CN104696482B - A kind of back clearance buffer - Google Patents
A kind of back clearance buffer Download PDFInfo
- Publication number
- CN104696482B CN104696482B CN201510031267.1A CN201510031267A CN104696482B CN 104696482 B CN104696482 B CN 104696482B CN 201510031267 A CN201510031267 A CN 201510031267A CN 104696482 B CN104696482 B CN 104696482B
- Authority
- CN
- China
- Prior art keywords
- eccentric wheel
- elastic force
- control box
- back clearance
- power transmission
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
- F16H55/02—Toothed members; Worms
- F16H55/17—Toothed wheels
- F16H55/18—Special devices for taking up backlash
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of back clearance buffer, including motor, reductor, control box and power transmission shaft, motor is fixedly connected with reductor, reductor is fixedly connected with control box, motor drive connection reductor, reductor drive connection power transmission shaft, power transmission shaft runs through control box, control box includes box body, the first eccentric wheel is provided with box body, second eccentric wheel, elastic force adjusting means and elastic force conduction device, elastic force adjusting means and elastic force conduction device are fixedly connected with box body respectively, first eccentric wheel and the second eccentric wheel are abutted with elastic force conduction device respectively, elastic force conduction device is abutted with elastic force adjusting means, power transmission shaft extends through the first eccentric wheel and the second eccentric wheel；The back clearance buffer is without using the RV reductors and high-resolution closed loop controller of external import, simple in construction, long service life, production cost is low, the back clearance that the forward and reverse transmission of gear is produced can be eliminated, big inertia in robot movement is relaxed and, to the obstruction of motion, improves the kinematic accuracy of manipulator.
Description
Technical field
The present invention relates to mechanical fitting technical field, more particularly to a kind of back clearance buffer.
Background technology
Manipulator be it is a kind of can imitate some holding functions of human hand and arm, to be captured by fixed routine, carry object
Or the automatic pilot of operation instrument.Manipulator is the industry mechanical arm occurred earliest, is also the modern mechanical occurred earliest
Hand, the heavy labor that it can replace people can operate to protect people to realize the mechanization and automation of production under hostile environment
Body safety, thus it is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
In the composition component of manipulator, the assembly of motor and reductor is conventional drive device, the drive device
For driving manipulator to rotate, transverse movement or lengthwise movement.Manipulator is rotating, transverse movement or longitudinal direction
When motion, forward and reverse transmission of travelling gear can produce back clearance, influence the kinematic accuracy of manipulator.Meanwhile, manipulator fortune
Big inertia in dynamic can also influence the kinematic accuracy of manipulator.
At present, although using domestic reducing gear into drive device price it is relatively cheap, the drive device is not
The high-precision requirement of robot movement can be met so that larger error occurs in the motion of manipulator, it is impossible to meet the life of enterprise
Production demand.Thus, in existing manipulator driving device, the back clearance that forward and reverse transmission in order to eliminate travelling gear is produced eases up
With obstruction of the big inertia in robot movement to motion, generally using from the RV reductors of external import or installing high-resolution additional and close
The RV reductors or high-resolution closed loop controller of ring controller, either external import, price are very expensive, Er Qieyi
Denier is damaged, and will be sent to foreign countries and be gone maintenance, very inconvenient, is reduced the production efficiency of enterprise, is added being produced into for enterprise
This, reduces the economic benefit of enterprise.
The content of the invention
The present invention is overcomes drawbacks described above to provide a kind of back clearance buffer, and the back clearance buffer can eliminate gear just
The back clearance that reverse drive is produced, relaxes big inertia in robot movement and, to the obstruction of motion, improves the kinematic accuracy of manipulator.
In the range of robot movement radius is 1500mm, the back clearance buffer can control the position error of manipulator in ± 0.2mm,
Manipulator ± the 8.4mm of domestic planetary reducer composition drive device position error is relatively used alone, precision is substantially increased,
The back clearance buffer is without using the RV reductors and high-resolution closed loop controller of external import, simple in construction, service life
Long, production cost is low, once damage to be repaired at home, and it is very convenient, the production efficiency of enterprise is improved, is reduced
The production cost of enterprise, improves the economic benefit of enterprise.
