CN106926275A - A kind of bidirectional balanced device of mechanical arm - Google Patents
A kind of bidirectional balanced device of mechanical arm Download PDFInfo
- Publication number
- CN106926275A CN106926275A CN201710319021.3A CN201710319021A CN106926275A CN 106926275 A CN106926275 A CN 106926275A CN 201710319021 A CN201710319021 A CN 201710319021A CN 106926275 A CN106926275 A CN 106926275A
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- Prior art keywords
- whirligig
- mechanical arm
- rotating disk
- elastic component
- center
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- 230000002457 bidirectional effect Effects 0.000 title claims abstract description 20
- 230000005540 biological transmission Effects 0.000 claims abstract description 57
- 230000003019 stabilising effect Effects 0.000 claims abstract description 12
- 230000005484 gravity Effects 0.000 description 14
- 238000000034 method Methods 0.000 description 7
- 238000005381 potential energy Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 229920003266 Leaf® Polymers 0.000 description 6
- 230000000694 effects Effects 0.000 description 6
- 238000005265 energy consumption Methods 0.000 description 6
- 238000009434 installation Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000002093 peripheral effect Effects 0.000 description 3
- 230000001681 protective effect Effects 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000004146 energy storage Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
- B25J19/0016—Balancing devices using springs
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rotary Pumps (AREA)
Abstract
The present invention provides a kind of bidirectional balanced device of mechanical arm, including the first whirligig, at least the second whirligig, a scroll elastic component, transmission device and stabilising arrangement；Described scroll elastic component the inner is connected to first whirligig, and its outer end is connected to second whirligig；Described transmission device one end is connected to first whirligig and/or second whirligig；Its other end is connected to mechanical arm；The stabilising arrangement is used to install first whirligig and second whirligig.
Description
Technical field
The present invention relates to industrial robot field, and in particular to a kind of bidirectional balanced device of mechanical arm.
Background technology
In industrial robot field, there is a class can be with the mechanical arm of reciprocating rotary in perpendicular.This kind of mechanical arm
Power set and transmission device, such as motor and power transmission shaft are commonly equipped with use so that mechanical arm can be at certain angle
Rotated in the range of degree.In rotation process of the mechanical arm in perpendicular, its center of gravity height can change, therefore typically
Need to set a bascule in firm banking, so that mechanical arm can keep stabilization in the process of running.
In the prior art, to ensure the stability of a system, the mechanical arm of reciprocating rotary is usually to be arranged in perpendicular
On horizontally disposed bascule, to maintain equalising torque.When the center of gravity of mechanical arm is moved from high to lower, can produce compared with
Big gravitational moment, the base for being likely to result in mechanical arm is unstable, therefore needs to set elastic device, elastic device in bascule
Can be the elastic potential energy of elastic device by the transform gravitational energy of mechanical arm after deforming upon；When the center of gravity of mechanical arm is from low
When place hoists mobile, elastic device restores to the original state, and the elastic potential energy of elastic device is converted into the gravitional force of mechanical arm, can be with
Energy needed for reducing motor load, can keep system stabilization, and energy consumption can be reduced again.
Existing machinery arm bascule is disadvantageous in that, because mechanical arm may be rotated clockwise or counterclockwise
Rotate, it is therefore desirable to set the incorgruous spring of at least two (or two groups) to realize the equalising torque of reciprocal bidirectional-movement.It is existing
Bascule is respectively provided with drive device mostly, it is necessary to additional space for installing, takes up room larger, and attachment structure is complicated,
Reliability and stability are poor, have a strong impact on service life of equipment and operating efficiency.
The content of the invention
It is an object of the invention to provide a kind of bidirectional balanced device of mechanical arm, to solve prior art mechanical arm balance dress
The technical problems such as energy consumption larger, attachment structure is complicated, take up room big, stability of a system difference existing for putting.
In order to solve the above technical problems, the present invention provides a kind of bidirectional balanced device of mechanical arm, including the first whirligig；
Second whirligig, outside first whirligig；An at least scroll elastic component, its inner is connected to described first
Whirligig, its outer end is connected to second whirligig；Transmission device, its one end is connected to first whirligig
And/or second whirligig；Its other end is connected to mechanical arm；And stabilising arrangement, for installing first rotation
Device and second whirligig.Wherein, first whirligig includes power transmission shaft, and the scroll elastic component is sheathed on
Outside the power transmission shaft；And inner draw-in groove, located at the power transmission shaft lateral wall, the inner of the scroll elastic component snaps into
The inner draw-in groove；Second whirligig includes shell, and it is ring sleeve, is sheathed on outside the scroll elastic component
Portion；And outer end bayonet socket, through the tube wall of the shell, the outer end of the scroll elastic component snaps into the outer end bayonet socket.
