical field of mechanical arm damping, and particularly relates to a mechanical arm damping base.
Background
The mechanical arm is a machine device for simulating the movement of a human arm and consists of a plurality of joints and connecting pieces. It is capable of performing accurate, stable and repeatable tasks. Mechanical arms are widely used in industry and service areas such as assembly, welding, medical procedures, and the like. The device can replace manual operation, and improves production efficiency and safety. With the development of technology, the function of the mechanical arm is continuously enhanced, and the mechanical arm can operate autonomously and sense the surrounding environment. The mechanical arm plays an important role in various fields and provides convenience and safety for human production and service.
The damping base is an important component in the mechanical arm system and is used for reducing vibration and impact force generated during movement of the mechanical arm and guaranteeing stability and accuracy of the mechanical arm. At present bear base structure and mechanical arm equipment connection structure and adjusting equipment all are direct through mechanical equipment rigid connection to equipment friction loss is great when leading to mechanical arm equipment to move, shakes because of focus unstability and stress uneven distribution when vertical axial rotates easily, thereby leads to current mechanical arm equipment operation stability, flexibility and precision to receive very big influence, is difficult to effectively satisfy the needs of using.
Disclosure of Invention
Aiming at the situation, in order to overcome the defects of the prior art, the invention provides the damping vibration-absorbing base for the mechanical arm, which aims to solve the technical problem that the stability in running is affected by vibration caused by the rigid connection of the prior machinery and the base, adopts a reverse transmission and torque balancing mode, is provided with a transmission mechanism, balances the torque generated in axial rotation, absorbs the reaction force in stopping rotation, effectively reduces the vibration generated in the rotation of the mechanical arm in the vertical axis direction, and realizes the technical effect of axial damping rotation.
The technical scheme adopted by the invention is as follows: the invention provides a damping vibration attenuation base of a mechanical arm, which comprises a transmission mechanism, a damping buffer mechanism, a control module and an equipment base, wherein the transmission mechanism is arranged on the equipment base, the transmission mechanism is in transmission connection with the mechanical arm, the damping buffer mechanism is arranged on the equipment base, the damping buffer mechanism is simultaneously in transmission connection with the transmission mechanism, and the control module is arranged on the side wall of the transmission mechanism.
The transmission mechanism comprises a transmission housing, a transmission platform, a torque counteracting system, a magnetic separation system, a separation transmission system and an output system, wherein the transmission housing is arranged on a device base, the transmission platform is arranged at the top of the transmission housing, the torque counteracting system is arranged in the transmission housing, the magnetic separation system is arranged above the torque counteracting system, the magnetic separation system is simultaneously in transmission connection with the torque counteracting system, the separation transmission system is arranged below the torque counteracting system, the separation transmission system is simultaneously in transmission connection with the torque counteracting system, the output system is arranged in the transmission housing, and the output system is simultaneously in transmission connection with the separation transmission system.
Further, torque counteracting system includes upward rotation gear, horizontal pivot, side synchronizing gear, carries on frame, middle part pivot, middle part and carries on platform, lower rotation gear and lower pivot, carry on in the frame locates the transmission dustcoat, middle part carries on the platform and locates in the transmission dustcoat, middle part pivot rotates and locates on the middle part carries on platform, upward rotation gear locates in the middle part pivot, horizontal pivot locates and carries on the frame, side synchronizing gear rotates and locates in the horizontal pivot, lower pivot rotates and locates on carrying the frame, lower rotation gear locates in the lower pivot, upward rotation gear is connected with side synchronizing gear meshing, lower rotation gear is connected with side synchronizing gear meshing, through the rotation direction of middle side synchronizing gear, upward rotation gear and lower rotation gear middle part pivot and lower pivot, utilizes reverse rotation between the upper and lower axle to counteract the moment of torsion when rotating, improves stability, improves the security, reduces the probability of accident.
