CN206105897U - Full balance mechanism of cluster and series -parallel connection decoupling zero type pile up neatly machine people - Google Patents
Full balance mechanism of cluster and series -parallel connection decoupling zero type pile up neatly machine people Download PDFInfo
- Publication number
- CN206105897U CN206105897U CN201620978387.2U CN201620978387U CN206105897U CN 206105897 U CN206105897 U CN 206105897U CN 201620978387 U CN201620978387 U CN 201620978387U CN 206105897 U CN206105897 U CN 206105897U
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- China
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- volute spring
- snail
- gear
- hook
- chain
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Abstract
The utility model belongs to the technical field of the gravity balance of robot structure technology and specifically relates to a full balance mechanism of cluster and series -parallel connection decoupling zero type pile up neatly machine people, its characterized in that: including the snail package put, planet gear device, sprocket device, the snail package is put, the both sides at the planet gear device are connected respectively to the sprocket device. Compared with the prior art, the utility model, establish the low -speed end at planetary reducer with the spiral -shaped spring, the high speed end at planetary reducer is settled to the sprocket that tensile chain was used, can reduce the sprocket size like this, makes the total compacter, and can warp through the plane rotation of spiral -shaped spring and come energy store, producing linear torque reaction, its working angle can reach 90 degrees.
Description
Technical field
This utility model is related to robot gravitational equilibrium technical field of structures, specifically a kind of serial-parallel mirror decoupling type
The full balanced controls of robot palletizer.
Background technology
There are problems that in robot palletizer motion such：Because the center of gravity of articulated robot arm does not pass through joint shaft
Line, thus very big gravity bending moment is generated relative to whole machine, moment of inertia etc. subtracts in great gravity bending moment and motor process
The stability of few robot and the life-span of shortening precision part.Robot bascule can efficiently reduce joint loads torque, from
And motor, the performance of reductor are improved, increase rapidity, accuracy, the stability of the response of robot.
Traditional robot palletizer reduces gravity torque using extension spring or counterweight block mode mostly, but configures gravity
Bascule or spring elongation bascule have that volume is big, the problem of weight weight, due to decoupling type robot palletizer it is big
The pivot point of swing arm is mobile, and conventional balanced balance of mechanism cylinder cannot be used for decoupling type robot palletizer balance, balancing weight
The trimming moment of offer is constant, is not suitable for the gravity torque of linear change when robot palletizer is moved up and down, and gives control band
Carry out detrimental effect, need to study New Balancing Mechanism for this.
And Publication No. 104526716A, patent name is a kind of industrial robot energy-storage economical type gravity balance device
In utility model patent, the impact of the moment of reaction balanced robot front end gravity of volute spring is directly utilized.But it is this kind of
Method, the torsion resistance of volute spring is too small, have impact on the work space of robot, and is not suitable for serial-parallel mirror type stacking machine
Device people.
The content of the invention
The purpose of this utility model is to overcome the deficiencies in the prior art, by volute spring in combination with reductor, by row
Star reductor makes its compact conformation solving the travel limit of volute spring.
Above-mentioned purpose is realized, a kind of full balanced controls of serial-parallel mirror decoupling type robot palletizer are designed, it is characterised in that：Bag
Snail winding apparatus, planetary reduction gear device, chain gear apparatus are included,
Described snail winding apparatus include hook rotary shaft in snail volume cover, snail volume cover enclosing cover, volute spring, volute spring；It is some
Volute spring is socketed in side by side in volute spring in hook rotary shaft, and the interior hook of volute spring is connected to hook rotation in volute spring
In hook and slot set by the outer wall of axle；It is equipped with hook rotary shaft in the volute spring of volute spring to be embedded in snail volume cover, and by setting
The snail volume cover enclosing cover for having axis hole is covered in snail volume cover；
Described planetary reduction gear device includes planetary reduction gear output shaft, planet carrier, sun gear, planetary gear, described
Planet carrier be provided with three and be distributed at the end face near-ring wall of one end of planetary reduction gear output shaft；Axle connects one on each planet carrier
Individual planetary gear, the tooth of the internal tooth of sun gear respectively with three planetary phases nearby is engaged；
Described chain gear apparatus include sprocket wheel, chain, input gear, input gear axle, and successively axle connects on input gear axle
Input gear, sprocket wheel, the bottom of described chain and sprocket engagement, and the termination of chain bottom is fixed on sprocket wheel；Chain
The other end is used to connect robot movement slide block；
The other end of the planetary reduction gear output shaft of described planetary reduction gear device is rolled up after the axis hole of cover enclosing cover through snail
Axle is connected in volute spring in the axis hole of hook rotary shaft；The input gear of described chain gear apparatus is engaged in three planetary gears
It is interior.
