CN208575895U - Robot balancer and decoupling type robot palletizer - Google Patents
Robot balancer and decoupling type robot palletizer Download PDFInfo
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- CN208575895U CN208575895U CN201821127594.2U CN201821127594U CN208575895U CN 208575895 U CN208575895 U CN 208575895U CN 201821127594 U CN201821127594 U CN 201821127594U CN 208575895 U CN208575895 U CN 208575895U
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Abstract
The utility model relates to robot balancer and decoupling type robot palletizers, the former includes pedestal, pulling force output device, planetary reducer and energy storage device, it is formed with the mounting hole of perforation pedestal on the base, the power output shaft of carrying energy storage device is installed in mounting hole, planetary reducer includes input gear and planet carrier, the connection of one end of planet carrier and power output shaft, input gear are able to drive planet carrier and rotate and then drive power output shaft rotation；Energy storage device is configured to that power output shaft is made to have the rotation trend rotated to the second direction opposite with first direction always under the operating condition rotated towards first direction；Pulling force output device includes the pulling force output wheel connecting with input gear and the movement output mechanism connecting with pulling force output wheel；The latter includes the former.The utility model can increase the high efficiency of robot operation, stability, meanwhile, reduce the danger coefficient in robot operational process.
Description
Technical field
The utility model relates to robot fields, more particularly, to a kind of robot balancer and decoupling type stacking machine
People.
Background technique
In industrial processes, more and more operative scenario needs use robot to carry out operation, wherein decoupling
Type robot palletizer uses decoupling type knot extensive, that decoupling type robot palletizer has the control of X and Y-direction coordinate non-interference
Structure, control is simple, cheap, but there are such problems in its movement: since the center of gravity of robot arm does not pass through
Joints axes, thus very big gravity bending moment is produced relative to complete machine, inertia force in great gravity bending moment and motion process
Square etc. reduces the stability of robot and shortens the service life of precision part.Simultaneously when acceleration and deceleration, great impact force produces screw rod
Raw great alternate stress.
To solve the above-mentioned problems, people are by being arranged balancer for robot, to reduce joint loads torque, improve
Key component stress improves the performance of motor, speed reducer.
In existing robot balancer design aspect: revolute robot mostly uses greatly extension spring or counterweight block mode
Gravity torque is reduced, but clump weight balancing device or spring elongation balancing device have the problem that volume is big, and weight weighs, and
And the rotation fulcrum of the big swing arm of decoupling type robot palletizer that largely uses of industrial flow-line be it is mobile, conventional balanced cylinder cannot
For decoupling type robot palletizer balance, clump weight provide trimming moment be it is constant, be also not suitable for robot palletizer or more
The gravity torque of linear change when moving, while working as Y-direction or X to driving synchronous pulley since phenomenon of rupture occurs in fatigue, it incites somebody to action
It will lead to entire robot arm to occur slipping shock limited block, bring unnecessary damage to basic machine, while giving
Produced on-site personnel bring security risk.
Utility model content
The utility model is to propose in view of the above problems, and its purpose is to provide a kind of robot balancer and decouplings
Type robot palletizer.
The utility model can increase the high efficiency of robot operation, stability, accuracy, be conducive to improve robot
Service life, meanwhile, the danger coefficient in robot operational process can be reduced, the safety of production process is improved.
To realize that the purpose of this utility model adopts the following technical scheme that.
First technical solution of the utility model be a kind of robot balancer, the robot balancer include pedestal,
Pulling force output device, planetary reducer and energy storage device.
It is formed with the mounting hole for penetrating through the pedestal on the pedestal, carries the power output shaft peace of the energy storage device
Loaded in the mounting hole.
The planetary reducer includes input gear and planet carrier.
The planet carrier is connect with one end of the power output shaft, and the input gear is able to drive the planet carrier and turns
It is dynamic that the power output shaft is driven to rotate in turn；The energy storage device is configured to turn the power output shaft towards first direction
There is the rotation trend rotated to second direction opposite to the first direction always under dynamic operating condition；The pulling force output dress
The movement output mechanism setting the pulling force output wheel including connecting with the input gear and being connect with the pulling force output wheel.
