CN109202961A - A kind of balancing device in robot - Google Patents
A kind of balancing device in robot Download PDFInfo
- Publication number
- CN109202961A CN109202961A CN201811210648.6A CN201811210648A CN109202961A CN 109202961 A CN109202961 A CN 109202961A CN 201811210648 A CN201811210648 A CN 201811210648A CN 109202961 A CN109202961 A CN 109202961A
- Authority
- CN
- China
- Prior art keywords
- outer cover
- fixed
- screw rod
- connecting rod
- ball nut
- 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.)
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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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of balancing device in robot, including outer cover, screw rod, ball nut mount, connecting rod, clump weight, indicating arm and graduated scale, outer cover is connected to mechanical arm right end, screw rod left end is mounted on inside circular trough two, screw rod right end passes through circular hole and extends on the right side of outer cover, ball nut mount is mounted on screw rod annular side, ball nut mount annular side lower end is fixed with connecting rod, and connecting rod lower end passes through square hole and extends on the downside of outer cover, clump weight is fixed on connecting rod lower end, outer cover leading flank lower end is provided with graduated scale, indicating arm upper end is arranged on front side of graduated scale, connecting rod leading flank is fixed with fixed link, indicating arm lower end is fixed on fixed link upper side front end, the design achieves the functions of making the present apparatus keep balance during mechanical arm grabs moving heavy object, the present invention is easy to use, it is not easy It shakes, stability is good, highly-safe.
Description
Technical field
The present invention is a kind of balancing device in robot, belongs to robot device field.
Background technique
In the prior art, with the fast development of science and technology, industrial robot is more and more used to replace artificial
Carry out industrial production processing, such as moving heavy object, during moving heavy object, mechanical arm leans forward, and then grabs weight, herein mistake
Gravity factor after Cheng Zhong, the inertia to be leaned forward due to mechanical arm and crawl weight, it is unstable to will cause pedestal, to can make to prop up
Support seat pedestal during moving heavy object shakes, and serious point may directly damage support base, so that equipment be made to topple over, makes
At time and economic loss, it is therefore desirable to which a kind of balancing device in robot is mentioned above to solve the problems, such as.
Summary of the invention
In view of the deficienciess of the prior art, the balancing device that it is an object of the present invention to provide a kind of in robot, with
The problems mentioned above in the background art are solved, the present invention is easy to use, is not easy to shake, stability is good, highly-safe.
To achieve the goals above, the present invention is to realize by the following technical solutions: a kind of in robot
Balancing device, including pedestal, mechanical arm, balancing equipment and electric cylinder, the pedestal upper side offers circular trough one, described
Electric cylinder lower end is mounted on inside circular trough one, and mechanical arm downside right end is connected with electric cylinder upper end, the balance
Equipment is connected to mechanical arm right end, and the balancing equipment includes outer cover, screw rod, ball nut mount, connecting rod, clump weight, instruction
Bar and graduated scale, the outer cover are connected to mechanical arm right end, and outer cover inside left face offers circular trough two, described outer
Cover inner right side face offers circular hole, and outer cover inner lower face offers square hole, and the screw rod left end is mounted on circular trough
Inside two, the screw rod right end passes through circular hole and extends on the right side of outer cover, and the ball nut mount is mounted on screw rod annular side,
Ball nut mount annular side lower end is fixed with connecting rod, and connecting rod lower end passes through square hole and extends on the downside of outer cover,
The clump weight is fixed on connecting rod lower end, and outer cover leading flank lower end is provided with graduated scale, the indicating arm upper end setting
On front side of graduated scale, the connecting rod leading flank is fixed with fixed link, before the indicating arm lower end is fixed on fixed link upper side
End.
Further, outer cover right side lower end is connected with fixed plate, and the fixed plate upper side is provided with motor, institute
It states motor left end to be connected with screw rod right end, the motor is connected by electric wire with external power supply.