Further, in different embodiments, first whirligig also includes the first fixture block, protrudes from the transmission
The surface of axle one end；And second fixture block, protrude from the surface of the power transmission shaft other end.
Further, in different embodiments, second whirligig also includes the first rotating disk, is fixedly attached to described
The side of shell, is provided with the first rotating disk through hole at first center of turntable；And second rotating disk, it is fixedly attached to the shell
Opposite side, the second rotating disk through hole is provided with second center of turntable；Wherein, the power transmission shaft sequentially passes through described first turn
Disk through hole, the scroll elastic component and the second rotating disk through hole.
Further, in different embodiments, second whirligig also includes the first rotating disk block, protrudes from described
Surface of first rotating disk away from the shell side；And the second rotating disk block, second rotating disk is protruded from away from described outer
The surface of shell side.
Further, in different embodiments, the transmission device includes driver plate, tangent with the first rotating disk outer surface,
Its edge is provided with the first arc bayonet socket, and the first rotating disk block is snapped in the first arc bayonet socket；Limit casing, protrudes from
The surface of the driver plate, is fixedly attached to the mechanical arm；And first spacing hole, through the limit casing and the biography
Dynamic plate middle part, the first fixture block is snapped in first spacing hole；Wherein, two are provided with first spacing hole to protrude inwardly from
The first positive stop, the slewing area for limiting first fixture block.
Further, in different embodiments, the cross section of first positive stop is fan-shaped right angle；Two first limits
The fan-shaped center of circle of position block cross section projects to the first spacing hole middle part；Two sector circles of the first positive stop cross section
The heart is oppositely arranged；The center of circle of the first spacing hole cross section is located at the line in two the first positive stop cross sections sector center of circle
On.
Further, in different embodiments, the stabilising arrangement includes horizontal base；And first supporting plate, second
Supporting plate, the rectilinear left and right two ends for being fixed on the horizontal base；Wherein, first supporting plate and second supporting plate
It is oppositely arranged and parallel to each other.
Further, in different embodiments, the first supporting plate center is provided with limit casing mounting hole, is sheathed on
Outside limit casing；The second supporting plate center is provided with the second spacing hole, and the second fixture block is snapped in second spacing hole
It is interior；Two the second inwardly projecting positive stops are provided with second spacing hole, the rotation for limiting second fixture block
Scope；The second arc bayonet socket is provided with second support plate edge, the second rotating disk block is snapped in the second arc bayonet socket
It is interior.
Further, in different embodiments, the cross section of second positive stop is fan-shaped right angle；Two second limits
The fan-shaped center of circle of position block cross section projects to the second spacing hole middle part；Two sector circles of the second positive stop cross section
The heart is oppositely arranged；The center of circle of the second spacing hole cross section is located at the line in two the second positive stop cross sections sector center of circle
On.
Further, in different embodiments, the scroll elastic component includes but is not limited to plane scroll spring or torsion
Spring；The shape of cross section of the scroll elastic component includes but is not limited to rectangle, circular or ellipse；When scroll elasticity
The quantity of part be two or more when, all scroll elastic components around to identical；When simultaneously two or more scroll elastic component is sent out
During raw deformation, the direction of the reply moment of torsion that all scroll elastic components are produced is identical.
The present invention provides a kind of bidirectional balanced device of mechanical arm, when mechanical arm does in perpendicular on two direction of rotation
During reciprocating motion, the equalising torque of system, Ke Yiyou only need to can be ensured with one or one group equidirectional scroll elastic component
Effect mitigates motor load, energy consumption is reduced, while reducing production and the maintenance cost of equipment.Additionally, the present invention can have
Effect simplifies attachment structure, save space, while improve system reliability and stability, increases the service life, lifts work effect
Rate.
Brief description of the drawings
Fig. 1 is cross-sectional view under embodiment of the present invention use state；
Fig. 2 is embodiment of the present invention overall structure diagram；
Fig. 3 is embodiment of the present invention decomposition texture schematic diagram；
Fig. 4 is the structural representation of the first whirligig in the embodiment of the present invention；
Fig. 5 is the structural representation of the second whirligig in the embodiment of the present invention；
Fig. 6 is the structural representation of scroll elastic component in the embodiment of the present invention；
Fig. 7 is the positive structure schematic of transmission device in the embodiment of the present invention；
Fig. 8 is the structural representation of stabilising arrangement in the embodiment of the present invention；
Fig. 9 is the structural representation of the second supporting plate in the embodiment of the present invention；
Figure 10 is the position view of mechanical arm in the embodiment of the present invention；
Part numbers are as follows in figure：
100 first whirligigs, 200 second whirligigs；300 scroll elastic components, 400 transmission devices；
500 stabilising arrangements, 600 mechanical arms, 700 drive devices；
101 power transmission shafts, 102 inner draw-in grooves, 103 first fixture blocks, 104 second fixture blocks；
201 shells, 202 outer end bayonet sockets, 203 first rotating disks, 204 second rotating disks；
301 spring leafs, 302 springs are inner, 303 outer spring ends；
401 driver plates, 402 limit casings, 403 first spacing holes；
501 first supporting plates, 502 second supporting plates, 503 horizontal bases；
The reference position of 601 mechanical arms, the first object position of 602 mechanical arms, the second target location of 603 mechanical arms；
1051 the 3rd rotating disk blocks；
2031 first rotating disk through holes, 2,032 first rotating disk blocks；2041 second rotating disk through holes, 2,042 second rotating disk blocks；
4011 first arc bayonet sockets, 4,031 first positive stops, 4,032 first positive stops；
5011 limit casing mounting holes, 5,021 second spacing holes, 5,022 second arc bayonet sockets；
5031 second positive stops, 5,032 second positive stops.
