1. The intelligent robot vibration isolation device is characterized by comprising a base (1), a lead screw (3), a sliding plate (5), a guide rail sliding block (6), a nut (7), a special-shaped guide rod (10) and an elastic connecting piece, wherein the guide rail sliding block (6) and the special-shaped guide rod (10) are arranged on two sides of the base (1) in the vertical direction; the screw rod (3) is rotatably arranged on the base (1) and is parallel to the guide rail sliding block (6) and the special-shaped guide rod (10);

the sliding plate (5) is rotatably connected with the lead screw (3), and two ends of the sliding plate are connected with the guide rail sliding blocks (6);

the nut (7) is positioned below the sliding plate (5) and forms a screw pair with the lead screw (3); two sides of the nut (7) are respectively connected with the special-shaped guide rod (10) in a sliding way through two groups of elastic connecting pieces.

2. The intelligent robot vibration isolation device according to claim 1, wherein the shaped guide bar (10) has an arc-shaped surface guiding the elastic connection member; the cross section of the special-shaped guide rod (10) is gradually enlarged from two ends to the middle.

3. The vibration isolation device of an intelligent robot according to claim 2, wherein the elastic connecting member is a clamping spring (11), one end of the clamping spring (11) is fixedly connected with the nut (7), and the other end of the clamping spring clamps the arc-shaped surface of the special-shaped guide rod (10) and can slide along the arc-shaped surface.

4. The vibration isolation device for intelligent robots according to claim 3, wherein the clamp spring (11) is composed of two plate springs, one end of each of the two plate springs is fixedly connected with the nut (7), and the other end of each of the two plate springs is abutted to two side faces of the special-shaped guide rod (10).

5. The vibration isolation device for the intelligent robot according to any one of claims 1 to 4, wherein a vibration isolation branch chain for suppressing vibration is provided between the sliding plate (5) and the nut (7).

6. The intelligent robot vibration isolation device according to claim 5, wherein the vibration isolation branches comprise a vibration isolation branch I and a vibration isolation branch II, and the vibration isolation branch I and the vibration isolation branch II respectively suppress vibration in two vertical directions on the same horizontal plane.

7. The vibration isolation device of the intelligent robot according to claim 6, wherein the vibration isolation branched chain I comprises a compression spring (9), one end of the compression spring (9) is connected with the sliding plate (5), and the other end of the compression spring abuts against the nut (7) along the X direction.

8. The vibration isolation device of the intelligent robot according to claim 6, wherein the vibration isolation branch chain II comprises a ball head (8) and a ball head connecting rod (12), wherein one end of the ball head connecting rod (12) is connected with the sliding plate (5), the other end of the ball head connecting rod is connected with the ball head (8), and the ball head (8) abuts against the nut (7) along the Y direction.

9. The vibration isolation device of the intelligent robot according to claim 8, wherein a limiting block (13) is arranged on the outer side of the nut (7), the limiting block (13) is provided with a limiting plane perpendicular to the Y axis, and the ball head (8) abuts against the limiting plane;

the upper end of the limiting block (13) is in surface contact with the lower end of the sliding plate (5).

10. The vibration isolation device of the intelligent robot according to claim 1, further comprising a rotation driving device (2), wherein the rotation driving device (2) is disposed on the base (1), and the output end of the rotation driving device is connected to the lead screw (3) for driving the lead screw (3) to rotate.

Background

A large amount of elevating gear can be adopted in current intelligent robot and the automation trade, especially adopts a large amount of linear motion modules as elevating system. The traditional linear module is a screw drive, wherein the principle of the screw drive is that the motor drive is changed from rotation to linear motion. Although the screw transmission is widely applied to the intelligent manufacturing fields such as automation equipment, industrial robots, precise machine tools, mechanical industry, intelligent automation, biological medical treatment, intelligent robots and the like, and has good performance, some obvious defects still exist: for example, a ball screw with high precision is difficult to machine and has high cost, the length of the screw is greatly limited, and the device is difficult to operate at high speed. Particularly, the critical rotating speed of the screw is limited due to the existence of the critical rotating speed, and if the actual using rotating speed of the screw exceeds the maximum allowable rotating speed of the screw, the following disadvantages are mainly caused: the vibration of the lead screw is increased, so that the equipment resonates, and the noise and the temperature of the lead screw are increased; meanwhile, the positioning precision of the lead screw is reduced, the service life is shortened and the like.

