CN204921841U - Damping extension spring balancing unit - Google Patents
Damping extension spring balancing unit Download PDFInfo
- Publication number
- CN204921841U CN204921841U CN201520667692.5U CN201520667692U CN204921841U CN 204921841 U CN204921841 U CN 204921841U CN 201520667692 U CN201520667692 U CN 201520667692U CN 204921841 U CN204921841 U CN 204921841U
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- Prior art keywords
- arm
- extension spring
- base
- gear
- stage clip
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Abstract
The utility model provides a damping extension spring balancing unit, its make gravity that the material arm supported and acceleration of gravity, the motion inertia that the in -process produced rotates and can be partly or whole by damping balancing unit balance out, and then make the driving power that provides minimum can drive whole robotic device's normal operating, utilize energy saving and emission reduction, and reduce the operating cost of equipment. It includes the base, has placed driving motor, transmission, the first arm in the base, and driving motor is connected to the first arm through transmission with rotation power, and evagination in base is distinguished at the both ends of the first arm, and the transmission arm in the outside is connected to the evagination front end of the first arm, and the end -to -end connection of the transmission arm in the outside has the heavy object of connection subassembly, its characterized in that: the axis of rotation part of the first arm lies in the inner space of base, and the balancing piece passes through parallel key suit in the axis of rotation part of the first arm, and the main shaft sprocket is equipped with through the parallel key cover in the evagination rear end of the first arm, and the main shaft sprocket is connected in the chain meshing.
Description
Technical field
The utility model relates to the technical field of damping structure, is specially a kind of damp draw spring Equilibrator.
Background technique
At mechanical field, existing material transfer is all completed by material arm, during material revolution of arm, its power is around the shaft provided by the rotational power of outside, because the top of material arm is generally furnished with weight, and gravity accleration, movement inertia can be produced in rotation process, existing structure peripheral rotational power needs to provide enough large driving power just can ensure, and material upper-arm circumference is around its normal rotation around the shaft, make to need the energy of at substantial during work, be unfavorable for energy-conserving and environment-protective, and equipment operation cost is high.
Summary of the invention
For the problems referred to above, the utility model provides a kind of damp draw spring Equilibrator, its gravity that material arm is supported and the gravity accleration produced in rotation process, movement inertia can balance part or all by damped Equilibrator, and then make to provide minimum driving power can drive the normal operation of whole robot device, utilize energy-saving and emission-reduction and reduce the operating cost of equipment.
A kind of damp draw spring Equilibrator, its technological scheme is such: it comprises base, drive motor is placed with in described base, transmission device, first arm, rotational power is connected to described first arm by transmission device by described drive motor, the two ends difference evagination of described first arm is in described base, the evagination front end of described first arm connects the transmission arm in outside, the end of the described transmission arm in described outside is connected with connection heavy component, it is characterized in that: the rotatingshaft part of described first arm is positioned at the inner space of described base, equilibrium block is set in the rotatingshaft part of described first arm by flat key, the evagination rear end of described first arm is set with spindle sprocket by flat key, chain is connected with a joggle described spindle sprocket, two vertical end of described chain are respectively arranged with interior stage clip structure, described interior stage clip structure runs through the upper mounting holes of the extension spring of corresponding position, the bottom of described extension spring is anchored on extension spring supporting base, described extension spring supporting base is installed in described base, the vertical position that described extension spring supporting base corresponds to described interior stage clip structure has penetration hole, guarantee that any one end of chain can unrestricted motion.
It is further characterized in that:
The upper interior end of described extension spring is provided with positioning plate, described positioning plate has upper mounting holes, described two vertical end stating chain are fastened with interior stage clip guide rod respectively, the interior stage clip that Vertical dimension is flexible is provided with between the lower convex platform of described interior stage clip guide rod and described positioning plate, interior stage clip can guarantee that structure resets, time saving and energy saving;
The both sides that described extension spring supporting base lays respectively at described drive motor are arranged, guarantee the peak use rate in space;
The concave portion of described first arm is articulated and connected one end of the second arm, the other end of described second arm is articulated and connected one end of the 3rd arm, the other end of described 3rd arm is connected with connection heavy component, the first balancing pole is provided with between the concave portion of described first arm, the other end of the second arm, be provided with the second balancing pole between the other end of described second arm, the other end of the 3rd arm, the middle part corresponding position of described second arm, the 3rd arm is provided with balance positioning rod;
Described second arm obliquely and outwards arrange, described 3rd arm obliquely and inwardly arrange, angularly arrange between described second arm, the 3rd arm, the middle part of described second arm connects one end of the 3rd balancing pole, the other end of described 3rd balancing pole connects the slide on power module, described power module is fastening with power module bracket, and described power module bracket is installed in the upper end of the rotatingshaft part of the first arm, and described slide is installed in the inside rectilinear orbit of described power module;
The output terminal of described drive motor, by connecting driving shaft after retarder, coupling, described driving shaft is set with driving gear, and described driving gear is connected with a joggle driven gear, and described driven gear is set in the rotatingshaft of described first arm;
Preferably, it also comprises jack shaft, described jack shaft is set with Double-gear structure, and described driving gear is connected with a joggle one of them gear of described Double-gear structure, and another gears meshing of described Double-gear structure connects described driven gear;
Described driven gear is specially half side gear, and the vibrational power flow of half side gear ensures the small volume of base and guarantees enough rotation angles simultaneously, saves material, space;
Described drive motor is specially actuating motor, is convenient to accurately control rotation angle.
After adopting structure of the present utility model, the rotatingshaft of the first arm corresponding to material arm is set with equilibrium block, smooth and easy rotation is stablized in guarantee, the evagination rear end of the first arm is set with spindle sprocket by flat key, chain is connected with a joggle spindle sprocket, two vertical end of chain are respectively arranged with interior stage clip structure, interior stage clip structure runs through the upper mounting holes of the extension spring of corresponding position, the bottom of extension spring is anchored on extension spring supporting base, extension spring supporting base is installed in base, extension spring supporting base corresponds to interior stage clip structure side vertical position and has penetration hole, guarantee that any one end of chain can unrestricted motion, first arm straps is moved spindle sprocket and is rotated, spindle sprocket pulls one of them extension spring by chain, the smooth free fall of chain of the other end, the gravity that the pulling force of extension spring supports for material arm and the gravity accleration produced in rotation process, movement inertia, and then make to provide minimum driving power can drive the normal operation of whole robot device, utilize energy-saving and emission-reduction, and reduce the operating cost of equipment.
Accompanying drawing explanation
Fig. 1 is plan view structural representation of the present utility model;
Fig. 2 is side view structural representation of the present utility model;
Fig. 3 is the utility model side extension spring side view structural representation when pulled;
Fig. 4 is the utility model opposite side extension spring side view structural representation when pulled;
Fig. 5 is the plan view structural representation being applied to specific embodiment of the present utility model;
Reference name in figure corresponding to each sequence number is as follows:
Base 1, drive motor 2, first arm 3, connect heavy component 4, equilibrium block 5, spindle sprocket 6, chain 7, interior stage clip structure 8, extension spring 9, second arm 10, 3rd arm 11, first balancing pole 12, second balancing pole 13, balance positioning rod 14, 3rd balancing pole 15, power module 16, slide 17, power module bracket 18, rectilinear orbit 19, retarder 20, coupling 21, driving shaft 22, driving gear 23, driven gear 24, jack shaft 25, Double-gear structure 26, extension spring supporting base 27, penetration hole 28, positioning plate 29, interior stage clip guide rod 30, interior stage clip 31.
Embodiment
A kind of damp draw spring Equilibrator, see Fig. 1 ~ Fig. 5: it comprises base 1, drive motor 2 is placed with in base 1, transmission device, first arm 3, rotational power is connected to the first arm 3 by transmission device by drive motor 2, the two ends difference evagination of the first arm 3 is in base 1, the evagination front end of the first arm 3 connects the transmission arm in outside, the end of the transmission arm in outside is connected with and connects heavy component 4, the rotatingshaft part of the first arm 3 is positioned at the inner space of base 1, equilibrium block 5 is set in the rotatingshaft part of the first arm 3 by flat key, the evagination rear end of the first arm 3 is set with spindle sprocket 6 by flat key, chain 7 is connected with a joggle spindle sprocket 6, two vertical end of chain 7 are respectively arranged with interior stage clip structure 8, interior stage clip structure 8 runs through the upper mounting holes of the extension spring 9 of corresponding position, the bottom of extension spring 9 is anchored on extension spring supporting base 27, extension spring supporting base 27 is installed in base 1, the vertical position that extension spring supporting base 27 corresponds to interior stage clip structure 8 has penetration hole 28, guarantee that any one end of chain 7 can unrestricted motion.