Specific embodiment
The preferred embodiments of the present invention are introduced below with reference to Figure of description, it was demonstrated that the present invention can be implemented, the embodiment
Its technology contents can be made more clear and readily appreciated to those of skill in the art's complete description present invention.The present invention
Can be emerged from by the embodiment of many multi-forms, protection scope of the present invention is not limited only to the reality mentioned in text
Apply example.
In the accompanying drawings, structure identical part represents with same numbers label, everywhere the similar part of structure or function with
Like numeral label is represented.The size and thickness of each part shown in the drawings are arbitrarily to show, the present invention is not limited
The size and thickness of each part.
The direction term that the present invention is previously mentioned, for example, upper and lower, forward and backward, internal, outside, inside and outside, side, top, bottom
Portion, top, bottom, end, clockwise, counterclockwise etc., are only the directions in accompanying drawing, are used only to explain and illustrate the present invention,
Rather than for limiting protection scope of the present invention.
When some parts be described as " " another part " on " when, the part can be placed directly within another part
On；Can also there is an intermediate member, the part is placed on the intermediate member, and the intermediate member is placed in another part
On.When a part is described as " being attached to " or " being connected to " another part, the two can be understood as directly " installation " or
" connection ", or a part is by indirect " being attached to " or " being connected to " another part of an intermediate member.
As shown in Fig. 1~10, the bidirectional balanced device of mechanical arm of the present invention, including the first whirligig 100, second
Whirligig 200, at least a scroll elastic component 300, transmission device 400, stabilising arrangement 500, mechanical arm 600 and driving dress
Put 700.
One end of transmission device 400 is connected to the first whirligig 100 and/or the second whirligig 200, and its other end connects
The mechanical arm 600 of a peripheral hardware is connected to, mechanical arm 600 can carry out reciprocating rotary on perpendicular, in the range of certain angle.This
In invention, mechanical arm 600 be the part that is directly connected with transmission device 400, or by other mechanisms indirectly with transmission
The part of the connection of device 400.
For the mechanical arm 600 being directly connected with transmission device, plane residing for its rotating path is elastic with scroll
Straight line residing for the central shaft of part 300 is perpendicular.In the present invention, the central shaft of scroll elastic component (scroll spring) is horizontally disposed with, machine
Plane residing for the rotating path of tool arm is all perpendicular.It is of the present invention two-way flat when mechanical arm rotates in vertical plane
Weighing apparatus device is used to realize the dead-weight balanced of mechanical arm.
Mechanical arm 600 drive device 700 (such as motor) effect under, can in vertical plane along clockwise direction or
Counterclockwise rotates.Herein, judge that conterclockwise direction of visual lines is all the direction just to mechanical arm 600, it is seen that this reality
Apply the whole rotary courses of an outside robotic arm 600.Because mechanical arm 600 is fixedly attached to transmission device 400, when mechanical arm 600
During rotation, transmission device 400 is driven generation rotating Vortex, and then drives the first whirligig 100 or the second whirligig 200
Rotate.
First whirligig 100 and the second whirligig 200 are all attached to stabilising arrangement 500；Second whirligig 200 sets
Outside the first whirligig 100, the two can independently rotate, non-interference.Scroll elastic component 300 is spirality, in it
End is connected to the first whirligig 100, and its outer end is connected to the second whirligig 200, rotate when any whirligig and
During another whirligig remains stationary, the two ends of scroll elastic component 300 can be subject to certain pressure, it is deformed upon.
When the first whirligig 100 is driven by transmission device 400 to be rotated, the remains stationary of the second whirligig 200,
Scroll elastic component 300 is deformed upon, and produces first to reply moment of torsion；When the second whirligig 200 is by the band of transmission device 400
Dynamic when rotating, the remains stationary of the first whirligig 100, scroll elastic component 300 is deformed upon, and produces second to reply
Moment of torsion；Described first replys moment of torsion replys the in opposite direction of moment of torsion with described second.