Hook rotary shaft is T-shaped along the section of its center axis in described volute spring, the cavity that described snail volume covers
Shape with the shape in volute spring hook rotary shaft shape, roll up cover with snail at the thin footpath of hook rotary shaft in described volute spring
Between be provided with spring bearing, accommodate volute spring at the big footpath of the cavity of described snail volume cover.
Input spring bearing is provided between the axis hole and planetary reduction gear output shaft of described snail volume cover enclosing cover.
The two sides of described sprocket wheel are respectively equipped with wheel hub, are provided between the wheel hub and input gear axle of nearly sun gear side
Output spring bearing.
Volute spring compared with prior art, is located at the low speed end of planetary reducer by this utility model, and stretching chain is used
Sprocket wheel be placed in the speed end of planetary reducer, can so reduce sprocket wheel size, make total more compact；And can pass through snail
The Plane rotarydeformation of coil spring produces linear reaction torque storing energy, and its operating angle can reach 90 degree.
Description of the drawings
Fig. 1 is dimensional structure diagram of the present utility model.
Fig. 2 is profile of the present utility model.
Fig. 3 is right view of the present utility model.
Fig. 4 is volute spring deformation schematic diagram at work in this utility model.
Specific embodiment
In conjunction with accompanying drawing, the utility model is further described.
Embodiment 1
Referring to Fig. 1～Fig. 4, a kind of full balanced controls of serial-parallel mirror decoupling type robot palletizer of this utility model, its feature
It is：Including snail winding apparatus, planetary reduction gear device, chain gear apparatus,
Described snail winding apparatus include hook rotary shaft in snail volume cover 9, snail volume cover enclosing cover 9-1, volute spring 7, volute spring
6；Some volute springs 7 are socketed in side by side in volute spring in hook rotary shaft 6, and the interior hook of volute spring 7 is connected to snail volume bullet
In hook and slot in spring set by the outer wall of hook rotary shaft 6；It is equipped with hook rotary shaft 6 in the volute spring of volute spring 7 to be embedded in snail
In volume cover 9, and covered in snail volume cover 9 by the snail of axis hole volume cover enclosing cover 9-1 is provided with；
Described planetary reduction gear device includes planetary reduction gear output shaft 41, planet carrier 42, sun gear 11, planetary gear
12, described planet carrier 42 is provided with three and is distributed at the end face near-ring wall of one end of planetary reduction gear output shaft 41；Each row
Axle connects a planetary gear 12 in carrier 42, and the tooth of the internal tooth of sun gear 11 respectively with the phase of three planetary gears 12 nearby is nibbled
Close；
Described chain gear apparatus include sprocket wheel 1, chain 2, input gear 13, input gear axle 10, on input gear axle 10
Successively axle connects input gear 13, sprocket wheel 1, and the bottom of described chain 2 is engaged with sprocket wheel 1, and the termination of the bottom of chain 2 is fixed on
On sprocket wheel 1；The other end of chain 2 is used to connect robot movement slide block；
The other end of the planetary reduction gear output shaft 41 of described planetary reduction gear device rolls up the axle of cover enclosing cover 9-1 through snail
Hole rear axle is connected in volute spring in the axis hole of hook rotary shaft 6；The input gear 13 of described chain gear apparatus is engaged in three rows
In star gear 12.
Further, hook rotary shaft 6 is T-shaped along the section of its center axis in described volute spring, described snail volume
Cover 9 cavity shape with the shape in volute spring hook rotary shaft 6 shape, hook rotary shaft 6 is thin in described volute spring
Spring bearing 8 is provided with and snail volume cover 9 between at footpath, at the big footpath of the cavity that described snail volume covers 9 volute spring 7 is accommodated.
Further, it is provided with input between the axis hole and planetary reduction gear output shaft 41 of described snail volume cover enclosing cover 9-1
Support bearing 5.
Further, the two sides of described sprocket wheel 1 are respectively equipped with wheel hub, in wheel hub and the input tooth of the side of nearly sun gear 11
Output spring bearing 3 is provided between wheel shaft 10.
The operation principle of the volute spring in this utility model is：Energy is stored by Plane rotarydeformation, so as to produce
The linear reaction torque of life, referring to Fig. 4, its operating angle is 90 °, its back action moment of torsion Md2Can be according to actual robot
Gravity torque customizing, Y-direction stroke is larger in actual robot palletizer, if directly adding chain sprocket structure using volute spring
The sprocket wheel of big external diameter will be may require that, the compactedness of robot architecture is affected.Therefore in this utility model, volute spring is placed in
The low speed end of planetary reduction gear device, the sprocket wheel 1 for stretching chain 2 is placed in the speed end of planetary reduction gear device, such energy
Reduce the size of sprocket wheel 1.During work, when robot moving slide board is moved up, the rotating sprocket 1 of chain 2 is driven, sprocket wheel 1 is successively
Input gear 13, planetary gear 12, the rotation of planetary reduction gear output shaft 41 are driven come volute spring 7 of crispaturaing, so as to produce line
The tensile force of property.