Further, it is respectively and fixedly provided with bearing inside two inside of circular trough and circular hole, the screw rod is distinguished by bearing
It is connected with circular trough two and circular hole.
Further, turntable is fixed with inside the circular trough two, the electric cylinder lower end is fixed on turntable.
Further, outer cover inner front side face lower end and trailing flank lower end have offered slot rolling, the connecting rod
Upper end offers through-hole, and the through-hole is internally provided with shaft, and shaft annular side front and rear end is connected separately with rolling
Wheel, the idler wheel are arranged inside slot rolling.
Further, the ball nut mount is connected by ball nut pair with screw rod.
Beneficial effects of the present invention: a kind of balancing device in robot of the invention, because the present invention is added to outside
Cover, screw rod, ball nut mount, connecting rod, clump weight, indicating arm and graduated scale, the design achieves grab to move in mechanical arm
So that the present apparatus is kept the function of balance during dynamic weight, reduce the shaking of equipment, prevent equipment from toppling over because unbalance, solves
In the prior art because shaking and toppling over without the equipment caused by balancing equipment the problem of.
Because the present invention is added to motor, the design achieves the rotations of screw rod, and because the present invention is added to bearing, which is mentioned
The high stability of screw rod rotation, because the present invention is added to turntable, the design achieves the rotations of electric cylinder, to realize machinery
The rotation of arm and balancing equipment, because the present invention is added to idler wheel, which is moved easily connecting rod and clump weight, because of the present invention
It is added to ball nut pair, the design achieves linear motion is converted by the rotary motion of screw rod, the present invention is easy to use, no
It easily shakes, stability is good, highly-safe.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is a kind of structural schematic diagram of the balancing device in robot of the present invention；
Fig. 2 is the structural schematic diagram of balancing equipment in a kind of balancing device in robot of the present invention；
Fig. 3 is the right side structural representation of balancing equipment in a kind of balancing device in robot of the present invention；
In figure: 1- pedestal, 2- mechanical arm, 3- balancing equipment, 4- electric cylinder, 31- outer cover, 32- screw rod, 33- ball nut
Seat, 34- connecting rod, 35- clump weight, 36- indicating arm, 37- graduated scale.
Specific embodiment
To be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below with reference to
Specific embodiment, the present invention is further explained.
Fig. 1-Fig. 3 is please referred to, the present invention provides a kind of technical solution: a kind of balancing device in robot, including
Pedestal 1, mechanical arm 2, balancing equipment 3 and electric cylinder 4,1 upper side of pedestal offer circular trough one, the installation of 4 lower end of electric cylinder
Inside circular trough one, 2 downside right end of mechanical arm is connected with 4 upper end of electric cylinder, and it is right that balancing equipment 3 is connected to mechanical arm 2
End.
Balancing equipment 3 include outer cover 31, screw rod 32, ball nut mount 33, connecting rod 34, clump weight 35, indicating arm 36 with
And graduated scale 37, outer cover 31 are connected to 2 right end of mechanical arm, 31 inside left face of outer cover offers circular trough two, inside outer cover 31
Right side offers circular hole, and 31 inner lower face of outer cover offers square hole, and 32 left end of screw rod is mounted on inside circular trough two, screw rod
32 right ends pass through circular hole and extend to 31 right side of outer cover, and ball nut mount 33 is mounted on 32 annular side of screw rod, ball nut mount
33 annular side lower ends are fixed with connecting rod 34, and 34 lower end of connecting rod passes through square hole and extends to 31 downside of outer cover, clump weight
35 are fixed on 34 lower end of connecting rod, and 31 leading flank lower end of outer cover is provided with graduated scale 37, and 36 upper end of indicating arm is arranged in graduated scale
37 front sides, 34 leading flank of connecting rod are fixed with fixed link, and 36 lower end of indicating arm is fixed on fixed link upper side front end, and the design is real
The function of making the present apparatus keep balance during mechanical arm 2 grabs moving heavy object is showed.
31 right side lower end of outer cover is connected with fixed plate, and fixed plate upper side is provided with motor, motor left end and screw rod 32
Right end is connected, and motor is connected by electric wire with external power supply, the design achieves the rotation of screw rod 32, inside circular trough two
With bearing is respectively and fixedly provided with inside circular hole, screw rod 32 is connected with circular trough two and circular hole respectively by bearing, which improves
The stability that screw rod 32 rotates is fixed with turntable inside circular trough two, and 4 lower end of electric cylinder is fixed on turntable, which realizes
The rotation of electric cylinder 4, thus realize the rotation of mechanical arm 2 and balancing equipment 3,31 inner front side face lower end of outer cover and rear side
Face lower end has offered slot rolling, and 34 upper end of connecting rod offers through-hole, and through-hole is internally provided with shaft, before shaft annular side
End is connected separately with idler wheel with rear end, and idler wheel is arranged inside slot rolling, which is moved easily connecting rod 34 and clump weight 35, rolling
Pearl nut seat 33 is connected by ball nut pair with screw rod 32, and the design achieves convert the rotary motion of screw rod 32 to directly
Line movement.
Specific embodiment: in use, 2 left end of mechanical arm grabs the weight of constant weight, then user of service
The length to be moved of clump weight 35 is calculated according to the weight of weight, and it is long that this length is set as target on graduated scale 37
Degree, then the circuit between motor and external power supply is connected by user of service, and motor operation drives screw rod 32 to rotate, and bearing mentions
The stability that high screw rod 32 rotates, to convert straight line fortune for the rotary motion of screw rod 32 under the action of ball nut pair
It is dynamic, drive connecting rod 34 mobile so that ball nut mount 33 is mobile, idler wheel is moved easily connecting rod 34, and connecting rod 34 is mobile to be driven
Clump weight 35 is mobile, while driving fixed link mobile, and fixed link is mobile to drive indicating arm 36 mobile, when indicating arm 36 is moved to mesh
When marking length, motor is closed, keeps the torque of 4 left and right sides of electric cylinder equal with this, to make to protect at left and right sides of electric cylinder 4
Maintain an equal level weighing apparatus, and user of service drives electric cylinder 4 to rotate by rotary turnplate, turntable rotation at this time, and the rotation of electric cylinder 4 drives mechanical arm
2 and balancing equipment 3 rotate, so that weight is moved to target place, weight is put down into rear user of service for motor reversal, from
And indicating arm 36 is made to be moved to the position of 37 value zero of graduated scale, the design achieves the mistakes that moving heavy object is grabbed in mechanical arm 2
The present apparatus is set to keep the function of balance in journey.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention, for this field skill
For art personnel, it is clear that invention is not limited to the details of the above exemplary embodiments, and without departing substantially from spirit of the invention or
In the case where essential characteristic, the present invention can be realized in other specific forms.Therefore, in all respects, should all incite somebody to action
Embodiment regards exemplary as, and is non-limiting, the scope of the present invention by appended claims rather than on state
Bright restriction, it is intended that including all changes that fall within the meaning and scope of the equivalent elements of the claims in the present invention
It is interior.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (6)
1. a kind of balancing device in robot, including pedestal, mechanical arm, balancing equipment and electric cylinder, feature exist
In: the pedestal upper side offers circular trough one, and the electric cylinder lower end is mounted on inside circular trough one, under the mechanical arm
Side right end is connected with electric cylinder upper end, and the balancing equipment is connected to mechanical arm right end；
The balancing equipment includes outer cover, screw rod, ball nut mount, connecting rod, clump weight, indicating arm and graduated scale, described
Outer cover is connected to mechanical arm right end, and outer cover inside left face offers circular trough two, and outer cover inner right side face opens up
There is circular hole, outer cover inner lower face offers square hole, and the screw rod left end is mounted on inside circular trough two, and the screw rod is right
End is across circular hole and extends on the right side of outer cover, and the ball nut mount is mounted on screw rod annular side, the ball nut seat ring
Shape side lower end is fixed with connecting rod, and connecting rod lower end passes through square hole and extends on the downside of outer cover, and the clump weight is fixed on
Connecting rod lower end, outer cover leading flank lower end are provided with graduated scale, and the indicating arm upper end is arranged on front side of graduated scale, described
Connecting rod leading flank is fixed with fixed link, and the indicating arm lower end is fixed on fixed link upper side front end.