When scroll elastic component stress is opened or when stress tightens, certain restoring moment can be all produced, promote its time
Restore shape.When scroll elastic component is flared, the torque to contract can be produced；When scroll elastic component stress is compacted,
Outwardly torque can be produced；In both cases, the restoring moment direction that scroll elastic component is produced is opposite.
As shown in figs. 34, the first whirligig 100 includes power transmission shaft 101, and scroll elastic component 300 is sheathed on power transmission shaft
Outside 101.The lateral wall of power transmission shaft 101 is provided with inner draw-in groove 102, and inner draw-in groove 102 is linear pattern groove, for engaging scroll
The inner of elastic component 300.The surface of the one end of power transmission shaft 101 is provided with the first fixture block 103 of a protrusion, and the surface of its other end is provided with
One the second fixture block 104 for protruding.In the present embodiment, the first fixture block 103, the second fixture block 104 are cuboid, preferably strip card
Block.
As shown in Fig. 3, Fig. 5, the second whirligig 200 includes shell 201, and it is ring sleeve, is sheathed on scroll bullet
Outside property part 300.Shell 201 is provided with outer end bayonet socket 202, through the tube wall of the ring sleeve, for engaging scroll elasticity
The outer end of part 300.
Second whirligig 200 also includes the first rotating disk 203 and the second rotating disk 204, and the first rotating disk 203 is fixedly attached to outer
The side of shell 201, the second rotating disk 204 is fixedly attached to the opposite side of shell 201, specifically, the first 203, second turn of rotating disk
Disk 204 is respectively fixedly connected with to the mouth of pipe at ring sleeve two ends.First rotating disk 203, the second rotating disk 204 are near shell 201
The surface of side is its inner surface, and the surface away from the side of shell 201 is its outer surface.The center of first rotating disk 203 is provided with
First rotating disk through hole 2031；The center of second rotating disk 204 is provided with the second rotating disk through hole 2041.Power transmission shaft 101 sequentially passes through first
Rotating disk through hole 2031, the rotating disk through hole 2041 of scroll elastic component 300 and second, the first rotating disk through hole 2031, the second rotating disk through hole
2041 central axis and the axial line of power transmission shaft 101 on the same line, the first rotating disk through hole 2031, the second rotating disk through hole
Diameter of 2041 diameter slightly larger than power transmission shaft 101.
Second whirligig 200 also includes the first rotating disk block 2032 and the second rotating disk block 2042, the first rotating disk block
2032 protrude from surface of first rotating disk 203 away from the side of shell 201；Second rotating disk block 2042 protrudes from the second rotating disk 204
Away from the surface of shell side.
As shown in Fig. 3, Fig. 6, the preferred planar scroll spring of scroll elastic component 300 or torsion spring, including scroll spring
Piece 301, spring leaf 301 is integrally located between two parallel planes.The two ends of spring leaf 301 respectively become spring inner 302 and bullet
Spring outer end 303, spring the inner 302 snaps into the inner draw-in groove 102 of the first whirligig 100, and outer spring end 303 snaps into second
The outer end bayonet socket 202 of whirligig 200.
In this implementation, when scroll elastic component 300 quantity be two or more when, all scroll elastic components 300 around
To identical, specifically, the spring leaf 301 of all scroll elastic components 300 is around to identical.When two or more scroll elastic component
300 when deforming upon simultaneously, and the direction of the reply moment of torsion that all scroll elastic components 300 are produced is identical.Due to each scrollwork
Shape elastic component 300 can produce two kinds of restoring moments in opposite direction in the case of Impact direction difference, therefore, in this hair
The effect of bidirectional buffering and energy storage only can have both been realized in bright with one or one group of scroll spring.Relative to same in the prior art
When set two groups around the technical scheme to opposite scroll spring, the present invention can simplify structure, reduce volume, effectively reduce production
Cost and save space.
302 positions of spring the inner of all scroll elastic components 300 are corresponding, can be on same straight line；All whirlpools
The position of outer spring end 303 of web-like elastic component 300 is corresponding, can be on same straight line.Scroll elastic component 300 it is transversal
Face shape, specifically, the shape of cross section of spring leaf 301, including but not limited to rectangle, circular or ellipse.Common scrollwork
The spring leaf 301 of spring is usually flake, and its shape of cross section is rectangle, and its length is more than 10 with the ratio of width.It is common
Torsion spring is generally thinner wire and is twisted into helicoidal structure formation, in order to easy to process, its cross section be generally it is circular or
It is oval.
When the quantity of scroll elastic component 300 is two or more, one is set between adjacent two scrolls elastic component 300
Cage ring, the cage ring is made for elastic wear-resisting material (such as rubber), prevents scroll elastic component 300 from occurring or recovering shape
Collided with other scroll elastic components 300 or miscellaneous part during change, influence deformation energy storage effect.