The upper interior end of extension spring 9 is provided with positioning plate 29, positioning plate 29 has upper mounting holes, two vertical end stating chain 7 are fastened with interior stage clip guide rod 30 respectively, the interior stage clip 31 that Vertical dimension is flexible is provided with between the lower convex platform of interior stage clip guide rod 30 and positioning plate 29, interior stage clip 31 can guarantee that structure resets, time saving and energy saving;
The both sides that extension spring supporting base 27 lays respectively at drive motor 2 are arranged, guarantee the peak use rate in space;
The concave portion of the first arm 3 is articulated and connected one end of the second arm 10, the other end of the second arm 10 is articulated and connected one end of the 3rd arm 11, the other end of the 3rd arm 11 is connected with and connects heavy component 4, the first balancing pole 12 is provided with between the concave portion of the first arm 3, the other end of the second arm 10, be provided with the second balancing pole 13, second arm 10 between the other end of the second arm 10, the other end of the 3rd arm 11, the middle part corresponding position of the 3rd arm 11 be provided with balance positioning rod 14;
Second arm 10 obliquely and outwards arrange, 3rd arm oblique 11 upwards and inwardly arrange, angularly arrange between second arm 10, the 3rd arm 11, the middle part of the second arm 10 connects one end of the 3rd balancing pole 15, the other end of the 3rd balancing pole 15 connects the slide 17 on power module 16, power module 16 is fastening with power module bracket 18, and power module bracket 18 is installed in the upper end of the rotatingshaft part of the first arm, and slide 17 is installed in the inside rectilinear orbit 19 of power module 16;
The output terminal of drive motor 2, by connecting driving shaft 22 after retarder 20, coupling 21, driving shaft 22 is set with driving gear 23, and driving gear 23 is connected with a joggle driven gear 24, and driven gear 24 is set in the rotatingshaft of the first arm 3; Preferably, it also comprises jack shaft 25, jack shaft 25 is set with Double-gear structure 26, and driving gear 23 is connected with a joggle one of them gear of Double-gear structure 26, and another gears meshing of Double-gear structure 26 connects driven gear 24;
Driven gear 24 is specially half side gear, and the vibrational power flow of half side gear ensures the small volume of base and guarantees enough rotation angles simultaneously, saves material, space;
Drive motor 2 is specially actuating motor, is convenient to accurately control rotation angle.
Its working principle is as follows: the first arm 3 drives spindle sprocket 6 to rotate, spindle sprocket 6 pulls one of them extension spring 9 by chain 7, chain 7 free fall smoothly of the other end, the gravity that the pulling force of extension spring 9 supports for material arm and the gravity accleration produced in rotation process, movement inertia, and then make to provide minimum driving power can drive the normal operation of whole robot device, object is deadweight and the movement inertia of more than damping cam gear balanced robot second arm, the object that robot normally runs is reached with minimum driving power, be intended to develop energy-saving and reduce the pressing robot manufacturing cost.
Above specific embodiment of the utility model has been described in detail, but content being only the preferred embodiment that the utility model is created, the practical range created for limiting the utility model can not being considered to.All equalizations done according to the utility model creation application range change and improve, and all should still belong within this patent covering scope.
Claims (9)
1. a damp draw spring Equilibrator, it comprises base, drive motor is placed with in described base, transmission device, first arm, rotational power is connected to described first arm by transmission device by described drive motor, the two ends difference evagination of described first arm is in described base, the evagination front end of described first arm connects the transmission arm in outside, the end of the described transmission arm in described outside is connected with connection heavy component, it is characterized in that: the rotatingshaft part of described first arm is positioned at the inner space of described base, equilibrium block is set in the rotatingshaft part of described first arm by flat key, the evagination rear end of described first arm is set with spindle sprocket by flat key, chain is connected with a joggle described spindle sprocket, two vertical end of described chain are respectively arranged with interior stage clip structure, described interior stage clip structure runs through the upper mounting holes of the extension spring of corresponding position, the bottom of described extension spring is anchored on extension spring supporting base, described extension spring supporting base is installed in described base, the vertical position that described extension spring supporting base corresponds to described interior stage clip structure has penetration hole.
