CN212672213U - Adjustable damping mechanism and mechanical joint with damping adjusting function - Google Patents
Adjustable damping mechanism and mechanical joint with damping adjusting function Download PDFInfo
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- CN212672213U CN212672213U CN201922431954.9U CN201922431954U CN212672213U CN 212672213 U CN212672213 U CN 212672213U CN 201922431954 U CN201922431954 U CN 201922431954U CN 212672213 U CN212672213 U CN 212672213U
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Abstract
The utility model relates to an adjustable damping mechanism and have mechanical joint of damping regulatory function, this mechanism are used for connecting two at least pivoted movable parts relatively, include: 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 utility model discloses can be so that under the requirement of guaranteeing high rotation accuracy, realize big damped output with the space of less volume, can guarantee simultaneously that the stability of damping when using for a long time and the adjustable and easy adjustability of damping size.
Description
Technical Field
The utility model relates to a mechanical equipment specifically is about an adjustable damping mechanism and take damping regulatory function's mechanical joint.
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.
SUMMERY OF THE UTILITY MODEL
In view of the above problems, an object of the present invention is to provide an adjustable damping mechanism, which can realize large damping output with a smaller space while ensuring high rotation accuracy, and can ensure stability of damping in long-term use and adjustability and easy adjustment of 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 utility model adopts the following technical proposal: an adjustable damping mechanism for connecting at least two first and second movable parts which are relatively rotatable, 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 first 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.
The utility model discloses owing to take above technical scheme, it has following advantage: 1. the utility model discloses an adjustable damping mechanism is owing to adopted crossed roller bearing, so the motion accuracy and the performance of this mechanism can obtain effectual assurance. 2. The utility model discloses an adjustable damping mechanism through adjust compression spring's compressive capacity can be convenient adjust inner circle friction ring and outer lane friction ring friction damping's size within a definite time. 3. The utility model discloses a compression spring can select for use the mould spring to can provide very big axial force, obtain realizing big damped output in the space of less volume. 4. The utility model discloses an adjustable damping mechanism adopts compression spring to compress tightly inner circle friction ring and outer lane friction ring, and under the condition of great compression capacity, the inner circle friction ring is very little to the axial force influence with the wearing and tearing of outer lane friction ring, can ignore to can maintain the frictional damping size invariable basically.
Drawings
Fig. 1 is a schematic structural view 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 according to the embodiment of the present invention;
fig. 4 is an exploded view of the adjustable damping mechanism of the embodiment of the present invention;
fig. 5(a) and (b) are schematic structural views of a guide screw according to an embodiment of the present invention;
fig. 6 is an assembly diagram of the connecting rod and the outer ring 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 as limitations on the scope of the invention, but are merely illustrative of the true spirit of the technical solution of the 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 that above-mentioned embodiment provided, the utility model also provides a take damping regulatory function's mechanical joint. 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.
Above-mentioned each embodiment only is used for explaining the utility model discloses, wherein structure, connected mode and the preparation technology etc. of each part all can change to some extent, all are in the utility model discloses equal transform and improvement of going on technical scheme's the basis all should not exclude outside the protection scope of the utility model.
Claims (16)
1. An adjustable damping mechanism for connecting at least two first (2) and second (3) movable parts that are rotatable relative to each other, characterized in that it 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 3, 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 claim 4, 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 first movable part (2) and the cage (14) by a second connection.
8. The adjustable damping mechanism according to claim 5, 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 first movable part (2) and the cage (14) by a second connection.
9. The adjustable damping mechanism according to claim 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 first movable part (2) and the cage (14) by a second connection.
10. The adjustable damping mechanism according to claim 1 or 2 or 5 or 6 or 8 or 9, characterized in that the second friction part (13) is formed with a number 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.
11. The adjustable damping mechanism according to claim 3, characterized in that the second friction portion (13) is formed with a number of teeth on its periphery, and the first movable portion (2) is formed with a guide groove that matches the outer contour of the second friction portion (13), and the second friction portion (13) fits within the guide groove so that the guide groove can limit the circumferential movement of the second friction portion (13) but not the movement of the second friction portion (13) along the adjustable damping mechanism axis.
12. The adjustable damping mechanism according to claim 4, characterized in that the second friction part (13) is formed with a number of teeth on its periphery, and the first movable part (2) is formed with a guide groove that fits 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 adjustable damping mechanism axis.
13. The adjustable damping mechanism according to claim 7, characterized in that the second friction portion (13) is formed with a number of teeth on its periphery, and the first movable portion (2) is formed with a guide groove that matches the outer contour of the second friction portion (13), and the second friction portion (13) fits within the guide groove so that the guide groove can limit the circumferential movement of the second friction portion (13) but not the movement of the second friction portion (13) along the adjustable damping mechanism axis.
14. The adjustable damping mechanism according to claim 1 or 2 or 5 or 6 or 8 or 9 or 11 or 12 or 13, characterized in that a trapezoidal contact area is formed on the contact interface of the first friction part (12) and the second friction part (13).
15. The adjustable damping mechanism according to claim 1 or 2 or 5 or 6 or 8 or 9 or 11 or 12 or 13, characterized in that the first friction part (12) and the second friction part (13) are both made of wear-resistant phosphor bronze.
16. 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 15.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922431954.9U CN212672213U (en) | 2019-12-30 | 2019-12-30 | Adjustable damping mechanism and mechanical joint with damping adjusting function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922431954.9U CN212672213U (en) | 2019-12-30 | 2019-12-30 | Adjustable damping mechanism and mechanical joint with damping adjusting function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212672213U true CN212672213U (en) | 2021-03-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922431954.9U Active CN212672213U (en) | 2019-12-30 | 2019-12-30 | Adjustable damping mechanism and mechanical joint with damping adjusting function |
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| Country | Link |
|---|---|
| CN (1) | CN212672213U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115429434A (en) * | 2022-09-20 | 2022-12-06 | 上海神玑医疗科技有限公司 | Damping joint, mechanical arm and surgical robot |
-
2019
- 2019-12-30 CN CN201922431954.9U patent/CN212672213U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115429434A (en) * | 2022-09-20 | 2022-12-06 | 上海神玑医疗科技有限公司 | Damping joint, mechanical arm and surgical robot |
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Address after: 100192 Tiandi Adjacent to Feng2 Building 106, No. 1 North Yongtaizhuang Road, Haidian District, Beijing Patentee after: Beijing Shurui Robot Co.,Ltd. Address before: 100192 Tiandi Adjacent to Feng2 Building 106, No. 1 North Yongtaizhuang Road, Haidian District, Beijing Patentee before: BEIJING SURGERII TECHNOLOGY Co.,Ltd. |