Claims (4)
1. full balanced controls of a kind of serial-parallel mirror decoupling type robot palletizer, it is characterised in that：Including snail winding apparatus, planetary reduction gear
Device device, chain gear apparatus,
Described snail winding apparatus include hook rotation in snail volume cover (9), snail volume cover enclosing cover (9-1), volute spring (7), volute spring
Axle (6)；Some volute springs (7) are socketed in side by side in volute spring in hook rotary shaft (6), and the interior hook card of volute spring (7)
It is connected in the hook and slot in volute spring set by the outer wall of hook rotary shaft (6)；It is equipped with hook rotation in the volute spring of volute spring (7)
Rotating shaft (6) is embedded in snail volume cover (9), and is covered in snail volume cover (9) by the snail of axis hole volume cover enclosing cover (9-1) is provided with；
Described planetary reduction gear device includes planetary reduction gear output shaft (41), planet carrier (42), sun gear (11), planet tooth
Wheel (12), described planet carrier (42) is provided with the end face near-ring wall of three one end for being distributed on planetary reduction gear output shaft (41)
Place；Axle connects a planetary gear (12) on each planet carrier (42), the internal tooth of sun gear (11) respectively with three planetary gears
(12) the tooth engagement nearby of phase；
Described chain gear apparatus include sprocket wheel (1), chain (2), input gear (13), input gear axle (10), input gear axle
(10) successively axle connects input gear (13), sprocket wheel (1) on, and the bottom of described chain (2) is engaged with sprocket wheel (1), and chain (2)
The termination of bottom is fixed on sprocket wheel (1)；The other end of chain (2) is used to connect robot movement slide block；
The other end of the planetary reduction gear output shaft (41) of described planetary reduction gear device rolls up the axle of cover enclosing cover (9-1) through snail
Hole rear axle is connected in volute spring in the axis hole of hook rotary shaft (6)；The input gear (13) of described chain gear apparatus is engaged in three
In individual planetary gear (12).
2. full balanced controls of a kind of serial-parallel mirror decoupling type robot palletizer as claimed in claim 1, it is characterised in that：It is described
Volute spring in hook rotary shaft (6) it is T-shaped along the section of its center axis, the shape of the cavity of described snail volume cover (9) with
The shape of shape hook rotary shaft (6) in volute spring, covers at the thin footpath of hook rotary shaft (6) in described volute spring with snail volume
(9) spring bearing (8) is provided between, at the big footpath of the cavity that described snail volume covers (9) volute spring (7) is accommodated.
3. full balanced controls of a kind of serial-parallel mirror decoupling type robot palletizer as claimed in claim 1, it is characterised in that：It is described
Snail volume cover enclosing cover (9-1) axis hole and planetary reduction gear output shaft (41) between be provided with and be input into spring bearing (5).
4. full balanced controls of a kind of serial-parallel mirror decoupling type robot palletizer as claimed in claim 1, it is characterised in that：It is described
The two sides of sprocket wheel (1) be respectively equipped with wheel hub, be provided between the wheel hub and input gear axle (10) of nearly sun gear (11) side
Output spring bearing (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620978387.2U CN206105897U (en) | 2016-08-29 | 2016-08-29 | Full balance mechanism of cluster and series -parallel connection decoupling zero type pile up neatly machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620978387.2U CN206105897U (en) | 2016-08-29 | 2016-08-29 | Full balance mechanism of cluster and series -parallel connection decoupling zero type pile up neatly machine people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206105897U true CN206105897U (en) | 2017-04-19 |
Family
ID=58514466
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620978387.2U Withdrawn - After Issue CN206105897U (en) | 2016-08-29 | 2016-08-29 | Full balance mechanism of cluster and series -parallel connection decoupling zero type pile up neatly machine people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206105897U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107309905A (en) * | 2016-08-29 | 2017-11-03 | 上海政怡智能科技有限公司 | The full balanced controls of serial-parallel mirror decoupling type robot palletizer |
| CN107914284A (en) * | 2017-11-08 | 2018-04-17 | 燕山大学 | A kind of cradle head mechanical arm gravity compensation |
-
2016
- 2016-08-29 CN CN201620978387.2U patent/CN206105897U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107309905A (en) * | 2016-08-29 | 2017-11-03 | 上海政怡智能科技有限公司 | The full balanced controls of serial-parallel mirror decoupling type robot palletizer |
| CN107309905B (en) * | 2016-08-29 | 2023-07-28 | 映易(苏州)智能科技有限公司 | Series-parallel decoupling type full-balance mechanism of palletizing robot |
| CN107914284A (en) * | 2017-11-08 | 2018-04-17 | 燕山大学 | A kind of cradle head mechanical arm gravity compensation |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170419 Effective date of abandoning: 20230728 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20170419 Effective date of abandoning: 20230728 |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |