CN110671419A - Rotation joint structure of amusement facility - Google Patents
Rotation joint structure of amusement facility Download PDFInfo
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- CN110671419A CN110671419A CN201910957778.4A CN201910957778A CN110671419A CN 110671419 A CN110671419 A CN 110671419A CN 201910957778 A CN201910957778 A CN 201910957778A CN 110671419 A CN110671419 A CN 110671419A
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- pneumatic cylinder
- rod
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- 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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C11/00—Pivots; Pivotal connections
- F16C11/04—Pivotal connections
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Abstract
The invention discloses a rotary joint structure of an amusement facility, which comprises a driving connecting rod, a driven connecting rod, a driving motor, an intermediate rod and a rolling bearing, wherein the driving connecting rod is sleeved outside the intermediate rod, the rolling bearing is arranged at one end of the intermediate rod, a flange part is correspondingly arranged at one end of the driven connecting rod, a fixed end cover is fixed at one side of the flange part through a bolt, the driving motor is arranged at one side of the fixed end cover, an output shaft of the driving motor penetrates through the flange part and is connected with the intermediate rod through a key, a first connecting shaft is movably connected at one side of the driving connecting rod through a bearing, a second connecting shaft is movably connected at one side of the flange part through a bearing, a rotary energy storage device is connected between the first connecting shaft and the second connecting shaft, the rotary energy storage device comprises a front hydraulic cylinder and a rear, has the characteristics of low energy consumption and good cooling effect.
Description
Technical Field
The invention relates to the technical field of amusement facilities, in particular to a rotary joint structure of an amusement facility.
Background
The rotating joint is widely applied to amusement facilities, and from the transmission perspective, the rotating joint is mainly used for transmitting relative motion and power between adjacent connecting rods, two adjacent connecting rods are connected through the rotating joint, one of the two adjacent connecting rods is usually relatively static and is called as a driving part, the other connecting rod generates relative rotating motion relative to the driving part and is called as a driven part, and the driven part is usually regarded as load processing relative to the driving part.
Most of amusement facilities in the market currently adopt a motor accelerator and decelerator to directly drive a rotary joint, when a driven part has a large load, a larger driving force is often needed to realize the expected movement of the driven part, and the energy consumption is increased; meanwhile, when the rotary joint rotates at a high speed, the temperature of the bearing can be increased due to excessive heat, the service life of the bearing can be shortened, and the bearing is damaged even. Therefore, it is necessary to design a revolving joint structure of amusement facilities with low energy consumption and good cooling effect.
Disclosure of Invention
The invention aims to provide a revolving joint structure of an amusement facility, which solves the problems in the prior art.
In order to solve the technical problems, the invention provides the following technical scheme: a rotary joint structure of amusement facilities comprises a driving connecting rod, a driven connecting rod, a driving motor, an intermediate rod and a rolling bearing, wherein the driving connecting rod is sleeved outside the intermediate rod, the rolling bearing is arranged at one end of the intermediate rod, a flange part is correspondingly arranged at one end of the driven connecting rod, a fixed end cover is fixed at one side of the flange part through a bolt, the driving motor is installed at one side of the fixed end cover, an output shaft of the driving motor penetrates through the flange part and is connected with the intermediate rod through a key, a first connecting shaft is movably connected to one side of the driving connecting rod through a bearing, a second connecting shaft is movably connected to one side of the flange part through a bearing, a rotary energy storage device is connected between the first connecting shaft and the second connecting shaft, the rotary energy storage device does not consume energy, and certain inertia exists when the joint is in sudden stop, the energy-saving rotary energy storage device is a device capable of storing inertia moment, can store energy for the movement between the driving connecting rod and the driven connecting rod, can effectively release energy when the driving load is large, achieves the purpose of saving energy, can reduce the power and the volume required by the driving motor, and further improves the operation efficiency of the machine.