Disclosure of Invention

In view of the above problems, an object of the present invention is to provide an intelligent robot vibration isolation device to solve the problem of limiting long-distance transmission due to factors such as length, resonance, and critical rotation speed of a lead screw in the conventional lead screw transmission.

In order to achieve the purpose, the invention adopts the following technical scheme:

the embodiment of the invention provides an intelligent robot vibration isolation device which comprises a base, a screw rod, a sliding plate, a guide rail sliding block, a nut, a special-shaped guide rod and an elastic connecting piece, wherein the guide rail sliding block and the special-shaped guide rod are arranged on two sides of the base in the vertical direction; the lead screw is rotatably arranged on the base and is parallel to the guide rail sliding block and the special-shaped guide rod;

the sliding plate is rotatably connected with the lead screw, and two ends of the sliding plate are connected with the guide rail sliding blocks;

the nut is positioned below the sliding plate and forms a screw pair with the screw rod; and two sides of the nut are respectively connected with the special-shaped guide rod in a sliding manner through two groups of elastic connecting pieces.

In a possible realization, the shaped guide bar has an arc-shaped face guiding the elastic connection piece; the cross section of the special-shaped guide rod is gradually enlarged from two ends to the middle.

In a possible implementation manner, the elastic connecting piece is a clamping spring, one end of the clamping spring is fixedly connected with the nut, and the other end of the clamping spring clamps the arc-shaped surface of the special-shaped guide rod and can slide along the arc-shaped surface.

In a possible implementation manner, the clamping spring is composed of two plate springs, one end of each of the two plate springs is fixedly connected with the nut, and the other end of each of the two plate springs is respectively abutted to two side faces of the special-shaped guide rod.

In a possible implementation manner, a vibration isolation branch chain for suppressing vibration is arranged between the sliding plate and the nut.

In a possible implementation manner, the vibration isolation branches include a vibration isolation branch i and a vibration isolation branch ii, and the vibration isolation branch i and the vibration isolation branch ii respectively suppress vibration in two vertical directions on the same horizontal plane.

In a possible implementation manner, the vibration isolation branched chain i comprises a pressure spring, one end of the pressure spring is connected with the sliding plate, and the other end of the pressure spring abuts against the nut along the X direction.

In a possible implementation manner, the vibration isolation branched chain II comprises a ball head and a ball head connecting rod, wherein one end of the ball head connecting rod is connected with the sliding plate, the other end of the ball head connecting rod is connected with the ball head, and the ball head is abutted to the nut along the Y direction.

In a possible implementation manner, a limiting block is arranged on the outer side of the nut, the limiting block is provided with a limiting plane perpendicular to the Y axis, and the ball head is abutted to the limiting plane;

in a possible implementation manner, the upper end of the limiting block is in surface contact with the lower end of the sliding plate.

In a possible implementation manner, the intelligent robot vibration isolation device further includes a rotation driving device, the rotation driving device is disposed on the base, and an output end of the rotation driving device is connected to the lead screw, and is used for driving the lead screw to rotate.

The invention has the advantages and beneficial effects that: the invention effectively inhibits the resonance of the high-speed rotation of the screw rod of the lifting device, has low noise and effectively improves the critical rotating speed of the high-speed rotation of the screw rod in the lifting device;

the invention is not limited by the minimum diameter of the screw rod in long-distance transmission, is beneficial to light weight of equipment and adapts to high-speed working conditions.