As shown in Fig. 3, Fig. 7, transmission device 400 includes driver plate 401 and limit casing 402, and driver plate 401 is generally justified
Shape, the side surface of driver plate 401 1 is tangent with the outer surface of the first rotating disk 203；Limit casing 402 protrudes from the surface of driver plate 401,
Limit casing 402 is fixedly attached to mechanical arm 600 by connection member.
The edge of driver plate 401 is provided with the first arc bayonet socket 4011, and the first rotating disk block 2032 is snapped in the first arc card
In mouth 4011.First arc bayonet socket 4011, its bottom is a camber line, the center of circle of circle and the circle of driver plate 401 residing for the camber line
The heart overlaps, and the corresponding central angle of the camber line is 90 degree.
Limit casing 402 is provided with the first spacing hole 403, through limit casing 402 and the middle part of driver plate 401.First rotation
First fixture block 103 of rotary device 100 is snapped in the first spacing hole 403, be provided with the first spacing hole 403 two it is inwardly projecting
First positive stop 4031,4032, the slewing area for limiting the first fixture block 103.In the present embodiment, the first spacing hole 403
Cross section main body for circle, its diameter slightly larger than the first fixture block 103 length.
The cross section of the first positive stop 4031,4032 is fan-shaped right angle, two fans of the first positive stop 4031,4032
The shape center of circle is oppositely arranged, and the center of circle of the cross section of the first spacing hole 403 is located at two sector circles of the first positive stop 4031,4032
On heart line, two the first positive stops 4031, the fan-shaped center of circle of 4032 cross sections are projected in first spacing hole 403
Portion, the anglec of rotation of first fixture block 103 in the first spacing hole 403 is 90 degree.
The length of limit casing 402 is more than the thickness of the first fixture block 103, when the first fixture block 103 is inserted into the first spacing hole
After 403, away from some space at the first rotating disk 203 in the first spacing hole 403, can be used for installation mechanical arm 600 and export
The power transmission shaft of power, the shape of the power transmission shaft front end Access Division is corresponding with the shape of the first spacing hole 403.
As shown in Fig. 3, Fig. 8~9, stabilising arrangement 500 includes the first supporting plate 501, the second supporting plate 502 and horizontal base
503, the first supporting plate 501, the rectilinear left and right two ends for being fixed on horizontal base 503 of the second supporting plate 502, the first supporting plate
501st, the second supporting plate 502 is oppositely arranged and parallel to each other.
The preferred rectangular base of horizontal base 503, horizontal base 503 is provided with multiple installation screws, can be by water with fastener
Flat bed 503 is fixedly mounted on ground or other pedestals, so as to ensure that the system that mechanical arm and bascule are formed is steady enough
It is fixed, will not shift or rock.
The center of first supporting plate 501 is provided with limit casing mounting hole 5011, is sheathed on outside limit casing 402, spacing
Sleeve pipe 402 is connected by limit casing mounting hole 5011 with a mechanical arm for peripheral hardware 600, when mechanical arm 600 is being put down vertically
When being rotated in face, limit casing 402 can also be driven and rotate.
The center of second supporting plate 502 is provided with the second spacing hole 5021, and the second fixture block 104 is snapped in the second spacing hole 5021
It is interior；Two the second inwardly projecting positive stops 5023,5024 are provided with second spacing hole 5021, for limiting the second fixture block
104 slewing area.In the present embodiment, the cross section main body of the second spacing hole 5021 is circle, and its diameter is slightly larger than the second card
The length of block 104.The cross section of the second positive stop 5023,5024 is fan-shaped right angle, two the second positive stops 5023,5024
The fan-shaped center of circle of cross section is oppositely arranged, the center of circle of the cross section of the second spacing hole 5021 be located at two the second positive stops 5023,
On 5024 fan-shaped circle center line connecting, two the second positive stops 5023, that the fan-shaped center of circle of 5024 cross sections projects to second is spacing
The middle part of hole 5021, the anglec of rotation of second fixture block 104 in the second spacing hole 5021 is 90 degree.
The edge of second supporting plate 502 is provided with the second arc bayonet socket 5022, and the second rotating disk block 2042 is snapped in the second arc
In shape bayonet socket 5022.Second arc bayonet socket 5022, its arc center line is a camber line, the center of circle and second of circle residing for the camber line
The center superposition of supporting plate 502, the corresponding central angle of the camber line is 90 degree.
Stabilising arrangement 500 can also include protective cover (not shown), and the bottom of the protective cover is attached to horizontal base
503, the protective cover is coated on outside the first whirligig 100 and the second whirligig 200, is used to protect the first whirligig
100 and second whirligig 200, it is not disturbed by external factor in rotary course.
In the present embodiment, the first arc bayonet socket 4011 is corresponding with the first positive stop 4031 or 4032 positions, the second arc
Shape bayonet socket 5022 is corresponding with the second positive stop 5031 or 5032 positions, so that the first whirligig 100 and the second rotation
Only one of which can rotate in rotary device 200, not interfere with each other.
As shown in Figure 10, in the present embodiment, mechanical arm 600 in rotary course on perpendicular, by its running orbit
The center of gravity highest point of mechanical arm 600 is set to reference position 601, and the center of gravity lowest part of two mechanical arms 600 on its running orbit is set
It is the target location 603 of first object position 602 and second.In the present embodiment, by the anglec of rotation of the reference position of mechanical arm 600
It is set as 0 degree, its rotation angle range is turn clockwise 0~90 degree and 0~90 degree of rotate counterclockwise.Judge conterclockwise
Direction of visual lines is the direction just to the first supporting plate 501, it is seen that the whole rotary courses of the present embodiment outside robotic arm 600.
As shown in Figure 10, when mechanical arm 600 is located at reference position, the first whirligig 100 and the second whirligig 200
All remains stationaries, scroll elastic component 300 is remained stationary.First fixture block 103, the second fixture block 104 are vertically arranged, the first rotating disk gear
Block 2032, the second rotating disk block 2042 are all located at the top of power transmission shaft 101.
When mechanical arm 600 needs to rotate counterclockwise to first object position 602 from reference position 601, mechanical arm 600
Center of gravity is moved from high to low, the rotate counterclockwise of (motor) driving mechanical of drive device 700 arm 600, transmission device 400 also by
Drive and rotate counterclockwise occurs.Now, the first rotating disk block 2032 of the first rotating disk 203 is stuck in the first arc of driver plate 401
In bayonet socket 4011, therefore the second whirligig 200 can be driven to rotate counterclockwise, when mechanical arm 600 reaches first object position 602
When, rotational angle is 90 degree.In this course, the second rotating disk block 2042 is slided in the second arc bayonet socket 5022, it is ensured that
Second rotating disk 204 can with the first rotating disk 203 synchronously rotate.In this course, the first fixture block 103 is in the first spacing hole
Without any resistance is subject in 403, the first whirligig 100 is totally stationary motionless.Because the inner of scroll elastic component 300 is consolidated
Surely the first whirligig 100 is connected to, its outer end is fixedly attached to the second whirligig 200, therefore the meeting of scroll elastic component 300
Deform upon, produce curling, the transform gravitational energy of mechanical arm 600 is the elastic potential energy of scroll elastic component 300.
When mechanical arm 600 needs to rotate back into reference position 601 from the dextrorotation of first object position 602, mechanical arm 600
Center of gravity hoisted movement by lower, (motor) driving mechanical of drive device 700 arm 600 turns clockwise, transmission device 400
It is driven and turns clockwise.When mechanical arm 600 returns to reference position 601, the second whirligig 200 occurs to turn clockwise
Dynamic, scroll elastic component 300 progressively recovers hence shape, and the elastic potential energy of scroll elastic component 300 is converted into mechanical arm 600
Gravitional force, so as to reduce acting of the drive device 700 to mechanical arm 600, reduces energy consumption of electrical machinery.
When mechanical arm 600 needs to be rotated clockwise to the second target location 603 from reference position 601, mechanical arm 600
Center of gravity is moved from high to low, and (motor) driving mechanical of drive device 700 arm 600 turns clockwise, transmission device 400 also by
Drive turns clockwise, and when mechanical arm 600 reaches the second target location 603, rotational angle is 90 degree.Now, first
Fixture block 103 snaps into the first spacing hole 403, and two the first positive stops 4031,4032 promote the dextrorotation of the first fixture block 103
Turn, so as to drive the first whirligig 100 to turn clockwise.In this course, the second fixture block 104 is in the second spacing hole 5021
Interior slip, it is ensured that power transmission shaft 101 can be rotated freely.In this course, the first rotating disk block 2032 is in the first arc bayonet socket
Slided in 4011, the second rotating disk block 2042 is slided in the second arc bayonet socket 5022, and the first rotating disk 203 is not pushed away completely
Power, the transfixion of the second whirligig 200.Because the inner of scroll elastic component 300 is fixedly attached to the first whirligig
100, its outer end is fixedly attached to the second whirligig 200, therefore scroll elastic component 300 can be deformed upon, and produces curling, machine
The transform gravitational energy of tool arm 600 is the elastic potential energy of scroll elastic component 300.
When mechanical arm 600 needs to return to reference position 601 from the rotate counterclockwise of the second target location 603, mechanical arm 600
Center of gravity hoisted movement, the rotate counterclockwise of (motor) driving mechanical of drive device 700 arm 600, transmission device 400 by lower
It is driven generation rotate counterclockwise.When mechanical arm 600 returns to reference position 601, the first whirligig 100 is rotated counterclockwise, whirlpool
Web-like elastic component 300 progressively recovers hence shape, and the elastic potential energy of scroll elastic component 300 is converted into the gravity of mechanical arm 600
Potential energy, so as to reduce acting of the drive device 700 to mechanical arm 600, reduces energy consumption of electrical machinery.
In the center of gravity from high to low in moving process of mechanical arm 600, when mechanical arm 600 in vertical plane along clockwise
When direction rotates, transmission device 400 drives the first whirligig 100 to be rotated in a clockwise direction；When mechanical arm 600 is in vertical plane
When inside rotating in the counterclockwise direction, transmission device 400 drives the second whirligig 200 to rotate in the counterclockwise direction.
Hoisted by lower in moving process in the center of gravity of mechanical arm 600, when mechanical arm 600 in vertical plane along clockwise
When direction rotates, the second whirligig 200 drives transmission device 400 to be rotated in a clockwise direction；When mechanical arm 600 is in vertical plane
When inside rotating in the counterclockwise direction, the first whirligig 100 drives transmission device 400 to rotate in the counterclockwise direction.
At work, the mechanical arm 600 of peripheral hardware rotates the present embodiment under the driving of drive device 700 in vertical plane,
The first whirligig 100 or the second whirligig 200 can be driven to rotate within the specific limits by transmission device 400,
Because the two ends of scroll elastic component 300 are respectively connecting to the first whirligig 100 or the second whirligig 200, when any rotation
When rotary device is rotated, scroll elastic component 300 all can stress deform upon, so as to play buffering and temporary energy work
With.
In the present embodiment, the first spacing hole 403, the second spacing hole 5021, the first arc bayonet socket 4011, the second arc card
5022 position in figure of mouth can swap left and right, and its mode of operation and principle are similar with aforementioned schemes, will not be described here.Press
Technical scheme after this manner, in the center of gravity from high to low in moving process of mechanical arm 600, when mechanical arm 600 is in vertical plane
When being inside rotated in a clockwise direction, transmission device 400 drives the second whirligig 200 to be rotated in a clockwise direction；Work as mechanical arm
600 when rotating in the counterclockwise direction in vertical plane, and transmission device 400 drives the first whirligig 100 to revolve in the counterclockwise direction
Turn.Hoisted by lower in moving process in the center of gravity of mechanical arm 600, when mechanical arm 600 in vertical plane along clockwise direction
During rotation, the first whirligig 100 drives transmission device 400 to be rotated in a clockwise direction；When mechanical arm 600 in vertical plane edge
During counterclockwise rotates, the second whirligig 200 drives transmission device 400 to rotate in the counterclockwise direction.
The present embodiment provides a kind of bidirectional balanced device of mechanical arm for mechanical arm, when mechanical arm is two in perpendicular
Need to be only the equalising torque of guarantee system with one or one group of equidirectional elastic component when being moved reciprocatingly on individual direction of rotation, can
Effectively to mitigate motor load, energy consumption is reduced, while reducing production and the maintenance cost of equipment.Additionally, the present embodiment
Attachment structure, save space can effectively be simplified, while improve system reliability and stability, increased the service life, lifted
Operating efficiency.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
Member, under the premise without departing from the principles of the invention, can also make some improvements and modifications, and these improvements and modifications also should be regarded as
Protection scope of the present invention.
Claims (10)
1. the bidirectional balanced device of a kind of mechanical arm, it is characterised in that including
First whirligig；
Second whirligig, outside first whirligig；
An at least scroll elastic component, its inner is connected to first whirligig, and its outer end is connected to second rotation
Device；
Transmission device, its one end is connected to first whirligig and/or second whirligig；Its other end is connected to
Mechanical arm；And
Stabilising arrangement, for installing first whirligig and second whirligig；
Wherein, first whirligig includes
Power transmission shaft, the scroll elastic component is sheathed on outside the power transmission shaft；And
Inner draw-in groove, located at the power transmission shaft lateral wall, the inner of the scroll elastic component snaps into the inner draw-in groove；
Second whirligig includes
Shell, it is ring sleeve, is sheathed on outside the scroll elastic component；And
Outer end bayonet socket, through the tube wall of the shell, the outer end of the scroll elastic component snaps into the outer end bayonet socket.
2. the bidirectional balanced device of mechanical arm as claimed in claim 1, it is characterised in that
First whirligig also includes
First fixture block, protrudes from the surface of described power transmission shaft one end；And
Second fixture block, protrudes from the surface of the power transmission shaft other end.
3. the bidirectional balanced device of mechanical arm as claimed in claim 1, it is characterised in that
Second whirligig also includes
First rotating disk, is fixedly attached to the side of the shell, and the first rotating disk through hole is provided with first center of turntable；And
Second rotating disk, is fixedly attached to the opposite side of the shell, and the second rotating disk through hole is provided with second center of turntable；
Wherein, the power transmission shaft sequentially passes through the first rotating disk through hole, the scroll elastic component and second rotating disk and leads to
Hole.
4. the bidirectional balanced device of mechanical arm as claimed in claim 3, it is characterised in that second whirligig also includes
First rotating disk block, protrudes from surface of first rotating disk away from the shell side；And
Second rotating disk block, protrudes from surface of second rotating disk away from the shell side.
5. the bidirectional balanced device of mechanical arm as claimed in claim 1, it is characterised in that the transmission device includes
Driver plate, tangent with the first rotating disk outer surface, its edge is provided with the first arc bayonet socket, and the first rotating disk block is snapped in institute
State in the first arc bayonet socket；
Limit casing, protrudes from the surface of the driver plate, is fixedly attached to the mechanical arm；And
First spacing hole, through the limit casing and driver plate middle part, the first fixture block is snapped in first spacing hole
It is interior；
Wherein, two the first inwardly projecting positive stops are provided with first spacing hole, for limiting first fixture block
Slewing area.
6. the bidirectional balanced device of mechanical arm as claimed in claim 5, it is characterised in that
The cross section of first positive stop is fan-shaped right angle；
The fan-shaped center of circle of two the first positive stop cross sections projects to the first spacing hole middle part；
The fan-shaped center of circle of two the first positive stop cross sections is oppositely arranged；
The center of circle of the first spacing hole cross section is located on the line in two the first positive stop cross sections sector center of circle.
7. the bidirectional balanced device of mechanical arm as claimed in claim 1, it is characterised in that
The stabilising arrangement includes
Horizontal base；And
First supporting plate, the second supporting plate, the rectilinear left and right two ends for being fixed on the horizontal base；
Wherein, first supporting plate is oppositely arranged and parallel to each other with second supporting plate.
8. the bidirectional balanced device of mechanical arm as claimed in claim 7, it is characterised in that
The first supporting plate center is provided with limit casing mounting hole, is sheathed on outside limit casing；
The second supporting plate center is provided with the second spacing hole, and the second fixture block is snapped in second spacing hole；
Two the second inwardly projecting positive stops are provided with second spacing hole, the rotation for limiting second fixture block
Scope；
The second arc bayonet socket is provided with second support plate edge, the second rotating disk block is snapped in the second arc bayonet socket
It is interior.
9. the bidirectional balanced device of mechanical arm as claimed in claim 8, it is characterised in that
The cross section of second positive stop is fan-shaped right angle；
The fan-shaped center of circle of two the second positive stop cross sections projects to the second spacing hole middle part；
The fan-shaped center of circle of two the second positive stop cross sections is oppositely arranged；
The center of circle of the second spacing hole cross section is located on the line in two the second positive stop cross sections sector center of circle.
10. the bidirectional balanced device of mechanical arm as claimed in claim 1, it is characterised in that
The scroll elastic component includes but is not limited to plane scroll spring or torsion spring；
The shape of cross section of the scroll elastic component includes but is not limited to rectangle, circular or ellipse；
When the scroll elastic component quantity be two or more when, all scroll elastic components around to identical；
When two or more scroll elastic component is deformed upon simultaneously, the direction of the reply moment of torsion that all scroll elastic components are produced
It is identical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710319021.3A CN106926275A (en) | 2017-05-08 | 2017-05-08 | A kind of bidirectional balanced device of mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710319021.3A CN106926275A (en) | 2017-05-08 | 2017-05-08 | A kind of bidirectional balanced device of mechanical arm |
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| CN106926275A true CN106926275A (en) | 2017-07-07 |
Family
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|---|---|---|---|
| CN201710319021.3A Pending CN106926275A (en) | 2017-05-08 | 2017-05-08 | A kind of bidirectional balanced device of mechanical arm |
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| CN108437194A (en) * | 2018-02-07 | 2018-08-24 | 北京好运达智创科技有限公司 | Concrete sleeper casing, spiral bar automatic installation apparatus |
| TWI725349B (en) * | 2018-10-26 | 2021-04-21 | 緯創資通股份有限公司 | Overload protection mechanism and image detection device |
| CN113334417A (en) * | 2021-06-16 | 2021-09-03 | 成都博恩思医学机器人有限公司 | Manipulator quick detach device |
| CN113442116A (en) * | 2021-06-25 | 2021-09-28 | 上海非夕机器人科技有限公司 | Flexible clamping mechanism for tail end of robot and robot |
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Application publication date: 20170707 |