Further, the magnetic separation system comprises a connecting platform, a top rotating shaft, a winding electromagnet, a plane bearing, an upper chuck, a lower chuck and a spline shaft, wherein the connecting platform, the top rotating shaft, the winding electromagnet, the plane bearing, the upper chuck, the lower chuck and the spline shaft are arranged in a transmission housing; when the winding electromagnet works, a magnetic field is generated to adsorb the lower chuck, the lower chuck and the spline shaft slide upwards together, the upper chuck is meshed with the lower chuck, when the winding electromagnet stops working, the magnetic field disappears, the lower chuck and the spline shaft slide downwards due to gravity, and the upper chuck is separated from the lower chuck.
Further preferably, the upper chuck and the lower chuck can synchronously rotate after being contacted and meshed.
Further, the separation transmission system comprises a bottom carrying platform, a bottom rotating shaft, a transmission worm wheel, a transmission worm, a six-edge rotating shaft, an output transmission sliding shaft, a resistance transmission shaft, a balance spring A, a force disc and a balance spring B, wherein the bottom carrying platform is arranged in a transmission housing, the bottom rotating shaft is rotationally arranged on the bottom carrying platform and the transmission housing, the transmission worm wheel is arranged on the bottom rotating shaft, the bottom rotating shaft is in transmission connection with a lower rotating shaft, the output transmission sliding shaft is rotationally arranged on the transmission housing, the transmission worm is arranged on the output transmission sliding shaft, the transmission worm is in meshed connection with the transmission worm wheel, the six-edge rotating shaft is slidingly arranged on the output transmission sliding shaft, the resistance transmission shaft is arranged on the six-edge rotating shaft, the resistance transmission shaft is rotationally arranged on the transmission housing, one end of the balance spring A is arranged on the transmission housing, the other end of the balance spring A is arranged on the force disc, the other end of the balance spring B is arranged on the force disc, the balance spring A and the balance worm wheel is in transmission housing, the balance spring A and the balance worm wheel is in reverse-rotation connection with the balance spring B can realize the transmission arms, and the two sides of the transmission can be reversely connected with the transmission worm wheel in a reverse direction, and the transmission can realize the two-direction and can realize the transmission effect of the two-side and the transmission and can simultaneously.
Further, the output system comprises a follow-up bevel gear, a transmission bevel gear and an output motor, wherein the follow-up bevel gear is arranged on the output transmission sliding shaft, the output motor is arranged on the equipment base, the transmission bevel gear is arranged on the output end of the output motor, and the follow-up bevel gear is connected with the transmission bevel gear in a meshed manner.
Further, the damping buffer mechanism comprises an electromagnetic polar plate, a fluid bin, a force-bearing arm, a force-bearing liquid pushing disc, a flow distribution channel and a streamline connecting arm, wherein the fluid bin is arranged on the equipment base, the electromagnetic polar plate is symmetrically arranged on two sides of the fluid bin at the same time, the force-bearing arm is slidably arranged on the fluid bin, the force-bearing liquid pushing disc is arranged on the force-bearing arm, and the flow distribution channel is fixedly connected in the fluid bin through the streamline connecting arm.
In the present invention, the fluid chamber is preferably filled with a magnetorheological fluid (newton fluid with low viscosity when no magnetic field is applied to the outside, the fluid chamber is a fluid with high viscosity and low fluidity when no magnetic field is applied to the outside, and the viscosity of the fluid chamber is in a corresponding relationship with the magnetic flux).
As a further preferred aspect of the present invention, the control module is electrically connected to the winding electromagnet, the mechanical arm, the output motor and the electromagnetic plate, and the control module controls the working states of the winding electromagnet, the output motor, the mechanical arm and the electromagnetic plate.
The beneficial effects obtained by the invention by adopting the structure are as follows: the beneficial effect that this scheme provided a mechanical arm damping shock-absorbing mount is as follows:
(1) According to the technical problem that vibration during rotation is caused by rigid connection of the existing machinery and a base to influence stability during operation, a reverse transmission and torque balance mode is adopted, and a transmission mechanism is arranged, so that vibration generated during rotation of the mechanical arm in the vertical axis direction is effectively reduced, the technical effect of axial vibration reduction and rotation is realized, the stability during operation of the mechanical arm is greatly improved, and the vibration problem during rotation of the mechanical arm is solved;
(2) The torque counteracting system is arranged, the rotation directions of the middle rotating shaft and the lower rotating shaft of the middle synchronous gear, the upper rotating gear and the lower rotating gear are utilized to counteract the torque during rotation by reverse rotation between the upper shaft and the lower shaft, so that the stability is improved;
(3) The magnetic attraction separation system enables the upper chuck and the lower chuck to be meshed through controlling the working state of the winding electromagnet, synchronous rotation is achieved, meanwhile, the power of the winding electromagnet can be reduced to reduce the magnetic force, so that the upper chuck and the lower chuck cannot be driven after being separated, the technical effect of magnetic control clutch is achieved, torque generated by the axial reaction force of a vertical shaft is effectively reduced, and vibration generated during rotation is reduced;
(4) The split transmission system utilizes the design that the six-edge rotating shaft can slide, can change the original unidirectional transmission of the worm gear into bidirectional transmission, can reversely transmit the reaction force generated in the moment of stopping the mechanical arm, realizes the technical effects of output transmission and absorption transmission of the reaction force, transmits the reaction force to the damping buffer mechanism when the mechanical arm stops, and realizes the technical effects of stopping and damping.
Drawings
FIG. 1 is a schematic structural view of a damping base for a mechanical arm according to the present invention;
FIG. 2 is a partial cross-sectional view of the transmission mechanism;
FIG. 3 is a cross-sectional view of the transmission;
FIG. 4 is a schematic diagram of a partial gearing relationship of a transmission mechanism;
FIG. 5 is a schematic diagram of a split transmission system;
FIG. 6 is a schematic diagram of the structure of the output system;
FIG. 7 is a schematic diagram of the transmission relationship between the output system and the six-sided rotating shaft;
FIG. 8 is an exploded view of a magnetic separation system;
FIG. 9 is a cross-sectional view of the damping cushioning mechanism;
FIG. 10 is an exploded view of a robotic arm;
fig. 11 is a connection relation block diagram of the control module.
Wherein 1, a transmission mechanism, 2, a damping buffer mechanism, 3, a mechanical arm, 4, a control module, 5, a device base, 101, a transmission housing, 102, a transmission platform, 103, a torque counteracting system, 104, a magnetic attraction separation system, 105, a separation transmission system, 106, an output system, 107, a connection platform, 108, a top rotating shaft, 109, a winding electromagnet, 110, a plane bearing, 111, an upper chuck, 112, a lower chuck, 113, a spline shaft, 114, an upper rotating gear, 115, a horizontal rotating shaft, 116, a side synchronous gear, 117, a carrying frame, 118, a middle rotating shaft, 119, a middle carrying platform, 120, a lower rotating gear, 121, a bottom carrying platform, 122, bottom rotating shaft, 123, transmission worm wheel, 124, transmission worm, 125, six-edge rotating shaft, 126, output transmission sliding shaft, 127, resistance transmission shaft, 128, balance spring A,129, force-bearing disk, 130, balance spring B,134, lower rotating shaft, 131, driven bevel gear, 132, transmission bevel gear, 133, output motor, 201, electromagnetic polar plate, 202, fluid bin, 203, force-bearing arm, 204, force-bearing pushing disk, 205, shunt channel, 206, streamline connecting arm, 301, rotating base, 302, altitude arm, 303, elevation arm, 304, motor group A,305, motor group B,306, motor group C,307, elevation arm, 308, elevation traction arm.
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present invention; all other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," and the like indicate orientation or positional relationships based on those shown in the drawings, merely to facilitate description of the invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.
As shown in fig. 1, the invention provides a damping vibration attenuation base of a mechanical arm, which comprises a transmission mechanism 1, a damping buffer mechanism 2, the mechanical arm 3, a control module 4 and a device base 5, wherein the transmission mechanism 1 is arranged on the device base 5, the mechanical arm 3 is arranged on the transmission mechanism 1 in a transmission manner, the damping buffer mechanism 2 is arranged on the device base 5, the damping buffer mechanism 2 is simultaneously connected with the transmission mechanism 1 in a transmission manner, and the control module 4 is arranged on the side wall of the transmission mechanism 1.