To achieve the above object, the present invention is adopted the following technical scheme that.
A kind of back clearance buffer, including motor, reductor, control box and power transmission shaft, the motor are consolidated with the reductor
Fixed connection, the reductor is fixedly connected with the control box, and reductor described in the motor drive connection, the reductor drives
The dynamic connection power transmission shaft, the power transmission shaft runs through the control box, and the control box is included in box body, the box body provided with the
One eccentric wheel, the second eccentric wheel, elastic force adjusting means and elastic force conduction device, the elastic force adjusting means and elastic force conduction
Device is fixedly connected with the box body respectively, and first eccentric wheel and second eccentric wheel conduct with the elastic force fill respectively
Abutting is put, the elastic force conduction device is abutted with the elastic force adjusting means, it is eccentric that the power transmission shaft extends through described first
Wheel and second eccentric wheel.
Wherein, the top of the control box is provided with support base, and the support base is fixed by support column with the control box
Connection, the reductor is fixedly connected by the support base with the control box.
Wherein, the elastic force adjusting means includes housing, and the outer wall of the housing is fitted with the inwall of the control box, institute
State and the first groups of springs, the first guide pillar group, second spring group and the second guide pillar group are provided with housing, first groups of springs and described
Second spring group extends through the side wall of the housing, and the first guide pillar group and the second guide pillar group extend through described
The opposite side wall relative with above-mentioned side wall of housing, first groups of springs is abutted with the first guide pillar group, second bullet
Spring group is abutted with the second guide pillar group, the first guide pillar group and the second guide pillar group respectively with the elastic force conduction device
Abut, the inwall of first groups of springs and the second spring group respectively with the control box is abutted, first groups of springs
Parallel to each other with the second spring group, the first guide pillar group and the second guide pillar group are parallel to each other.
Wherein, the elastic force conduction device includes the first sliding block, the second sliding block, the first fixed seat and the second fixed seat, institute
State the first fixed seat and offer the first slide rail and the second slide rail, second fixed seat offers the 3rd slide rail and the 4th slide rail,
The two ends of first sliding block are respectively embedded into first slide rail and the 3rd slide rail, and the two ends difference of second sliding block is embedding
Enter second slide rail and the 4th slide rail, first sliding block respectively with first fixed seat and second fixed seat
It is slidably connected, second sliding block is slidably connected with first fixed seat and second fixed seat respectively.
Wherein, first sliding block offers the first slot, and first slot is embedded with the first drive, described second
Sliding block offers the second slot, and second slot is embedded with the second drive.
Wherein, first sliding block is further opened with the first groove, first groove being provided with clutch shaft bearing, described first
Bearing is detachably connected with first sliding block, and the clutch shaft bearing is fixed with first rotating shaft, and the first rotating shaft is through described
First drive, second sliding block is further opened with the second groove, second groove being provided with second bearing, second axle
Hold and be detachably connected with second sliding block, the second bearing is fixed with the second rotating shaft, second rotating shaft is through described the
Two drives.
Wherein, the outer wall of first eccentric wheel and second eccentric wheel is enclosed with skid resistant course respectively, and described first is inclined
The installation side of the shapes and sizes all same of heart wheel and second eccentric wheel, first eccentric wheel and second eccentric wheel
To opposite.
Wherein, the upper and lower part of first eccentric wheel is respectively equipped with the first centring ring and the second centring ring, the biography
Moving axis runs through first centring ring and the second centring ring, and first centring ring and second centring ring are passed with described respectively
Moving axis is fixedly connected, and the one side of second eccentric wheel is fitted with the inwall of the control box, second eccentric wheel it is another
One side is fitted with the downside of second centring ring.
Wherein, the top and bottom of the power transmission shaft are respectively equipped with junction surface, and the cross section at the junction surface is in just polygon
Shape.
Wherein, the inwall of first eccentric wheel is provided with the first stopper slot, and the described second eccentric inwall is provided with the second limit
Position groove, the outer wall of the power transmission shaft is provided with positive stop strip, and the positive stop strip is respectively embedded into first stopper slot and second limit
Position groove.