The invention can improve the positioning precision of the lead screw and prolong the service life.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.

The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

fig. 1 is an isometric view of an intelligent robot vibration isolation device of the present invention;

FIG. 2 is an enlarged view taken at point I in FIG. 1;

FIG. 3 is a front view of an intelligent vibration isolation device for robots, according to the present invention;

fig. 4 is a partial sectional view a-a of fig. 3.

In the figure: the device comprises a base 1, a rotary driving device 2, a lead screw 3, an auxiliary support 4, a sliding plate 5, a guide rail sliding block 6, a nut 7, a ball head 8, a pressure spring 9, a special-shaped guide rod 10, a clamping spring 11, a ball head connecting rod 12 and a limiting block 13.

Detailed Description

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.

The embodiment of the invention provides an intelligent robot vibration isolation device which can effectively inhibit resonance of high-speed rotation of a lead screw of a lifting device and effectively improve the critical rotating speed of the high-speed rotation of the lead screw in the lifting device. Referring to fig. 1-4, the intelligent robot vibration isolation device includes a base 1, a rotation driving device 2, a screw 3, a sliding plate 5, a guide rail slider 6, a nut 7, a special-shaped guide rod 10 and an elastic connecting piece, wherein the guide rail slider 6 and the special-shaped guide rod 10 are both arranged on two sides of the base 1 along a vertical direction; the screw rod 3 is rotatably arranged on the base 1 and is parallel to the guide rail sliding block 6 and the special-shaped guide rod 10; the sliding plate 5 is rotatably connected with the screw rod 3, two ends of the sliding plate are connected with the guide rail sliding blocks 6, and the nut 7 is positioned below the sliding plate 5 and forms a screw pair with the screw rod 3; two sides of the nut 7 are respectively connected with the special-shaped guide rod 10 in a sliding way through two groups of elastic connecting pieces. The rotation driving device 2 is arranged on the base 1, and the output end of the rotation driving device is connected with the lead screw 3 and used for driving the lead screw 3 to rotate.

In the embodiment of the invention, the base 1 is fixed on the ground, the rotation driving device 2 is a servo motor, the servo motor is arranged on the top of the base 1, the output end of the servo motor is connected with the upper end of the screw rod 3, and the lower end of the screw rod 3 is supported by the auxiliary support 4 arranged on the base 1. The sliding plate 5 and the base 1 form a linear motion pair through the guide rail sliding block 6, and the upper plane of the nut 7 and the lower plane of the sliding plate 5 form a supporting counter force of a plane pair, so that the sliding plate 5 is always in gravity balance. The nut 7 and the screw rod 3 form a ball transmission structure of a spiral lifting pair. The servo motor can drive the screw rod 3 to rotate at a high speed to drive the nut 7 to lift, and when the nut 7 lifts, the sliding plate 5 is pushed to lift synchronously; the slide 5 slides down by gravity when the nut 7 is lowered.

Referring to fig. 4, in the embodiment of the present invention, the guide bar 10 has an arc-shaped surface for guiding the elastic connection member, and the arc-shaped surface facilitates smooth sliding of the elastic connection member; further, the cross section of the special-shaped guide rod 10 is gradually enlarged from two ends to the middle, so that the sliding contact counter force and the rigidity of the clamp spring 11 are gradually enlarged from two ends to the middle, the radial rigidity of the middle part of the screw rod 3, which is weak, and the radial rigidity of the upper end and the lower end of the screw rod is strong, and the long-distance transmission stability of the screw rod 3 is realized.

Referring to fig. 2 and 4, in the embodiment of the present invention, the elastic connecting member is a clamping spring 11, one end of the clamping spring 11 is fixedly connected with the nut 7, and the other end of the clamping spring clamps the arc-shaped surface of the special-shaped guide rod 10 and can slide along the arc-shaped surface.