As shown in fig. 1, 2 and 3, the transmission mechanism 1 comprises a transmission housing 101, a transmission platform 102, a torque counteracting system 103, a magnetic attraction separation system 104, a separation transmission system 105 and an output system 106, wherein the transmission housing 101 is arranged on a device base 5, the transmission platform 102 is arranged at the top of the transmission housing 101, the torque counteracting system 103 is arranged in the transmission housing 101, the magnetic attraction separation system 104 is arranged above the torque counteracting system 103, the magnetic attraction separation system 104 is simultaneously in transmission connection with the torque counteracting system 103, the separation transmission system 105 is arranged below the torque counteracting system 103, the separation transmission system 105 is simultaneously in transmission connection with the torque counteracting system 103, the output system 106 is arranged in the transmission housing 101, and the output system 106 is simultaneously in transmission connection with the separation transmission system 105.
As shown in fig. 3, 4, 5, 6, 7 and 8, the torque canceling system 103 includes an upper rotating gear 114, a horizontal rotating shaft 115, a side synchronizing gear 116, a carrying frame 117, a middle rotating shaft 118, a middle carrying platform 119, a lower rotating gear 120 and a lower rotating shaft 134, the carrying frame 117 is arranged in the transmission housing 101, the middle carrying platform 119 is arranged in the transmission housing 101, the middle rotating shaft 118 is rotatably arranged on the middle carrying platform 119, the upper rotating gear 114 is arranged on the middle rotating shaft 118, the horizontal rotating shaft 115 is arranged on the carrying frame 117, the side synchronizing gear 116 is rotatably arranged on the horizontal rotating shaft 115, the lower rotating shaft 134 is rotatably arranged on the carrying frame 117, the lower rotating gear 120 is arranged on the lower rotating shaft 134, the upper rotating gear 114 is in meshed connection with the side synchronizing gear 116, and the lower rotating gear 120 is in meshed connection with the side synchronizing gear 116; the magnetic attraction separation system 104 comprises a connection platform 107, a top rotating shaft 108, a winding electromagnet 109, a plane bearing 110, an upper chuck 111, a lower chuck 112 and a spline shaft 113, wherein the connection platform 107, the top rotating shaft 108, the winding electromagnet, the plane bearing 110, the upper chuck 111, the lower chuck 112 and the spline shaft 113 are arranged in the transmission housing 101, an upper rotating surface of the plane bearing 110 is arranged at the bottom of the winding electromagnet 109, the upper chuck 111 is arranged at the lower end of the top rotating shaft 108, a lower rotating surface of the plane bearing 110 is arranged on the upper plane of the upper chuck 111, an upper end circular shaft of the spline shaft 113 is slidably arranged on the top rotating shaft 108, an upper end circular shaft of the spline shaft 113 and the top rotating shaft 108 do not generate rotation transmission, the lower chuck 112 is arranged on the spline shaft 113, the spline shaft 113 is slidably arranged on a middle rotating shaft 118, and the upper chuck 111 and the lower chuck 112 can synchronously rotate after being in contact engagement; the separation transmission system 105 comprises a bottom carrying platform 121, a bottom rotating shaft 122, a transmission worm wheel 123, a transmission worm 124, a six-edge rotating shaft 125, an output transmission sliding shaft 126, a resistance transmission shaft 127, a balance spring A128, a force-bearing disk 129 and a balance spring B130, wherein the bottom carrying platform 121 is arranged in the transmission housing 101, the bottom rotating shaft 122 is rotationally arranged on the bottom carrying platform 121 and the transmission housing 101, the transmission worm wheel 123 is arranged on the bottom rotating shaft 122, the bottom rotating shaft 122 is in transmission connection with a lower rotating shaft 134, the output transmission sliding shaft 126 is rotationally arranged on the transmission housing 101, the six-edge rotating shaft 125 is slidingly arranged on the output transmission sliding shaft 126, the resistance transmission shaft 127 is rotationally arranged on the six-edge rotating shaft 125, one end of the balance spring A128 is arranged on the transmission housing 101, the other end of the balance spring A128 is arranged on the force-bearing disk 129, one end of the balance spring B130 is arranged on the force-bearing disk 129, the balance spring A128 is symmetrically arranged on two sides of the force-bearing disk 129, the transmission shaft 124 is arranged on the output transmission worm wheel 124, and the transmission worm wheel 124 is meshed with the transmission worm wheel 101; the output system 106 comprises a follow-up bevel gear 131, a transmission bevel gear 132 and an output motor 133, wherein the follow-up bevel gear 131 is arranged on the output transmission sliding shaft 126, the output motor 133 is arranged on the equipment base 5, the transmission bevel gear 132 is arranged on the output end of the output motor 133, and the follow-up bevel gear 131 is connected with the transmission bevel gear 132 in a meshed manner.
As shown in fig. 1, 3, 5 and 9, the damping buffer mechanism 2 includes an electromagnetic plate 201, a fluid bin 202, a force-bearing arm 203, a force-bearing liquid-pushing disc 204, a shunt channel 205 and a streamline connecting arm 206, wherein the fluid bin 202 is arranged on the equipment base 5, the electromagnetic plate 201 is symmetrically arranged on two sides of the fluid bin 202, the force-bearing arm 203 is slidingly arranged on the fluid bin 202, the force-bearing liquid-pushing disc 204 is arranged on the force-bearing arm 203, and the shunt channel 205 is fixedly connected in the fluid bin 202 through the streamline connecting arm 206.
As shown in fig. 10, the mechanical arm 3 includes a rotating base 301, a height arm 302, an elevation arm 303, a motor group a304, a motor group B305, a motor group C306, an elevation arm 307 and an elevation traction arm 308, the rotating base 301 is disposed on the connection platform 107, one end of the height arm 302 is rotatably disposed on the rotating base 301, the elevation arm 303 is rotatably disposed on the other end of the height arm 302, the motor group a304 is disposed on one side of the rotating base 301, the motor group a304 is in transmission connection with the height arm 302, the motor group B305 is disposed on the other side of the rotating base 301, the elevation arm 307 is disposed on an output end of the motor group B305, one end of the elevation traction arm 308 is rotatably connected with the elevation arm 307, the other end of the elevation traction arm 308 is disposed on the elevation arm 303, and the motor group C306 is disposed on the elevation arm 303.
As shown in fig. 11, the control module 4 is electrically connected to the winding electromagnet 109, the mechanical arm 3, the output motor 133 and the electromagnetic plate 201, and the control module 4 controls the working states of the winding electromagnet 109, the output motor 133, the mechanical arm 3 and the electromagnetic plate 201.
When the mechanical arm is particularly used, mechanical arms 3 of different types are carried on the transmission mechanism 1 according to the requirements of different operation tasks, the mechanical arms 3 are electrically connected with the control module 4, and in the running process of the mechanical arms 3, the transmission mechanism 1 provides power for rotating in the vertical axis direction; in operation, the control module 4 starts the output motor 133, the output motor 133 starts to drive the transmission bevel gear 132 to rotate, the transmission bevel gear 132 rotates to drive the following bevel gear 131 to rotate, the following bevel gear 131 rotates to drive the output transmission sliding shaft 126 to rotate, the output transmission sliding shaft 126 rotates to drive the six-edge rotating shaft 125 to rotate, the six-edge rotating shaft 125 rotates to drive the transmission worm 124 to rotate, the transmission worm 124 rotates to drive the transmission worm wheel 123 to rotate, the transmission worm wheel 123 rotates to drive the bottom rotating shaft 122 to rotate, the bottom rotating shaft 122 rotates to drive the lower rotating shaft 134 to rotate, the lower rotating gear 120 rotates to drive the side synchronizing gear 116 to rotate, the side synchronizing gear 116 rotates to drive the upper rotating gear 114 to rotate, the upper rotating gear 114 rotates to drive the middle rotating shaft 118 to rotate, the middle rotating shaft 118 rotates to drive the spline shaft 113 to rotate, the control module 4 starts the winding electromagnet 109, the winding electromagnet 109 generates a magnetic field to adsorb the lower chuck 112, the lower chuck 112 and the spline shaft 113 slide upwards, the upper chuck 111 and the lower chuck 112 are tightly meshed and synchronously rotate, the lower chuck 112 rotates along with the spline shaft 113 to drive the upper chuck 111 to rotate, the upper chuck 111 rotates to drive the top rotating shaft 108 to rotate, the top rotating shaft 108 rotates to drive the connecting platform 107 to rotate, the connecting platform 107 rotates to drive the mechanical arm 3 to rotate, different output directions are changed through the output motor 133, and therefore the rotating angle of the mechanical arm 3 in the vertical direction