CN206550717U - A kind of linkage shaking device compensated with difference in height - Google Patents
A kind of linkage shaking device compensated with difference in height Download PDFInfo
- Publication number
- CN206550717U CN206550717U CN201720184387.XU CN201720184387U CN206550717U CN 206550717 U CN206550717 U CN 206550717U CN 201720184387 U CN201720184387 U CN 201720184387U CN 206550717 U CN206550717 U CN 206550717U
- Authority
- CN
- China
- Prior art keywords
- height
- head
- linkage
- swinging head
- gear train
- 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.)
- Withdrawn - After Issue
Links
Landscapes
- Vibration Prevention Devices (AREA)
Abstract
The utility model discloses a kind of linkage shaking device compensated with difference in height.The linkage yaw is specially one group of compensation gear (2) (3) (4), a column (1) with rack and a swinging head (5).Wherein, the driven pulley (4) and swinging head (5) coaxial rotating of compensation gear train, under driving effect, swinging head (5) can realize the swing in vertical plane；The driving wheel (3) of compensation gear train drives rack and pinion drive to realize and moved up and down.The utility model only needs a motor driving, can compensate for swinging head (5) head because the vertical height that pivot angle is different and produces changes；Further, the design parameter for the compensation gear train that the linkage yaw is used for compensated pendulum dynamic height difference determines method, is that swinging head height of head change curve is fitted with least square method, and calculated according to franchise.
Description
Technical field
The utility model is related to machinery equipment field, and in particular to a kind of linkage shaking device compensated with difference in height.
Background technology
Swinging head is while swinging, and the vertical height on yaw head can change, in order to compensate this difference in height, tradition
Way be increase by one lifting the free degree, so both added the complexity of control system, and also improved cost.
Utility model content
The utility model overcomes above-mentioned deficiency, it is proposed that a kind of linkage shaking device compensated with difference in height, and says
Understand the method for determining the device design parameter.
It is a kind of with difference in height compensate linkage shaking device, including one group of compensation gear, a column with rack and
One swinging head, it is characterized in that：Compensate the driven pulley and swinging head coaxial rotating, drive of its driving wheel in electric rotating machine of gear train
Under dynamic, on the one hand drive driven pulley to rotate, to realize the swing of swinging head, while driving rack and pinion drive, realize pendulum
Moving up and down for dynamic head, is compensated to swinging difference in height.
Moreover, the compensation gear train is external toothing transmission；The column with rack is fixed, compensates tooth
Wheel group is moved with respect to rack, drives swinging head integrally to move up and down.
Moreover, after the length l and its swing angle θ of swinging head excursion are determined, swinging head head upright height
Changing H is：H=l*（1-cos θ), swinging head head upright height change curve is fitted with least square method, one is obtained
The optimal linear fit curve of bar, the slope of a curve in the compensation gear train with the radius R of rack meshed gears with
The gearratio i of gear train product is compensated, is required according to concrete structure, rationally takes the value for determining R and i, then the linkage yaw dress
The design parameter put is determined.
Advantageous effects of the present utility model are：
1. the utility model by the swing free degree of swinging head and for altimetric compensation the lifting free degree with a freedom
Degree is substituted, and in the case where meeting the basis of original function, is simplified control system, is reduced the cost of whole equipment.
2. the utility model proposes linkage shaking device parameter determination method, sent out in swinging head length and pivot angle scope
During changing, this method is still effective, and the parameter required for linkage shaking device after change can be calculated exactly.
3. the height change on the effective head to swinging head caused by swing of the utility model is compensated, swing
The pivot angle scope of head is smaller, and difference in height compensation effect is better, even if swing angle is more than 60 °, is carried out by the utility model high
Degree difference compensation, also can effectively reduction height error.
Brief description of the drawings
Fig. 1 is the installation diagram of linkage shaking device of the present utility model.
Fig. 2 is the left view of the installation diagram of linkage shaking device of the present utility model.
Fig. 3 is linkage yaw device parameter schematic diagram of the present utility model.
【Reference numeral explanation】1. the column with rack；2. compensate the driving wheel Z1 of gear train；3. compensate the master of gear train
Driving wheel Z2；4. compensate the driven pulley of gear train；5. swinging head；6. drive device；
Embodiment
Embodiment of the present utility model is described further below in conjunction with the accompanying drawings.
Such as Fig. 1, Fig. 2, shown in Fig. 3, work of the driving wheel (2) (3) of the present utility model for compensating gear in drive device (6)
When being rotated counterclockwise under, turned clockwise with the driven gear (4) of driving wheel Z1 (2) external toothing, the swinging head (5) and institute
It is connected to state driven pulley (4), so swinging head (5) makees clockwise oscillation, therefore swinging head (5) head also raises.It is same with this
When, because the column (1) with rack is fixed, whole swinging head is moved downwardly together with driving wheel Z2 (3), swinging head
(5) therefore the height that head rises is compensated；When the driving wheel (2) (3) of compensation gear train of the present utility model is filled in driving
Put when rotating clockwise in the presence of (6), above-mentioned motion conditions are just opposite.