In addition, the robot balancer of the second technical solution, in the robot balancer of the first technical solution, the row
Star deceleration device further includes gear ring and the planetary gear that is set on the planet carrier.
The gear ring has internal tooth, and the planetary gear and the input gear are respectively provided with respective external tooth, the row
Star gear and the input gear are surrounded on the inside of the gear ring, and the planetary gear external tooth respectively with the gear ring
The external tooth of internal tooth and the input gear is meshed, and the gear ring is fixed on one end close to the planet carrier of the mounting hole
Hole wall on.
In addition, the robot balancer of third technical solution, in the robot balancer of the first technical solution, the storage
Energy device includes elastic element, and the elastic element applies and turns to the power output shaft when the power output shaft is rotated
Move contrary active force；One end of the elastic element is fixed on the power output shaft, the elastic element it is another
One end is fixed on the pedestal.
In addition, the robot balancer of the 4th technical solution, in the robot balancer of third technical solution, the bullet
Property element be torsional spring on the periphery of the power output shaft.
In addition, the robot balancer of the 5th technical solution, in the robot balancer of the 4th technical solution, the torsion
One end of spring is fixed on the power output shaft by hooking assemblies.
In addition, the robot balancer of the 6th technical solution, in the robot balancer of the second technical solution, the row
There are four star gear tools, and four planetary gears are defeated around the power in the plane perpendicular to the power output shaft
Shaft is uniformly distributed.
In addition, the robot balancer of the 7th technical solution, in the robot balancer of the first technical solution, the machine
Device people's balancer further includes no excitation brake, and the rotor of the no excitation brake is connected by rotation axis and the input gear
It connects, the pulling force output wheel is fixedly connected in a manner of being sheathed on the outside of the rotation axis with the input gear.
In addition, the robot balancer of the 8th technical solution, in the robot balancer of the first technical solution, the row
Carrier is an integral molding structure with the power output shaft.
In addition, the robot balancer of the 9th technical solution, in the robot balancer of the first technical solution, the drawing
Power output wheel is sprocket wheel, passes through transmission chain link between the movement output mechanism and the sprocket wheel.
Tenth technical solution of the utility model is a kind of decoupling type robot palletizer, has in the above-mentioned first to the 9th and appoints
Robot balancer described in a kind of technical solution of anticipating.
Compared with prior art, by adopting the above technical scheme, the utility model can generate following beneficial effect.
The one side of the utility model provides a kind of robot balancer, which includes pedestal, pulling force
Output device, planetary reducer and energy storage device.
It is formed with the mounting hole of perforation pedestal on the base, the power output shaft for carrying energy storage device is installed on mounting hole
In.
Planetary reducer includes input gear and planet carrier.
The connection of one end of planet carrier and power output shaft, input gear are able to drive planet carrier and rotate and then drive power defeated
Shaft rotation；Energy storage device be configured to make power output shaft have always under the operating condition rotated towards first direction to first party
The rotation trend rotated to opposite second direction；Pulling force output device include the pulling force output wheel being connect with input gear and
The movement output mechanism being connect with pulling force output wheel.
In use, being installed on the shoulder of robot, in the robot balancer, anti-make is provided using energy storage device
With the influence of torque balanced robot front end gravity and inertia.
Wherein, in order to avoid energy storage device directly to be connect to the pulling force output wheel for needing big outer diameter, shadow with pulling force output wheel
The compactedness of robot architecture is rung, while avoiding the rotation angle too small of energy storage device, influences asking for the working space of robot
Topic, the utility model are arranged planetary reducer, energy storage device are placed in the low speed end of planetary reducer, by pulling force output wheel
It is placed in the speed end of planetary reducer, the reduction ratio by controlling planetary reducer carries out the angle of revolution of energy storage device
Control, for example, being maintained at its rotational angle within 90 degree of ranges.
Robot balancer provided by the utility model can efficiently reduce joint loads torque, and it is crucial to improve robot
Part stress increases rapidity, accuracy and the stability of robot response to improve the performance of motor, speed reducer.
The another aspect of the utility model additionally provides a kind of decoupling type robot palletizer, then has above-mentioned robot flat
Weighing apparatus.
To which huge reaction when decoupling type robot palletizer moves up and down can be balanced according to above-mentioned robot balancer
Power improves force-bearing situation when decoupling type robot palletizer moves up and down and alternate stress is particularly changed into pulse stress,
Achieve the effect that improve decoupling type robot palletizer service life, meanwhile, the operation of decoupling type robot palletizer can be made more flat
Weighing apparatus, high speed, greatly promote the movenent performance of decoupling type robot palletizer.
Detailed description of the invention
It, below will be right in order to illustrate more clearly of specific embodiment of the present invention or technical solution in the prior art
Specific embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, it is described below
In attached drawing be that some embodiments of the utility model are not paying creativeness for those of ordinary skill in the art
Under the premise of labour, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the overall structure diagram for indicating the specific embodiment of robot balancer provided by the utility model.
Fig. 2 is the entirety for indicating the pulling force output device of specific embodiment of robot balancer provided by the utility model
Structural schematic diagram.
Fig. 3 is the entirety without excitation brake for indicating the specific embodiment of robot balancer provided by the utility model
Structural schematic diagram.
Fig. 4 is to indicate that installation site of the robot balancer provided by the utility model on decoupling type robot palletizer is shown
It is intended to.
Appended drawing reference: 1- pedestal；21- gear ring；22- planetary gear；23- input gear；241- planet carrier；242- power is defeated
Shaft；25- bearing；31- torsional spring；32- end cap；41- pulling force output wheel；42- transmission chain；5- is without excitation brake；51- rotor；
52- stator；53- armature plate；54- stator coil；55- torque spring；56- rotor foreboard；57- electric wire.
Specific embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with attached drawing, it is clear that described
Embodiment is the utility model a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, originally
Field those of ordinary skill every other embodiment obtained without making creative work belongs to practical
Novel protected range.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "vertical", "horizontal",
The orientation or positional relationship of the instructions such as "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of retouching
State the utility model and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with
Specific orientation construction and operation, therefore should not be understood as limiting the present invention.It needs in the description of the present invention,
It is noted that unless otherwise clearly defined and limited, term " installation ", " connection " shall be understood in a broad sense, for example, it may be
It is fixedly connected, may be a detachable connection, or be integrally connected；It can be mechanical connection, be also possible to be electrically connected；It can be
It is connected directly, the connection inside two elements can also be can be indirectly connected through an intermediary.For the common of this field
For technical staff, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
Below according to the overall structure of robot balancer provided by the utility model, its specific embodiment is said
It is bright.
Fig. 1 is the overall structure diagram for indicating the specific embodiment of robot balancer provided by the utility model.Fig. 2
It is the overall structure diagram for indicating the pulling force output device of specific embodiment of robot balancer provided by the utility model.
Fig. 3 is the overall structure signal without excitation brake for indicating the specific embodiment of robot balancer provided by the utility model
Figure.Fig. 4 is the schematic view of the mounting position for indicating robot balancer provided by the utility model on decoupling type robot palletizer.
A kind of robot balancer is present embodiments provided, as shown in Figure 1 and Figure 2, the robot balancer, including pedestal
1, pulling force output device, planetary reducer and energy storage device.
Wherein, it is formed with the mounting hole of perforation pedestal 1 on pedestal 1, carries the power output shaft 242 of above-mentioned energy storage device
It is installed in mounting hole.
Planetary reducer includes input gear 23 and planet carrier 241.