is changed; after the mechanical arm 3 rotates vertically once, the counter force generated by the mechanical arm 3 acts on the connecting platform 107 due to inertia during rotation, the mechanical arm 3 stops swinging, then the counter force is transmitted to the damping buffer mechanism 2 by the transmission mechanism 1 to offset kinetic energy generated by vibration of the mechanical arm 3, at the moment, the output motor 133 stops rotating, the driven bevel gear 131, the driven bevel gear 132 and the output transmission sliding shaft 126 are in a static state, the counter force acts on the top rotating shaft 108 through the connecting platform 107, the top rotating shaft 108 transmits the counter force to the lower chuck 112 through the upper chuck 111, the lower chuck 112 is separated from the upper chuck 111 by transient counter force to start to reversely rotate, the lower chuck 112 rotates to drive the spline shaft 113 to rotate, the spline shaft 113 rotates to drive the middle rotating shaft 118 to rotate, the middle rotating gear 114 rotates to drive the side synchronous gear 116 to rotate, the side synchronous gear 116 rotates to drive the lower rotating gear 120 rotates, the lower rotating shaft 134 rotates to drive the bottom rotating shaft 122 to rotate, the bottom rotating gear 123 rotates to drive the worm wheel 123 to rotate, the worm wheel 123 rotates to drive the worm wheel 123 to horizontally move, the worm wheel drive the screw drive the horizontal drive plate 125 to horizontally move by the magnetic force, the horizontal drive plate 125 to horizontally move, and the horizontal drive the magnetic force pad 204 is driven by the horizontal drive plate 125 to horizontally move, and the magnetic force is controlled by the horizontal drive plate drive the magnetic force pad 204 to horizontally and the magnetic force is driven by the horizontal drive plate 201 to move, in the process of horizontally moving the six-edge rotating shaft 125, the stress disc 129 is driven to move, the balance spring A128 and the balance spring B130 are respectively compressed and stretched, the balance spring A128 and the balance spring B130 are utilized to absorb energy, the control module 4 is started after the winding electromagnet 109 is turned off briefly according to the number difference of times of rotation in different directions, the winding electromagnet 109 stops working, the magnetic field disappears, the lower chuck 112 and the spline shaft 113 slide downwards, in the short interval, the balance spring A128 and the balance spring B130 recover to deform, during recovery, the six-edge rotating shaft 125 moves to drive the driving worm 124 to horizontally move, the driving worm 124 horizontally moves to drive the driving worm wheel 123 to rotate, the driving worm wheel 123 rotates to drive the bottom rotating shaft 122 to rotate, the bottom rotating shaft 122 rotates to drive the lower rotating shaft 134 to rotate, the lower rotating gear 120 rotates to drive the side synchronizing gear 116 to rotate, the side synchronizing gear 116 rotates to drive the upper rotating gear 114 to rotate, the upper rotating gear 114 rotates to drive the middle rotating shaft 118 to rotate, at the moment, the upper chuck 111 is separated from the lower chuck 112, and the upper chuck 111 cannot be continuously driven to rotate; when the output motor 133 is operated, the rotation direction of the upper and lower shafts is changed by the side synchronizing gear 116, the upper rotating gear 114 and the lower rotating gear 120 in the torque canceling system 103, so that the torque during rotation can be balanced, and the stability can be improved.
The above is a specific workflow of the present invention, and the next time the present invention is used, the process is repeated.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
The invention and its embodiments have been described above with no limitation, and the actual construction is not limited to the embodiments of the invention as shown in the drawings. In summary, if one of ordinary skill in the art is informed by this disclosure, a structural manner and an embodiment similar to the technical solution should not be creatively devised without departing from the gist of the present invention.
Claims (2)
1. The utility model provides a arm damping shock attenuation base which characterized in that: the damping buffer mechanism (2) is simultaneously connected with the transmission mechanism (1) in a transmission way, and the control module (4) is arranged on the side wall of the transmission mechanism (1); the transmission mechanism (1) comprises a transmission housing (101), a transmission platform (102), a torque counteracting system (103), a magnetic separation system (104), a separation transmission system (105) and an output system (106), wherein the transmission housing (101) is arranged on a device base (5), the transmission platform (102) is arranged at the top of the transmission housing (101), the torque counteracting system (103) is arranged in the transmission housing (101), the magnetic separation system (104) is arranged above the torque counteracting system (103), the magnetic separation system (104) is simultaneously in transmission connection with the torque counteracting system (103), the separation transmission system (105) is arranged below the torque counteracting system (103), the separation transmission system (105) is simultaneously in transmission connection with the torque counteracting system (103), the output system (106) is arranged in the transmission housing (101), and the output system (106) is simultaneously in transmission connection with the separation transmission system (105). The torque counteracting system (103) comprises an upper rotating gear (114), a horizontal rotating shaft (115), a side synchronizing gear (116), a carrying frame (117), a middle rotating shaft (118), a middle carrying platform (119), a lower rotating gear (120) and a lower rotating shaft (134), wherein the carrying frame (117) is arranged in a transmission outer cover (101), the middle carrying platform (119) is arranged in the transmission outer cover (101), the middle rotating shaft (118) is rotationally arranged on the middle carrying platform (119), the upper rotating gear (114) is arranged on the middle rotating shaft (118), the horizontal rotating shaft (115) is arranged on the carrying frame (117), the side synchronizing gear (116) is rotationally arranged on the horizontal rotating shaft (115), the lower rotating shaft (134) is rotationally arranged on the carrying frame (117), the lower rotating gear (120) is arranged on the lower rotating shaft (134), and the upper rotating gear (114) is in meshed connection with the side synchronizing gear (116), and the lower rotating gear (120) is in meshed connection with the side synchronizing gear (116). The magnetic attraction separation system (104) comprises a connecting platform (107), a top rotating shaft (108), a winding electromagnet (109), a plane bearing (110), an upper chuck (111), a lower chuck (112) and a spline shaft (113), wherein the connecting platform (107), the top rotating shaft (108), the winding electromagnet, the plane bearing (110), the upper chuck (111), the lower chuck (112) and the spline shaft (113) are connected, the winding electromagnet (109) is arranged in a transmission housing (101), the upper rotating surface of the plane bearing (110) is arranged at the bottom of the winding electromagnet (109), the upper chuck (111) is arranged at the lower end of the top rotating shaft (108), the lower rotating surface of the plane bearing (110) is arranged at the upper plane of the upper chuck (111), the upper circular shaft of the spline shaft (113) is slidably arranged on the top rotating shaft (108), the upper circular shaft of the spline shaft (113) and the top rotating shaft (108) do not rotate, the lower chuck (112) is arranged on the spline shaft (113), the spline shaft (113) is slidably arranged on the middle part (118), and the upper chuck (111) and the lower chuck (112) can be synchronously meshed after being contacted; the separation transmission system (105) comprises a bottom carrying platform (121), a bottom rotating shaft (122), a transmission worm wheel (123), a transmission worm (124), a six-edge rotating shaft (125), an output transmission sliding shaft (126), a resistance transmission shaft (127), a balance spring A (128), a stress disc (129) and a balance spring B (130), wherein the bottom carrying platform (121) is arranged in a transmission housing (101), the bottom rotating shaft (122) is rotationally arranged on the bottom carrying platform (121) and the transmission housing (101), the transmission worm wheel (123) is arranged on the bottom rotating shaft (122), the bottom rotating shaft (122) and the lower rotating shaft (134) are in transmission connection, the output transmission sliding shaft (126) is rotationally arranged on the transmission housing (101), the