Beneficial effects of the present invention are：A kind of back clearance buffer of the present invention, including motor, reductor, control box and biography
Moving axis, the motor is fixedly connected with the reductor, and the reductor is fixedly connected with the control box, the motor driving
The reductor is connected, power transmission shaft described in the reductor drive connection, the power transmission shaft runs through the control box, the control
Box includes being provided with the first eccentric wheel, the second eccentric wheel, elastic force adjusting means and elastic force conduction device, institute in box body, the box body
State elastic force adjusting means and the elastic force conduction device is fixedly connected with the box body respectively, first eccentric wheel and described
Two eccentric wheels are abutted with the elastic force conduction device respectively, and the elastic force conduction device is abutted with the elastic force adjusting means, institute
State power transmission shaft and extend through first eccentric wheel and second eccentric wheel；It is forward and reverse that the back clearance buffer can eliminate gear
The back clearance produced is driven, big inertia in robot movement is relaxed and, to the obstruction of motion, improves the kinematic accuracy of manipulator.In machinery
Hands movement radius is in the range of 1500mm, the back clearance buffer can control the position error of manipulator in ± 0.2mm, more singly
Manipulator ± the 8.4mm of drive device position error is solely constituted using domestic planetary reducer, precision is substantially increased, the back of the body
Gap buffer is without using the RV reductors and high-resolution closed loop controller of external import, and simple in construction, long service life is raw
Low cost is produced, once damage to be repaired at home, and it is very convenient, the production efficiency of enterprise is improved, enterprise is reduced
Production cost, improve the economic benefit of enterprise.
Brief description of the drawings
With accompanying drawing, the invention will be further described, but the embodiment in accompanying drawing does not constitute any limitation of the invention.
Fig. 1 is a kind of structural representation of back clearance buffer of the present invention.
Fig. 2 is a kind of front view of back clearance buffer of the present invention.
Fig. 3 is a kind of left view of back clearance buffer of the present invention.
Fig. 4 is a kind of top view of back clearance buffer of the present invention.
Embodiment
The present invention is further illustrated with reference to the accompanying drawings and examples, and this is presently preferred embodiments of the present invention.
Embodiment.
As shown in Figures 1 to 4, a kind of back clearance buffer of the invention, including motor 1, reductor 2, control box 6 and transmission
Axle 5, the motor 1 is fixedly connected with the reductor 2, and the reductor 2 is fixedly connected with the control box 6, the motor 1
Reductor 2 described in drive connection, power transmission shaft 5 described in the drive connection of reductor 2, the power transmission shaft 5 runs through the control box
6, the control box 6 includes box body, in the box body provided with the first eccentric wheel 65, the second eccentric wheel 66, elastic force adjusting means and
Elastic force conduction device, the elastic force adjusting means and the elastic force conduction device are fixedly connected with the box body respectively, and described
One eccentric wheel 65 and second eccentric wheel 66 are abutted with the elastic force conduction device respectively, the elastic force conduction device with it is described
Elastic force adjusting means is abutted, and the power transmission shaft 5 extends through first eccentric wheel 65 and second eccentric wheel 66.
The back clearance buffer can eliminate the back clearance that the forward and reverse transmission of gear is produced, and relax big inertia pair in robot movement
The obstruction of motion, improves the kinematic accuracy of manipulator.In the range of robot movement radius is 1500mm, the back clearance buffer
The machinery that domestic planetary reducer constitutes drive device can be relatively used alone by the position error control of manipulator in ± 0.2mm
Hand ± 8.4mm position error, substantially increases precision, RV reductor and height of the back clearance buffer without using external import
Resolution ratio closed loop controller, simple in construction, long service life, production cost is low, once damage to be repaired at home, and it is non-
It is often convenient, the production efficiency of enterprise is improved, the production cost of enterprise is reduced, the economic benefit of enterprise is improved.
The top of the control box 6 of the present embodiment is provided with support base, and the support base is consolidated by support column and the control box 6
Fixed connection, the reductor 2 is fixedly connected by the support base with the control box 6；The setting structure is simple, it is easy into
Type, stable connection can stably fix reductor 2, reductor 2 is connected to control box 6.
The elastic force adjusting means of the present embodiment includes housing, and the outer wall of the housing is fitted with the inwall of the control box 6,
The first groups of springs 61, the first guide pillar group 63, the guide pillar group 64 of second spring group 62 and second, first bullet are provided with the housing
Spring group 61 and the second spring group 62 extend through the side wall of the housing, and the first guide pillar group 63 and described second are led
Post group 64 extends through the opposite side wall relative with above-mentioned side wall of the housing, and first groups of springs 61 is led with described first
Post group 63 is abutted, and the second spring group 62 is abutted with the second guide pillar group 64, the first guide pillar group 63 and described second
Guide pillar group 64 is abutted with the elastic force conduction device respectively, first groups of springs 61 and the second spring group 62 respectively with institute
The inwall for stating control box 6 is abutted, and first groups of springs 61 and the second spring group 62 are parallel to each other, the first guide pillar group
63 and the second guide pillar group 64 it is parallel to each other；The setting structure is simple, it is easy to be molded, parts wide material sources, manufacturing cost
It is low, the power come can be conducted through to the first eccentric wheel 65 and the second eccentric wheel 66 and is rebounded, so as to eliminate the forward and reverse biography of gear
The back clearance of movable property life, relaxes big inertia in robot movement and, to the obstruction of motion, improves the kinematic accuracy of manipulator, improve enterprise
Production efficiency, reduction in the numbers of seconds increases economic efficiency.
The elastic force conduction device of the present embodiment, which includes the first sliding block 67, the second sliding block 68, the first fixed seat and second, to be fixed
Seat, first fixed seat offers the first slide rail and the second slide rail, and second fixed seat offers the 3rd slide rail and the 4th
Slide rail, the two ends of first sliding block 67 are respectively embedded into first slide rail and the 3rd slide rail, second sliding block 68
Two ends are respectively embedded into second slide rail and the 4th slide rail, first sliding block 67 respectively with first fixed seat and institute
State the second fixed seat to be slidably connected, second sliding block 68 is slided with first fixed seat and second fixed seat respectively to be connected
Connect；The setting structure is simple, it is easy to be molded, low cost of manufacture, can conduct eccentric from the first eccentric wheel 65 and second well
Wheel 66 is transmitted through the power come, and can also well conduct and next bounce is transmitted through from the first guide pillar group 63 and the second guide pillar group 64, from
And the back clearance that the forward and reverse transmission of gear is produced is eliminated, relax big inertia in robot movement and, to the obstruction of motion, improve manipulator
Kinematic accuracy, improve the production efficiency of enterprise, reduction in the numbers of seconds increases economic efficiency.
First sliding block 67 of the present embodiment offers the first slot, and first slot is embedded with the first drive, described
Second sliding block 68 offers the second slot, and second slot is embedded with the second drive；The setting structure is simple, the first slot
The first drive of placement and the second drive are respectively used to the second slot, the first drive is abutted with the first eccentric wheel 65, the
Two drives are abutted with the second eccentric wheel 66, and the first drive can lay down the power that the first eccentric wheel 65 is transmitted through coming well, the
Two drives can lay down the power that the second eccentric wheel 66 is transmitted through coming well, and the setting can eliminate the forward and reverse transmission of gear and produce
Back clearance, relax big inertia in robot movement and, to the obstruction of motion, improve the kinematic accuracy of manipulator, improve the production of enterprise
Efficiency, reduction in the numbers of seconds is increased economic efficiency.
First sliding block 67 of the present embodiment is further opened with the first groove, first groove being provided with clutch shaft bearing, described
Clutch shaft bearing is detachably connected with first sliding block 67, and the clutch shaft bearing is fixed with first rotating shaft, and the first rotating shaft is passed through
First drive is worn, second sliding block 68 is further opened with the second groove, second groove being provided with second bearing, institute
State second bearing to be detachably connected with second sliding block 68, the second bearing is fixed with the second rotating shaft, second rotating shaft
Through second drive；The setting structure is simple, it is easy to be molded, and is easy to dismounting clutch shaft bearing, second bearing, the first transmission
Wheel and the second drive, are easy to safeguard clutch shaft bearing, second bearing, the first drive or the second drive；First turn
Axle is used to fix the first drive, and the second rotating shaft is used to fix the second drive.