Planet carrier 241 is connect with one end of power output shaft 242, input gear 23 be able to drive planet carrier 241 rotate into
And power output shaft 242 is driven to rotate；Energy storage device is configured to make power output shaft 242 under the operating condition rotated towards first direction
Always there is the rotation trend rotated to the second direction opposite with first direction；Pulling force output device includes and input gear 23
The pulling force output wheel 41 of connection and the movement output mechanism (not shown) being connect with pulling force output wheel 41.
In order to improve the reliability of transmission, in the central axis of settable power output shaft 242, input gear 23
The central axis of mandrel line and mounting hole is overlapped.
Further, above-mentioned planetary reducer further includes gear ring 21 and the planetary gear 22 that is set on planet carrier 241.
Gear ring 21 has internal tooth, and planetary gear 22 and input gear 23 are respectively provided with respective external tooth, 22 He of planetary gear
Input gear 23 is surrounded on the inside of gear ring 21, and the external tooth of planetary gear 22 respectively with the internal tooth of gear ring 21 and input gear 23
External tooth be meshed, gear ring 21 is fixed on the hole wall of one end of the close planet carrier 241 of mounting hole.
In addition, above-mentioned energy storage device includes elastic element and end cap 32.
Elastic element applies and rotation direction opposite effect when power output shaft 242 is rotated to power output shaft 242
Power, one end of elastic element are fixed on power output shaft 242, and the other end of elastic element is fixed on pedestal 1；32 cloth of end cap
It is placed in one end of the separate planet carrier 241 of mounting hole, the other end of power output shaft 242 connecting with planet carrier 241 passes through axis
25 are held to be rotatablely connected with end cap 32.
Further, which is the torsional spring 31 on the periphery of power output shaft 242.
Further, one end of torsional spring 31 is fixed on power output shaft 242 by hooking assemblies.
The hooking assemblies various structures, for example, the hooking assemblies include hook and the setting for being formed in one end of torsional spring 31
In the groove that the axis direction along power output shaft 242 on power output shaft 242 extends, it is formed with and is used in the inside of groove
Hook the hook hole of hook.
In addition, there are four the above-mentioned tools of planetary gear 22, and four planetary gears 22 are perpendicular to power output shaft 242
It is uniformly distributed in plane around power output shaft 242.
In addition, the robot balancer further includes no excitation brake 5, the rotor 51 without excitation brake 5 is by turning
Moving axis is connect with input gear 23, and pulling force output wheel 41, which is fixed in a manner of the outside for being sheathed on rotation axis with input gear 23, to be connected
It connects.
Specifically, as shown in figure 3, above-mentioned no excitation brake 5 is a kind of electromagnetic brake, this has without excitation brake 5
There are rotor 51, stator 52, armature plate 53, stator coil 54, torque spring 55, rotor foreboard 56 and electric wire 57.
Electromagnetic attraction is generated when stator coil 54 is powered, armature plate 53 is overcome torque spring 55 by electromagnetic attracting force
Thrust abuts 52 side surface of stator, all has between rotor 51 and armature plate 53 and between rotor 51 and rotor foreboard 56 at this time
Gap can permit the rotation of rotor 51；When stator coil 54 powers off, electromagnetic attraction disappears, and torque spring 55 is by armature at this time
Plate 53 presses to 51 side surface of rotor；Rotor 51 is clamped by armature plate 53 and rotor foreboard 56 so that rotor 51 can not rotate, thus
Play the role of braking and holding.
This brake is all the thrust generation frictional force by spring as the principle of the electromagnetic brake of electric machine built-in
Brake: have a power failure when emergency braking, keep halted state for a long time, prevent machinery in terms of play brake and holding
The performance of position.
In addition, above-mentioned planet carrier 241 is an integral molding structure with above-mentioned power output shaft 242.
In addition, above-mentioned pulling force output wheel 41 is sprocket wheel, act between output mechanism and sprocket wheel as pulling force output wheel 41
It is connected by transmission chain 42.
In addition, the utility model additionally provides a kind of decoupling type robot palletizer, it, should with above-mentioned robot balancer
The installation site of robot balancer is as shown in Figure 4, wherein indicates the robot balancer with A.