In addition, the utility model illustrates the parameter determination method of linkage shaking device, below with as shown in figures 1 and 3
Structure exemplified by, calculate linkage shaking device design parameter.
The physical length of swinging head (5) is 1200mm in figure, according to operating environment requirements, and its swing angle is 0- π/4, root
It can be tried to achieve according to formula H=l* (1-cos θ), when not installing linkage shaking device, the curvilinear equation for swinging difference in height is H=1200*
(1-cos θ), carries out linear fit to the difference in height function curve using least square method, obtains linear fit curvilinear equation
For：H=405.17 θ -39.7, the slope of the matched curve is mended for driving wheel Z2 (3) radius R in the compensation gear train with described
Gear train gearratio i product is repaid, due to concrete structure requirement, driving wheel Z2 (3) modulus is taken as 2.5, and the number of teeth is taken as 92, R
=115, the gearratio for drawing said gear transmission is about 3.5, and it is 3.5 to determine gear-driven gearratio, and so far link yaw
The parameter of device has determined that.
Claims (2)
1. a kind of linkage shaking device compensated with difference in height, including one group of compensation gear, column with rack and one
Individual swinging head, it is characterized in that：Compensate the driven pulley and swinging head coaxial rotating, driving of its driving wheel in electric rotating machine of gear train
Under, on the one hand drive driven pulley to rotate, to realize the swing of swinging head, while driving rack and pinion drive, realize and swing
Moving up and down for head, is compensated to swinging difference in height.
2. a kind of linkage shaking device compensated with difference in height according to claim 1, it is characterised in that：The compensation
Gear train is external toothing transmission；The column with rack is fixed, and compensation gear train is moved with respect to rack, is driven
Swinging head is integrally moved up and down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720184387.XU CN206550717U (en) | 2017-02-28 | 2017-02-28 | A kind of linkage shaking device compensated with difference in height |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720184387.XU CN206550717U (en) | 2017-02-28 | 2017-02-28 | A kind of linkage shaking device compensated with difference in height |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206550717U true CN206550717U (en) | 2017-10-13 |
Family
ID=60361532
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720184387.XU Withdrawn - After Issue CN206550717U (en) | 2017-02-28 | 2017-02-28 | A kind of linkage shaking device compensated with difference in height |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206550717U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106670877A (en) * | 2017-02-28 | 2017-05-17 | 江南大学 | Linkage swinging head device having height difference compensating function and parameter determining method thereof |
-
2017
- 2017-02-28 CN CN201720184387.XU patent/CN206550717U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106670877A (en) * | 2017-02-28 | 2017-05-17 | 江南大学 | Linkage swinging head device having height difference compensating function and parameter determining method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104647367B (en) | The robot palletizer in parallel of the compound driving of a kind of rope bar | |
| CN101367486B (en) | Lifting mechanism | |
| CN202046648U (en) | Shuttle vehicle | |
| JP2018130796A (en) | Horizontal articulated robot | |
| CN205873721U (en) | Double -deck tower crane | |
| CN206550717U (en) | A kind of linkage shaking device compensated with difference in height | |
| CN105522568B (en) | A kind of seven axle robots for having transverse motion mechanism | |
| CN203770970U (en) | Pan-tilt | |
| CN106670877A (en) | Linkage swinging head device having height difference compensating function and parameter determining method thereof | |
| CN107878798A (en) | A kind of automatic box sealing machine with Double-lifting mechanism | |
| CN205255588U (en) | Horizontal adjusting device of fluting linkage board mariages pole | |
| CN204433110U (en) | A kind of single leg portal frame cantilever wrapping machine | |
| CN204924196U (en) | Forest zone three -dimensional laser scanning appearance carries on cloud platform mechanism | |
| CN208152654U (en) | A kind of synchronous drive device promoted for hoistable platform | |
| CN106670786A (en) | Automatic position shifting electric tightening device | |
| CN202863786U (en) | Rear cover mechanism of paper cup ice cream automatic filling machine | |
| CN104816845A (en) | High-speed gantry machine | |
| CN207537002U (en) | Spinning suspension hook | |
| CN204324775U (en) | Winch mechanism | |
| CN204221385U (en) | A kind of rotary table of improvement | |
| CN208394369U (en) | A kind of cantilever stacking machine | |
| CN209480539U (en) | A kind of reciprocating lever transportation system | |
| CN102400642B (en) | Drilling rotary swing power head for high pressure jet grouting | |
| CN208648671U (en) | A kind of IHI beam underdrive device | |
| CN206898743U (en) | A kind of servo motor screws device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20171013 Effective date of abandoning: 20190301 |