First eccentric wheel 65 of the present embodiment and the outer wall of second eccentric wheel 66 are enclosed with skid resistant course, skid resistant course respectively
Setting can strengthen the frictional force of the first eccentric wheel 65 and the first drive, the second eccentric wheel 66 of enhancing and the second drive
Frictional force so that the power of the first eccentric wheel 65 can pass to the first drive well so that the power of the second eccentric wheel 66 can
The second drive is passed to well, so as to eliminate the back clearance that the forward and reverse transmission of gear is produced, relaxes big inertia in robot movement
To the obstruction of motion, the kinematic accuracy of manipulator is improved, the production efficiency of enterprise is improved, reduction in the numbers of seconds is increased economic efficiency；
The shapes and sizes all same of first eccentric wheel 65 and second eccentric wheel 66, first eccentric wheel 65 and described
The installation direction of two eccentric wheels 66 is opposite；The setting structure is simple, it is easy to be molded, and power transmission shaft 5 is per half rotation, elastic force regulation dress
Put just can carry out stress regulation with elastic force conduction device to the first eccentric wheel 65 or the second eccentric wheel 66, so as to eliminate gear just
The back clearance that reverse drive is produced, relaxes big inertia in robot movement and, to the obstruction of motion, improves the kinematic accuracy of manipulator.
The upper and lower part of first eccentric wheel 65 of the present embodiment is respectively equipped with the first centring ring and the second centring ring, described
Power transmission shaft 5 runs through first centring ring and the second centring ring, first centring ring and second centring ring respectively with institute
State power transmission shaft 5 to be fixedly connected, the one side of second eccentric wheel 66 is fitted with the inwall of the control box 6, described second is inclined
Fitted with the downside of second centring ring another side of heart wheel 66；The setting of first centring ring and the second centring ring can
The first eccentric wheel 65 and the second eccentric wheel 66 are fixed well, it is to avoid the first eccentric wheel 65 and the second eccentric wheel 66 are in the axial direction
It is mobile, so as to improve the kinematic accuracy of back clearance buffer.
The top and bottom of the power transmission shaft 5 of the present embodiment are respectively equipped with junction surface, and the cross section at the junction surface is in just more
Side shape；The setting structure is simple, it is easy to be molded, and is easy to engage power transmission shaft 5 with reductor 2 or travelling gear, practicality is good.
The inwall of first eccentric wheel 65 of the present embodiment is provided with the first stopper slot, and the described second eccentric inwall is provided with second
Stopper slot, the outer wall of the power transmission shaft 5 is provided with positive stop strip, and the positive stop strip is respectively embedded into first stopper slot and described second
Stopper slot；The setting structure is simple, it is easy to be molded, stable connection, is easy to fix the first eccentric wheel 65 and the second eccentric wheel 66
Onto power transmission shaft 5, it is easy to power transmission shaft 5 to drive the first eccentric wheel 65 and the second eccentric wheel 66 to rotate, is easy to elastic force to adjust
Device and elastic force conduction device carry out stress regulation to the first eccentric wheel 65 and the second eccentric wheel 66, so that it is forward and reverse to eliminate gear
The back clearance produced is driven, big inertia in robot movement is relaxed and, to the obstruction of motion, improves the kinematic accuracy of manipulator.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than to present invention guarantor
The limitation of scope is protected, although being explained with reference to preferred embodiment to the present invention, one of ordinary skill in the art should
Work as understanding, technical scheme can be modified or equivalent, without departing from the reality of technical solution of the present invention
Matter and scope.