Specifically, the clamp spring 11 is composed of two plate springs, the two plate springs are arranged back to back, one end of each plate spring is fixedly connected with the nut 7, and the other end of each plate spring is respectively abutted to two side faces of the special-shaped guide rod 10.

In this embodiment, two sides of the nut 7 are supported by two sets of clamping springs 11 which are symmetrically arranged, and a space dynamic force system is formed by contact reaction force of the clamping springs 11 and the special-shaped guide rod 10 and support reaction force generated by radial rigidity of the screw rod 3, so that the balance nut 7 and the screw rod 3 form ball transmission space spiral reaction force of a spiral lifting pair. The geometric change of the thick middle section and the thin upper section and lower section of the special-shaped guide rod 10 results in the change of the strong middle and thin upper and lower contact reaction force between the clamp spring 11 and the special-shaped guide rod 10, and the change of the contact reaction force maintains the stability of the radial rigidity of the screw rod 3, namely the weak middle and strong upper and lower spatial force systems, so that the long-distance stable transmission of the screw rod 3 is realized.

In addition to the above-described embodiment, a vibration damping branch for damping vibration is provided between the slide plate 5 and the nut 7, and the nut 7 and the screw shaft 3 are balanced by the vibration damping branch to form a ball transmission space vibration of a screw-type lifting pair. In this embodiment, the vibration isolation branches include a vibration isolation branch i and a vibration isolation branch ii, and the vibration isolation branch i and the vibration isolation branch ii respectively suppress vibration in two vertical directions on the same horizontal plane.

Referring to fig. 2, in the embodiment of the invention, the vibration isolation branched chain i comprises a compression spring 9, one end of the compression spring 9 is connected with the sliding plate 5, the other end of the compression spring 9 abuts against the nut 7 along the X direction, and the compression spring 9 and the nut 7 form an X-direction compression structure, so that the vibration in the X direction is inhibited. Vibration isolation branch II includes bulb 8 and bulb connecting rod 12, wherein the one end and the slide 5 fixed connection of bulb connecting rod 12, and the other end is connected with bulb 8, and bulb 8 is along Y direction and nut 7 butt to restrain the vibration of Y direction.

Furthermore, the outer side of the nut 7 is provided with a limiting block 13, the upper end face of the limiting block 13 is in surface contact with the lower end face of the sliding plate 5, and force transmission can be stably achieved.

Furthermore, the limiting block 13 is provided with a limiting plane vertical to the Y axis, and the ball head 8 is abutted to the limiting plane to form a point-plane floating structure. Under the action of the ball head 8 and the pressure spring 9, firstly, the balance nut 7 and the screw rod 3 form a ball transmission space spiral counter force of a spiral lifting pair; and secondly, the balance nut 7 and the screw rod 3 form ball transmission space vibration isolation of a spiral lifting pair.

The working principle of the intelligent robot vibration isolation device provided by the invention is as follows: the rotary driving device 2 drives the screw rod 3 to rotate at a high speed, so as to drive the nut 7 to perform lifting motion along the screw rod 3, and further push the sliding plate 5 to ascend or balance the gravity gliding motion of the sliding plate 5. Because of the cross section of abnormal shape guide arm 10 is by both ends grow gradually to the centre, that is to say abnormal shape guide arm 10 is at the cross section grow of intermediate position arcwall face, and the appearance change of arcwall face leads to pressing from both sides the sliding contact counter-force and the rigidity of spring 11 grow gradually, and then presss from both sides the support rigidity of spring 11 and strengthened to arouse the continuous change of the whole resonant frequency of elevating gear, and then play variable stiffness vibration isolation effect.

According to the intelligent robot vibration isolation device provided by the invention, the resonance of the high-speed rotation of the lead screw in the lifting device is effectively inhibited, and meanwhile, the critical rotating speed of the high-speed rotation of the lead screw in the lifting device is effectively increased; meanwhile, the invention is not limited by the minimum diameter of the screw rod in long-distance transmission, is beneficial to light weight of equipment and adapts to high-speed working conditions.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.