Furthermore, the rotary energy storage device comprises a front hydraulic cylinder and a rear hydraulic cylinder, the front hydraulic cylinder and the rear hydraulic cylinder are fixed through bolts, the front hydraulic cylinder and the rear hydraulic cylinder are connected through an oil way, a piston rod is arranged in the rear hydraulic cylinder, one end of the piston rod is connected with a piston, one end of the piston rod penetrates through the front hydraulic cylinder, one side of the front hydraulic cylinder is correspondingly provided with an energy accumulator, the energy accumulator is connected with the front hydraulic cylinder through an oil way, one side of the front hydraulic cylinder is provided with a hydraulic oil filling port, the energy accumulator is adopted in the scheme to store the inertia moment between the driving connecting rod and the driven connecting rod, each rotary joint of the entertainment mechanical arm is driven by the driving motor, the driving motor is started, the driving connecting rod generates rotary motion relative to the driven connecting rod, and the piston rod of the balance actuator is driven to generate telescopic motion, and (3) enabling the balance actuator to be in a horizontal micro-stretching state, locking the position, and filling hydraulic oil into a hydraulic oil filling port.
Further, there is joint bearing one end of piston rod through threaded connection, the one end of back pneumatic cylinder is connected with takes the oilless bush to connect, joint bearing cup joints the outside at the second connecting axle, take the outside at first connecting axle of oilless bush joint cup joint, the piston rod joint type connects the joint bearing who is used for compensating the piston rod head, the depth of parallelism error of tail connecting axle from the area, finally realizes the smooth installation of balanced executor.
Furthermore, the flange portion is provided with a hole, the inner wall of the hole is in contact with the outer ring of the rolling bearing, a first cooling groove is formed in the inner wall of the hole and is inwards recessed, a first flow channel is formed in the side wall of the flange portion and is communicated with the first cooling groove, the first cooling groove covers the outer ring of the rolling bearing and is used for dissipating heat of the outer ring of the rolling bearing, meanwhile, discharged heat passes through the first flow channel to achieve the inlet and outlet of cooling liquid, the pipeline and the oil pump motor are connected with the first flow channel during use, one of the first flow channel is used for liquid inlet and outlet, and heat exchange is achieved.
Furthermore, a second cooling groove is formed in the outer wall of the intermediate rod, the outer wall of the intermediate rod is in contact with the inner ring of the rolling bearing, a third flow channel is correspondingly formed in one end of the intermediate rod, the second cooling groove is communicated with the third flow channel, when the rolling bearing cooling device is used, cooling liquid is introduced into the second cooling groove to cool the inner ring of the whole rolling bearing, and the third flow channel is used for exchanging heat of the cooling liquid in the second cooling groove, so that the liquid in the second cooling groove can be exchanged through the third flow channel.
Furthermore, a cooling ring is fixed on one side of the fixed end cover through a bolt, the cooling ring is of a hollow structure, a first ring edge is arranged on one side of the cooling ring, a fourth flow channel is correspondingly formed in one side of the first ring edge, the first ring edge is used for being in contact with the fixed end cover and keeping sealing, cooling liquid is filled in the cooling ring, and heat exchange with the outside is achieved through the fourth flow channel.
Furthermore, the other side of the cooling ring is provided with a second annular edge, one side of the second annular edge is in contact with the third flow channel, the contact surface of the second annular edge is in sliding seal through an O-shaped ring, one side of the second annular edge is an annular empty groove, the third flow channel is communicated with the fourth flow channel, the structure of the cooling ring ensures that the end face of the cooling ring can be always in contact with the second annular edge when the intermediate rod rotates, so that the third flow channel at any position can discharge cooling liquid into the fourth flow channel, and the heat of the inner ring of the rolling bearing can be always released when the intermediate rod dynamically operates.
Furthermore, a second flow channel is correspondingly formed in one side of the fixed end cover and communicated with the fourth flow channel, one of the second flow channels is used for feeding cooling liquid, the other one of the second flow channels is used for discharging the cooling liquid flowing out of the heated fourth flow channel, and when the cooling device is used, the second flow channel is externally connected with a hose and a water pump motor, so that cooling circulation is realized.
Compared with the prior art, the invention has the following beneficial effects: in the invention, the raw materials are mixed,
(1) the rotary energy storage device is arranged, so that the energy can be stored and released for the inertia moment generated when the joint stroke changes suddenly, a power source is not needed, and the energy consumption is reduced;
(2) through the arrangement of the energy accumulator, when the piston rod of the balance actuator is pulled out, the system pressure is increased instantly, the energy accumulator absorbs the energy of the part to ensure that the pressure of the whole system is normal, when the piston rod of the balance actuator retracts, the system pressure is reduced, the energy accumulator begins to release the stored energy, and the pressure stability of the system is ensured in real time
(3) The first cooling groove and the first flow channel are arranged, so that the outer ring of the rolling bearing can be cooled, and meanwhile, the discharged heat passes through the first flow channel to realize the inlet and outlet of cooling liquid; through being provided with second cooling tank and cooling ring, guaranteed that the heat of antifriction bearing inner race can obtain the release all the time when intermediate lever developments operation.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic overall elevational view of the present invention;
FIG. 2 is a schematic diagram of the rotary energy storage apparatus of the present invention;
FIG. 3 is a schematic view of the present invention with the drive link detached from the driven link;
FIG. 4 is an enlarged schematic view of area A of FIG. 3 in accordance with the present invention;
FIG. 5 is a partial side cross-sectional schematic view of the driven link of the present invention;
FIG. 6 is an enlarged schematic view of area B of FIG. 5 in accordance with the present invention;
FIG. 7 is an exploded view of the intermediate rod and fixed end cap of the present invention;
FIG. 8 is a schematic view of a cooling ring configuration of the present invention;
in the figure: 1. a drive link; 2. a driven link; 3. a rotary energy storage device; 4. a drive motor; 5. an intermediate lever; 6. a rolling bearing; 7. a cooling ring; 11. a first connecting shaft; 21. a flange portion; 22. fixing an end cover; 23. a second connecting shaft; 211. a first cooling tank; 212. a first flow passage; 221. a second flow passage; 31. an accumulator; 32. a front hydraulic cylinder; 321. a hydraulic oil filling port; 33. a piston rod; 331. a piston; 34. a knuckle bearing; 35. a rear hydraulic cylinder; 351. a joint with an oilless bushing; 51. a second cooling tank; 511. a third flow path; 71. a first rim; 72. a second rim; 73. and a fourth flow passage.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-8, the present invention provides the following technical solutions: a rotary joint structure of amusement facilities comprises a driving connecting rod 1, a driven connecting rod 2, a driving motor 4, an intermediate rod 5 and a rolling bearing 6, wherein the driving connecting rod 1 is sleeved outside the intermediate rod 5, the rolling bearing 6 is arranged at one end of the intermediate rod 5, one end of the driven connecting rod 2 is correspondingly provided with a flange part 21, one side of the flange part 21 is fixedly provided with a fixed end cover 22 through a bolt, the driving motor 4 is arranged at one side of the fixed end cover 22, an output shaft of the driving motor 4 penetrates through the flange part 21 and is connected with the intermediate rod 5 through a key, one side of the driving connecting rod 1 is movably connected with a first connecting shaft 11 through a bearing, one side of the flange part 21 is movably connected with a second connecting shaft 23 through a bearing, a rotary energy storage device 3 is connected between the first connecting shaft 11 and the second connecting shaft 23, the rotary energy storage device 3 does not consume energy, and, the energy-saving device is a device capable of storing inertia moment, can store energy for the movement between a driving connecting rod 1 and a driven connecting rod 2, and when the driving load is large, the rotary energy storage device 3 can effectively release energy to achieve the purpose of saving energy, and meanwhile, the power and the volume required by a driving motor 4 can be reduced, so that the operation efficiency of the machine is further improved;
the rotary energy storage device 3 comprises a front hydraulic cylinder 32 and a rear hydraulic cylinder 35, the front hydraulic cylinder 32 and the rear hydraulic cylinder 35 are fixed through bolts, the front hydraulic cylinder 32 is connected with the rear hydraulic cylinder 35 through an oil path, a piston rod 33 is arranged inside the rear hydraulic cylinder 35, one end of the piston rod 33 is connected with a piston 331, one end of the piston rod 33 penetrates through the front hydraulic cylinder 32, one side of the front hydraulic cylinder 32 is correspondingly provided with an energy accumulator 31, the energy accumulator 31 is connected with the front hydraulic cylinder 32 through an oil path, one side of the front hydraulic cylinder 32 is provided with a hydraulic oil filling port 321, the storage of the inertia moment between the driving connecting rod 1 and the driven connecting rod 2 is realized by the energy accumulator 31 in the scheme, each rotary joint of the entertainment mechanical arm is driven by a driving motor 4, the driving motor 4 is started, the driving connecting rod 1 generates rotary motion relative to the driven connecting rod 2, and the piston rod 33, the balance actuator is in a horizontal micro-stretching state and is locked at the position, and the hydraulic oil filling port 321 is used for filling hydraulic oil;
one end of the piston rod 33 is connected with a joint bearing 34 through threads, one end of the rear hydraulic cylinder 35 is connected with a joint 351 with an oilless bushing, the joint bearing 34 is sleeved outside the second connecting shaft 23, the joint 351 with the oilless bushing is sleeved outside the first connecting shaft 11, the joint bearing 34 of the joint type joint of the piston rod 33 is used for compensating the parallelism error of the head connecting shaft and the tail connecting shaft of the piston rod 33, and finally the smooth installation of the balance actuator is realized;
the flange part 21 is provided with a hole, the inner wall of the hole is in contact with the outer ring of the rolling bearing 6, the inner wall of the hole is inwards provided with a first cooling groove 211 in a recessed mode, the side wall of the flange part 21 is provided with a first flow channel 212, the first flow channel 212 is communicated with the first cooling groove 211, the first cooling groove 211 covers the outer ring of the rolling bearing 6 and is used for dissipating heat of the outer ring of the rolling bearing 6, meanwhile, discharged heat passes through the first flow channel 212 to achieve inlet and outlet of cooling liquid, when the cooling device is used, a pipeline and an oil pump motor are connected with the first flow channel 212, one of the first flow channel 212 is used for liquid inlet and the other;
the outer wall of the intermediate rod 5 is provided with a second cooling groove 51, the outer wall of the intermediate rod 5 is in contact with the inner ring of the rolling bearing 6, one end of the intermediate rod 5 is correspondingly provided with a third flow passage 511, the second cooling groove 51 is communicated with the third flow passage 511, when the cooling device is used, cooling liquid is introduced into the second cooling groove 51 to cool the inner ring of the whole rolling bearing 6, and the third flow passage 511 is used for exchanging heat of the cooling liquid in the second cooling groove 51, so that the liquid in the second cooling groove 51 can be exchanged through the third flow passage 511;
a cooling ring 7 is fixed on one side of the fixed end cover 22 through a bolt, the cooling ring 7 is of a hollow structure, a first annular edge 71 is arranged on one side of the cooling ring 7, a fourth flow channel 73 is correspondingly formed in one side of the first annular edge 71, the first annular edge 71 is used for being in contact with the fixed end cover 22 and keeping sealing, cooling liquid is filled in the cooling ring 7, and heat exchange with the outside is achieved through the fourth flow channel 73;
the other side of the cooling ring 7 is provided with a second annular edge 72, one side of the second annular edge 72 is in contact with the third flow channel 511, the contact surface is in sliding seal through an O-shaped ring, one side of the second annular edge 72 is an annular empty groove, the third flow channel 511 is communicated with the fourth flow channel 73, and the structure of the cooling ring 7 ensures that the end surface of the intermediate rod 5 can be always in contact with the second annular edge 72 when the intermediate rod rotates, so that the third flow channel 511 at any position can discharge cooling liquid into the fourth flow channel 73, and the heat of the inner ring of the rolling bearing 6 can be always released when the intermediate rod 5 dynamically runs;
one side of the fixed end cover 22 is correspondingly provided with a second flow channel 221, the second flow channel 221 is communicated with the fourth flow channel 73, one of the second flow channels 221 is used for feeding cooling liquid, the other one of the second flow channels 221 is used for discharging the cooling liquid flowing out of the fourth flow channel 73 after temperature rise, and when the cooling device is used, the second flow channel 221 is externally connected with a hose and a water pump motor to realize cooling circulation.
The working principle is as follows: when the rotary joint structure is used, the rotary energy storage device 3 does not consume energy, because certain inertia exists when the joint rotates and stops suddenly, the rotary energy storage device is a device capable of storing inertia moment and storing energy for the movement between the driving connecting rod 1 and the driven connecting rod 2, when the driving load is large, the rotary energy storage device 3 can effectively release energy, the purpose of saving energy is achieved, meanwhile, the power and the volume required by the driving motor 4 can be reduced, and the operation efficiency of a machine is further improved; the storage of the inertia moment between the driving connecting rod 1 and the driven connecting rod 2 is realized by adopting the energy accumulator 31 in the scheme, each rotary joint of the entertainment mechanical arm is driven by the driving motor 4, the driving motor 4 is started, the driving connecting rod 1 generates rotary motion relative to the driven connecting rod 2, so that a piston rod 33 of the balance actuator is driven to generate telescopic motion relative to a front hydraulic cylinder 32 and a rear hydraulic cylinder 35, the balance actuator is in a horizontal micro-stretching state and is locked at the position, and a hydraulic oil filling port 321 is used for filling hydraulic oil; the joint bearing 34 of the joint type joint of the piston rod 33 is used for compensating the parallelism error of the head connecting shaft and the tail connecting shaft of the piston rod 33, and finally the smooth installation of the balance actuator is realized; the first cooling groove 211 covers the outer ring of the rolling bearing 6, and is used for dissipating heat of the outer ring of the rolling bearing 6, and meanwhile, discharged heat passes through the first flow channel 212 to realize the inlet and outlet of cooling liquid; when the rolling bearing is used, the second cooling groove 51 is filled with cooling liquid to cool the inner ring of the whole rolling bearing 6, and the third flow passage 511 is used for exchanging heat of the cooling liquid in the second cooling groove 51, so that the liquid in the second cooling groove 51 can be exchanged through the third flow passage 511; the first ring edge 71 is used for contacting and maintaining sealing with the fixed end cover 22, and the cooling ring 7 is filled with cooling liquid to realize heat exchange with the outside through a fourth flow passage 73; the structure of the cooling ring 7 ensures that the end face of the intermediate rod 5 can be always in contact with the second annular edge 72 when the intermediate rod rotates, so that the third flow passage 511 at any position can discharge cooling liquid into the fourth flow passage 73, and the heat of the inner ring of the rolling bearing 6 can be always released when the intermediate rod 5 dynamically operates; one of the second flow channels 221 is used for feeding cooling liquid, the other one of the second flow channels 221 is used for discharging the cooling liquid flowing out of the fourth flow channel 73 after being heated, and when the cooling device is used, a hose and a water pump motor are connected to the outside of the second flow channel 221, so that cooling circulation is achieved;
it is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. The utility model provides a amusement ride gyration joint structure, includes drive connecting rod (1), driven connecting rod (2), driving motor (4), intermediate lever (5) and antifriction bearing (6), its characterized in that: the utility model discloses a drive energy storage device, including drive connecting rod (1), intermediate lever (5), one end of intermediate lever (5) is provided with antifriction bearing (6), the one end correspondence of being driven connecting rod (2) is provided with flange portion (21), one side of flange portion (21) is fixed with fixed end cover (22) through the bolt, driving motor (4) are installed to one side of fixed end cover (22), the output shaft of driving motor (4) passes flange portion (21), and the output shaft passes through the key-type connection with intermediate lever (5), one side of drive connecting rod (1) has first connecting axle (11) through bearing swing joint, one side of flange portion (21) has second connecting axle (23) through bearing swing joint, be connected with gyration energy storage device (3) between first connecting axle (11) and second connecting axle (23).
2. An amusement ride revolute joint structure according to claim 1, wherein: gyration energy storage equipment (3) are including preceding pneumatic cylinder (32) and back pneumatic cylinder (35), preceding pneumatic cylinder (32) pass through the bolt fastening with back pneumatic cylinder (35), and preceding pneumatic cylinder (32) pass through the oil circuit with back pneumatic cylinder (35) and be connected, the inside of back pneumatic cylinder (35) is provided with piston rod (33), the one end of piston rod (33) is connected with piston (331), pneumatic cylinder (32) before the one end of piston rod (33) passes, one side correspondence of preceding pneumatic cylinder (32) is installed energy storage ware (31), energy storage ware (31) pass through the oil circuit with preceding pneumatic cylinder (32) and are connected, one side of preceding pneumatic cylinder (32) is provided with hydraulic oil and fills notes mouth (321).
3. An amusement ride revolute joint structure according to claim 2, wherein: the one end of piston rod (33) has joint bearing (34) through threaded connection, the one end of back pneumatic cylinder (35) is connected with takes oilless bush to connect (351), joint bearing (34) cup joints the outside at second connecting axle (23), take oilless bush to connect (351) and cup joint the outside at first connecting axle (11).
4. An amusement ride revolute joint structure according to claim 1, wherein: the flange portion (21) is provided with a hole, the inner wall of the hole is in contact with the outer ring of the rolling bearing (6), a first cooling groove (211) is formed in the inner wall of the hole in an inwards recessed mode, a first flow channel (212) is formed in the side wall of the flange portion (21), and the first flow channel (212) is communicated with the first cooling groove (211).
5. An amusement ride revolute joint structure according to claim 1, wherein: the outer wall of the intermediate rod (5) is provided with a second cooling groove (51), the outer wall of the intermediate rod (5) is in contact with the inner ring of the rolling bearing (6), one end of the intermediate rod (5) is correspondingly provided with a third flow passage (511), and the second cooling groove (51) is communicated with the third flow passage (511).
6. An amusement ride revolute joint structure according to claim 1, wherein: one side of the fixed end cover (22) is fixed with a cooling ring (7) through a bolt, the cooling ring (7) is of a hollow structure, a first ring edge (71) is arranged on one side of the cooling ring (7), and a fourth flow channel (73) is correspondingly formed in one side of the first ring edge (71).
7. An amusement ride revolute joint structure according to claim 6, wherein: the other side of the cooling ring (7) is provided with a second annular edge (72), one side of the second annular edge (72) is in contact with the third flow channel (511), the contact surface of the second annular edge is sealed through an O-shaped ring in a sliding mode, one side of the second annular edge (72) is an annular empty groove, and the third flow channel (511) is communicated with the fourth flow channel (73).
8. An amusement ride revolute joint structure according to claim 6, wherein: one side of the fixed end cover (22) is correspondingly provided with a second flow passage (221), and the second flow passage (221) is communicated with the fourth flow passage (73).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910957778.4A CN110671419B (en) | 2019-10-10 | 2019-10-10 | Rotation joint structure of amusement facility |
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| CN201910957778.4A CN110671419B (en) | 2019-10-10 | 2019-10-10 | Rotation joint structure of amusement facility |
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| CN110671419A true CN110671419A (en) | 2020-01-10 |
| CN110671419B CN110671419B (en) | 2020-09-04 |
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| CN205438618U (en) * | 2015-12-25 | 2016-08-10 | 马鞍山永耀智能装备有限公司 | Six axis robot uses joint heat abstractor |
| DE102017211554A1 (en) * | 2017-07-06 | 2019-01-10 | Kuka Deutschland Gmbh | Robotic arm with a weight compensation device |
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2019
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040255711A1 (en) * | 2001-09-27 | 2004-12-23 | Toru Takenaka | Leg joint assist device for leg type movable robot |
| CN101375385A (en) * | 2006-01-13 | 2009-02-25 | 纳博特斯克株式会社 | Drive apparatus for substrate transfer robot having coolant circulating passage |
| CN102029607A (en) * | 2009-09-29 | 2011-04-27 | 库卡罗伯特有限公司 | Industrial robot with weight balancing system |
| CN202955055U (en) * | 2012-11-05 | 2013-05-29 | 北京配天大富精密机械有限公司 | Gravitational balancing device and industrial robot with the same |
| CN202952263U (en) * | 2012-11-30 | 2013-05-29 | 北京配天大富精密机械有限公司 | Robot |
| CN205438618U (en) * | 2015-12-25 | 2016-08-10 | 马鞍山永耀智能装备有限公司 | Six axis robot uses joint heat abstractor |
| DE102017211554A1 (en) * | 2017-07-06 | 2019-01-10 | Kuka Deutschland Gmbh | Robotic arm with a weight compensation device |
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| CN110671419B (en) | 2020-09-04 |
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