2. a kind of damp draw spring Equilibrator as claimed in claim 1, it is characterized in that: the upper interior end of described extension spring is provided with positioning plate, described positioning plate has upper mounting holes, described two vertical end stating chain are fastened with interior stage clip guide rod respectively, are provided with the interior stage clip that Vertical dimension is flexible between the lower convex platform of described interior stage clip guide rod and described positioning plate.
3. a kind of damp draw spring Equilibrator as claimed in claim 2, is characterized in that: the both sides that described extension spring supporting base lays respectively at described drive motor are arranged.
4. a kind of damp draw spring Equilibrator as claimed in claim 1, it is characterized in that: the concave portion of described first arm is articulated and connected one end of the second arm, the other end of described second arm is articulated and connected one end of the 3rd arm, the other end of described 3rd arm is connected with connection heavy component, the first balancing pole is provided with between the concave portion of described first arm, the other end of the second arm, be provided with the second balancing pole between the other end of described second arm, the other end of the 3rd arm, the middle part corresponding position of described second arm, the 3rd arm is provided with balance positioning rod.
5. a kind of damp draw spring Equilibrator as claimed in claim 4, it is characterized in that: described second arm obliquely and outwards arrange, described 3rd arm obliquely and inwardly arrange, angularly arrange between described second arm, the 3rd arm, the middle part of described second arm connects one end of the 3rd balancing pole, the other end of described 3rd balancing pole connects the slide on power module, described power module is fastening with power module bracket, described power module bracket is installed in the rotatingshaft part of described first arm, and described slide is installed in the inside rectilinear orbit of described power module.
6. a kind of damp draw spring Equilibrator as claimed in claim 1, it is characterized in that: the output terminal of described drive motor is by connecting driving shaft after retarder, coupling, described driving shaft is set with driving gear, described driving gear is connected with a joggle driven gear, and described driven gear is set in the rotatingshaft of described first arm.
7. a kind of damp draw spring Equilibrator as claimed in claim 6, it is characterized in that: it also comprises jack shaft, described jack shaft is set with Double-gear structure, described driving gear is connected with a joggle one of them gear of described Double-gear structure, and another gears meshing of described Double-gear structure connects described driven gear.
8. a kind of damp draw spring Equilibrator as claimed in claims 6 or 7, is characterized in that: described driven gear is specially half side gear.
9. a kind of damp draw spring Equilibrator as claimed in claim 1, is characterized in that: described drive motor is specially actuating motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520667692.5U CN204921841U (en) | 2015-08-31 | 2015-08-31 | Damping extension spring balancing unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520667692.5U CN204921841U (en) | 2015-08-31 | 2015-08-31 | Damping extension spring balancing unit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204921841U true CN204921841U (en) | 2015-12-30 |
Family
ID=54970971
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520667692.5U Withdrawn - After Issue CN204921841U (en) | 2015-08-31 | 2015-08-31 | Damping extension spring balancing unit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204921841U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105041965A (en) * | 2015-08-31 | 2015-11-11 | 苏州神运机器人有限公司 | Damping tension spring balancing device |
| CN105459105A (en) * | 2016-01-14 | 2016-04-06 | 苏州神运机器人有限公司 | Seven-axis five-power robot applying parallelogram principle |
-
2015
- 2015-08-31 CN CN201520667692.5U patent/CN204921841U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105041965A (en) * | 2015-08-31 | 2015-11-11 | 苏州神运机器人有限公司 | Damping tension spring balancing device |
| CN105041965B (en) * | 2015-08-31 | 2017-06-06 | 苏州神运机器人有限公司 | A kind of damp draw spring bascule |
| CN105459105A (en) * | 2016-01-14 | 2016-04-06 | 苏州神运机器人有限公司 | Seven-axis five-power robot applying parallelogram principle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20151230 Effective date of abandoning: 20170606 |