2. a kind of balancing device in robot according to claim 1, it is characterised in that: the outer cover right side
Lower end is connected with fixed plate, and the fixed plate upper side is provided with motor, and the motor left end is connected with screw rod right end, described
Motor is connected by electric wire with external power supply.
3. a kind of balancing device in robot according to claim 1, it is characterised in that: in the circular trough two
It is respectively and fixedly provided with bearing inside portion and circular hole, the screw rod is connected with circular trough two and circular hole respectively by bearing.
4. a kind of balancing device in robot according to claim 1, it is characterised in that: in the circular trough two
Portion is fixed with turntable, and the electric cylinder lower end is fixed on turntable.
5. a kind of balancing device in robot according to claim 1, it is characterised in that: before the outer cover inside
Side lower end and trailing flank lower end have offered slot rolling, and the connecting rod upper end offers through-hole, setting inside the through-hole
There is shaft, shaft annular side front and rear end is connected separately with idler wheel, and the idler wheel is arranged inside slot rolling.
6. a kind of balancing device in robot according to claim 1, it is characterised in that: the ball nut mount
It is connected by ball nut pair with screw rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811210648.6A CN109202961A (en) | 2018-10-17 | 2018-10-17 | A kind of balancing device in robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811210648.6A CN109202961A (en) | 2018-10-17 | 2018-10-17 | A kind of balancing device in robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109202961A true CN109202961A (en) | 2019-01-15 |
Family
ID=64980890
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811210648.6A Withdrawn CN109202961A (en) | 2018-10-17 | 2018-10-17 | A kind of balancing device in robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109202961A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112253949A (en) * | 2020-10-13 | 2021-01-22 | 广东电网有限责任公司 | Display base |
| CN113814859A (en) * | 2021-09-29 | 2021-12-21 | 四川省川磨岷机联合数控机器股份有限公司 | Large-span single-arm grinding machine |
| CN114434430A (en) * | 2022-04-12 | 2022-05-06 | 深圳正为格智能科技有限公司 | Mechanical arm for fire-fighting robot |
| CN115351816A (en) * | 2022-10-19 | 2022-11-18 | 沈阳工业大学 | Self-balancing mechanical arm |
| CN115533866A (en) * | 2022-11-07 | 2022-12-30 | 陈思睿 | Robot with gripping device and working method thereof |
-
2018
- 2018-10-17 CN CN201811210648.6A patent/CN109202961A/en not_active Withdrawn
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112253949A (en) * | 2020-10-13 | 2021-01-22 | 广东电网有限责任公司 | Display base |
| CN113814859A (en) * | 2021-09-29 | 2021-12-21 | 四川省川磨岷机联合数控机器股份有限公司 | Large-span single-arm grinding machine |
| CN113814859B (en) * | 2021-09-29 | 2023-02-24 | 四川省川磨岷机联合数控机器股份有限公司 | Large-span single-arm grinding machine |
| CN114434430A (en) * | 2022-04-12 | 2022-05-06 | 深圳正为格智能科技有限公司 | Mechanical arm for fire-fighting robot |
| CN115351816A (en) * | 2022-10-19 | 2022-11-18 | 沈阳工业大学 | Self-balancing mechanical arm |
| CN115533866A (en) * | 2022-11-07 | 2022-12-30 | 陈思睿 | Robot with gripping device and working method thereof |
| CN115533866B (en) * | 2022-11-07 | 2023-06-13 | 陈思睿 | Robot with grabbing device and working method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190115 |
|
| WW01 | Invention patent application withdrawn after publication |