Claims (10)
1. a kind of back clearance buffer, it is characterised in that：Including motor, reductor, control box and power transmission shaft, the motor with it is described
Reductor is fixedly connected, and the reductor is fixedly connected with the control box, reductor described in the motor drive connection, described
Power transmission shaft described in reductor drive connection, the power transmission shaft runs through the control box, and the control box includes box body, the box body
Inside it is provided with the first eccentric wheel, the second eccentric wheel, elastic force adjusting means and elastic force conduction device, the elastic force adjusting means and described
Elastic force conduction device is fixedly connected with the box body respectively, first eccentric wheel and second eccentric wheel respectively with the bullet
Power conduction device is abutted, and the elastic force conduction device is abutted with the elastic force adjusting means, and the power transmission shaft extends through described
First eccentric wheel and second eccentric wheel.
2. a kind of back clearance buffer according to claim 1, it is characterised in that：The top of the control box is provided with support
Seat, the support base is fixedly connected by support column with the control box, and the reductor passes through the support base and the control
Box processed is fixedly connected.
3. a kind of back clearance buffer according to claim 1, it is characterised in that：The elastic force adjusting means includes housing,
The outer wall of the housing is fitted with the inwall of the control box, and the first groups of springs, the first guide pillar group, second are provided with the housing
Groups of springs and the second guide pillar group, first groups of springs and the second spring group extend through the side wall of the housing, institute
State the first guide pillar group and the second guide pillar group extends through the opposite side wall relative with above-mentioned side wall of the housing, described
One groups of springs is abutted with the first guide pillar group, and the second spring group is abutted with the second guide pillar group, first guide pillar
Group and the second guide pillar group are abutted with the elastic force conduction device respectively, first groups of springs and the second spring component
Inwall not with the control box is abutted, and first groups of springs and the second spring group are parallel to each other, first guide pillar
Group and the second guide pillar group are parallel to each other.
4. a kind of back clearance buffer according to claim 1, it is characterised in that：The elastic force conduction device includes first and slided
Block, the second sliding block, the first fixed seat and the second fixed seat, first fixed seat offer the first slide rail and the second slide rail, institute
State the second fixed seat and offer the 3rd slide rail and the 4th slide rail, the two ends of first sliding block be respectively embedded into first slide rail and
3rd slide rail, the two ends of second sliding block are respectively embedded into second slide rail and the 4th slide rail, and described first slides
Block is slidably connected with first fixed seat and second fixed seat respectively, and second sliding block is fixed with described first respectively
Seat and second fixed seat are slidably connected.
5. a kind of back clearance buffer according to claim 4, it is characterised in that：First sliding block offers first and inserted
Groove, first slot is embedded with the first drive, and second sliding block offers the second slot, and second slot is embedded with
Second drive.
6. a kind of back clearance buffer according to claim 5, it is characterised in that：It is recessed that first sliding block is further opened with first
Clutch shaft bearing is provided with groove, first groove, the clutch shaft bearing is detachably connected with first sliding block, the first axle
Hold and be fixed with first rotating shaft, the first rotating shaft runs through first drive, second sliding block is further opened with the second groove,
Second bearing is provided with second groove, the second bearing is detachably connected with second sliding block, the second bearing
The second rotating shaft is fixed with, second rotating shaft runs through second drive.
7. a kind of back clearance buffer according to claim 1, it is characterised in that：First eccentric wheel and described second inclined
The outer wall of heart wheel is enclosed with the shapes and sizes all same of skid resistant course, first eccentric wheel and second eccentric wheel respectively,
The installation direction of first eccentric wheel and second eccentric wheel is opposite.
8. a kind of back clearance buffer according to claim 1, it is characterised in that：The upper and lower part of first eccentric wheel
The first centring ring and the second centring ring are respectively equipped with, the power transmission shaft runs through first centring ring and the second centring ring, described
First centring ring and second centring ring are fixedly connected with the power transmission shaft respectively, the one side of second eccentric wheel and institute
The inwall laminating of control box is stated, the another side of second eccentric wheel is fitted with the downside of second centring ring.
9. a kind of back clearance buffer according to claim 1, it is characterised in that：The top and bottom difference of the power transmission shaft
Provided with junction surface, the cross section at the junction surface is in regular polygon.