six-edge rotating shaft (125) is slidingly arranged on the output transmission sliding shaft (126), the transmission worm (124) is arranged on the output transmission sliding shaft (126), the transmission worm (123) is in meshed connection with the transmission worm (124), the resistance transmission shaft (127) is arranged on the six-edge rotating shaft (125), the resistance transmission worm wheel (122) is rotationally arranged on the balance spring A (101) and is rotationally arranged on one end of the stress disc (128), the other end of the balance spring A (128) is arranged on the force-bearing disc (129), one end of the balance spring B (130) is arranged on the transmission outer cover (101), the other end of the balance spring B (130) is arranged on the force-bearing disc (129), and the balance spring A (128) and the balance spring B (130) are connected with two sides of the force-bearing disc (129) in bilateral symmetry; the output system (106) comprises a follow-up bevel gear (131), a transmission bevel gear (132) and an output motor (133), wherein the follow-up bevel gear (131) is arranged on an output transmission sliding shaft (126), the output motor (133) is arranged on the equipment base (5), the transmission bevel gear (132) is arranged on the output end of the output motor (133), and the follow-up bevel gear (131) is in meshed connection with the transmission bevel gear (132); the damping buffer mechanism (2) comprises an electromagnetic polar plate (201), a fluid bin (202), a stress arm (203), a stress disc (129), a diversion channel (205) and a streamline connecting arm (206), wherein the fluid bin (202) is arranged on a device base (5), the electromagnetic polar plate (201) is arranged on the device base (5), the electromagnetic polar plate (201) is symmetrically arranged on two sides of the fluid bin (202) at the same time, the stress arm (203) is arranged on the fluid bin (202) in a sliding mode, the stress disc (129) is arranged on the stress arm (203), the diversion channel (205) is fixedly connected in the fluid bin (202) through the streamline connecting arm (206), and magnetorheological fluid is filled in the fluid bin (202).
2. The mechanical arm damping vibration attenuation mount according to claim 1, wherein: the control module (4) is electrically connected with the winding electromagnet (109), the mechanical arm (3), the output motor (133) and the electromagnetic polar plate (201).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311468423.1A CN117189833B (en) | 2023-11-07 | 2023-11-07 | Damping base of mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311468423.1A CN117189833B (en) | 2023-11-07 | 2023-11-07 | Damping base of mechanical arm |
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| Publication Number | Publication Date |
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| CN117189833A CN117189833A (en) | 2023-12-08 |
| CN117189833B true CN117189833B (en) | 2024-02-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202311468423.1A Active CN117189833B (en) | 2023-11-07 | 2023-11-07 | Damping base of mechanical arm |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009113195A (en) * | 2007-10-19 | 2009-05-28 | Tokyo Univ Of Science | Joint device |
| CN102537188A (en) * | 2012-02-20 | 2012-07-04 | 东南大学 | Electromagnetic fluid damper with electro-rheological fluids |
| CN108481301A (en) * | 2018-06-11 | 2018-09-04 | 东北大学 | A kind of vacuum leak hunting machine people based on five degree-of-freedom manipulator |
| CN209504117U (en) * | 2019-01-28 | 2019-10-18 | 天津鑫海科耀科技有限公司 | Compact industrial robot |
| CN213796572U (en) * | 2020-11-20 | 2021-07-27 | 徐曰光 | Automatic change robotic arm belt pulley drive mechanism |
| CN115476388A (en) * | 2022-09-23 | 2022-12-16 | 河北易沃克机器人科技有限公司 | Mechanical arm |
-
2023
- 2023-11-07 CN CN202311468423.1A patent/CN117189833B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009113195A (en) * | 2007-10-19 | 2009-05-28 | Tokyo Univ Of Science | Joint device |
| CN102537188A (en) * | 2012-02-20 | 2012-07-04 | 东南大学 | Electromagnetic fluid damper with electro-rheological fluids |
| CN108481301A (en) * | 2018-06-11 | 2018-09-04 | 东北大学 | A kind of vacuum leak hunting machine people based on five degree-of-freedom manipulator |
| CN209504117U (en) * | 2019-01-28 | 2019-10-18 | 天津鑫海科耀科技有限公司 | Compact industrial robot |
| CN213796572U (en) * | 2020-11-20 | 2021-07-27 | 徐曰光 | Automatic change robotic arm belt pulley drive mechanism |
| CN115476388A (en) * | 2022-09-23 | 2022-12-16 | 河北易沃克机器人科技有限公司 | Mechanical arm |
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| Publication number | Publication date |
|---|---|
| CN117189833A (en) | 2023-12-08 |
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