10. a kind of back clearance buffer according to claim 1, it is characterised in that：The inwall of first eccentric wheel is provided with
First stopper slot, the described second eccentric inwall is provided with the second stopper slot, and the outer wall of the power transmission shaft is provided with positive stop strip, the limit
Position bar is respectively embedded into first stopper slot and second stopper slot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510031267.1A CN104696482B (en) | 2015-01-21 | 2015-01-21 | A kind of back clearance buffer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510031267.1A CN104696482B (en) | 2015-01-21 | 2015-01-21 | A kind of back clearance buffer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104696482A CN104696482A (en) | 2015-06-10 |
| CN104696482B true CN104696482B (en) | 2017-07-18 |
Family
ID=53343900
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510031267.1A Active CN104696482B (en) | 2015-01-21 | 2015-01-21 | A kind of back clearance buffer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104696482B (en) |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5045034A (en) * | 1990-05-31 | 1991-09-03 | Aurora Crane Corporation | Adjustable antibacklash gear system |
| CN201980285U (en) * | 2010-12-30 | 2011-09-21 | 芜湖世特瑞转向系统有限公司 | Control and adjusting mechanism used for gear and rack meshing clearance of automobile steering gear |
| CN201944230U (en) * | 2011-01-17 | 2011-08-24 | 成都西科微波通讯有限公司 | Backlash adjusting mechanism of double-eccentric bushing |
| CN103128747B (en) * | 2011-11-30 | 2015-12-16 | 鸿富锦精密工业（深圳）有限公司 | The gear clearance guiding mechanism of robot arm and use thereof |
| CN204533440U (en) * | 2015-01-21 | 2015-08-05 | 东莞沁峰机器人有限公司 | A kind of back clearance buffer |
-
2015
- 2015-01-21 CN CN201510031267.1A patent/CN104696482B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN104696482A (en) | 2015-06-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204382271U (en) | Manipulator | |
| CN103622751A (en) | Surgical robot passive joint based on motor drive locking | |
| WO2011107798A4 (en) | A counterforce mechanism and methods of operation thereof | |
| CN205521374U (en) | Coaxial transmission structure's arm | |
| CN208534986U (en) | High smoothness high load capacity flange-type straight-line guide rail slide block | |
| CN205614670U (en) | High -precision locate mode industrial robot | |
| CN103472244B (en) | A kind of automatic sampler | |
| CN101733478B (en) | Bench saw transmission mechanism | |
| CN104696482B (en) | A kind of back clearance buffer | |
| CN102913581B (en) | Impact buffer device of manipulator | |
| CN101716941A (en) | Sliding plug door bearing mechanism | |
| CN204533440U (en) | A kind of back clearance buffer | |
| CN107630998B (en) | Variable-pitch elastic polished rod transmission device | |
| CN208469074U (en) | Based on the mobile 3D printing device of ball screw | |
| CN103075488A (en) | Transmission device capable of regulating transmission distance | |
| CN102852973A (en) | Synchronous roller cross guide rail pair for retainer | |
| CN202187655U (en) | Toothed belt, single-shaft guide rod and grooved cam combined space mechanism of sliding-plug door | |
| CN208960910U (en) | A kind of lower carrier bar delivery device equipped with selection switch | |
| CN209078328U (en) | Automatic-clamping rotating mechanism | |
| CN205290949U (en) | Unsteady guide arm of cylindrical coordinates system and doublestage guidance channel manipulator | |
| CN105459099A (en) | Cylindrical coordinate system floating guide rod and two-stage guide slot type mechanical hand | |
| CN202640351U (en) | Mechanical arm friction sheet type guide mechanism | |
| CN208747065U (en) | A kind of pallet head sideward machine | |
| CN208261771U (en) | A kind of servo hot-forging forming multi-station manipulator | |
| CN102141792A (en) | Digital control cam mechanism and control method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210118 Address after: 414000 administrative service center of Huarong Industrial Concentration Area, Yueyang City, Hunan Province (Sanfeng Industrial Park) Patentee after: Hunan Qinfeng robot Co., Ltd Address before: 523000 1-2 building, 4 B Hongye Middle Road, Changan Town, Dongguan, Guangdong. Patentee before: DONGGUAN QIN FENG ROBOT Corp.,Ltd. |
|
| TR01 | Transfer of patent right |