Above to the structure of the specific embodiment of the robot balancer of the utility model and decoupling type robot palletizer
It is illustrated, is used for below and working method is illustrated.
In use, robot balancer to be installed on to the shoulder of robot, it is flat to provide the moment of reaction using energy storage device
The influence of weighing apparatus robot front end gravity and inertia.
Wherein, in order to avoid energy storage device directly to be connect to the pulling force output wheel for needing big outer diameter, shadow with pulling force output wheel
The compactedness of robot architecture is rung, while avoiding the rotation angle too small of energy storage device, influences asking for the working space of robot
Topic, the utility model are arranged planetary reducer, energy storage device are placed in the low speed end of planetary reducer, by pulling force output wheel
It is placed in the speed end of planetary reducer, the reduction ratio by controlling planetary reducer carries out the angle of revolution of energy storage device
Control, for example, being maintained at its rotational angle within 90 degree of ranges.
More specifically, utilizing the rotation of torsional spring in the robot balancer that specific embodiment of the utility model provides
Stored energy amount, thus, pass through the moment of reaction balanced robot front end gravity of torsional spring and the influence of inertia.
When work, when movement output mechanism moves upwards, pulling force output wheel is pulled to rotate in one direction, pulling force output
Wheel successively drive input gear, planetary gear, planet carrier, power output shaft rotation, and then make torsional spring by turn round deformation occurs, gravity
Potential energy is elastic potential energy；When movement output mechanism makees descending motion, pulling force output wheel is pulled to rotate in the opposite direction, pulling force
Output wheel successively drives input gear, planetary gear, planet carrier, power output shaft rotation, and then restores torsional spring, elastic potential energy
It is released.
Robot balancer provided by the utility model can efficiently reduce joint loads torque, and it is crucial to improve robot
Part stress increases rapidity, accuracy and the stability of robot response to improve the performance of motor, speed reducer.
In addition, decoupling type robot palletizer provided by the utility model can be balanced by robot balancer when moving up and down
Huge reaction force, force-bearing situation when so as to improve the up and down motion of decoupling type robot palletizer, particularly, by alternate stress
Pulse stress is changed into, achievees the effect that improve decoupling type robot palletizer service life, meanwhile, decoupling type stacking machine can be made
The operation of people more balances, at a high speed, greatly promotes the movenent performance of decoupling type robot palletizer.
In addition, power output is fixed on by hooking assemblies in one end that torsional spring is arranged in above-mentioned specific embodiment
On axis, further, make hooking assemblies include be formed in torsional spring one end hook and be set on power output shaft along power
The groove that the axis direction of output shaft extends is formed with the hook hole for hooking hook in the inside of groove.
So that a kind of fixed form on power output shaft is fixed in the one end for providing torsional spring, has and be easily assembled, and
The reliable advantage of stable connection.
In addition, there are four planetary gear tools in above-mentioned specific embodiment, and four planetary gears are perpendicular to dynamic
It is uniformly distributed in the plane of power output shaft around power output shaft.
To be driven by multiple planetary gears, improve the transmission stability of planetary reducer.
In addition, in above-mentioned specific embodiment, by being arranged without excitation brake, thus, it can be by for robot
The instruction of central control system input control process control is carried out to no excitation brake, and then when there is emergency, by
Without excitation brake pulling force output wheel and input gear, robot is braked, avoids the generation of dangerous situation.Since nothing is encouraged
Magnetic brake can be done directly on pulling force output wheel and input gear, thus its braking has the characteristics that quick, sensitive, Neng Gouyou
Effect prevents unexpected generation, it is ensured that the safety of robot, robot peripheral equipment and staff on the scene.
In addition, be an integral molding structure by setting planet carrier with power output shaft in above-mentioned specific embodiment,
To, one end of torsional spring can be made to be directly fixed on planet carrier, so that statokinetic rotary inertia is reduced, the integrated molding knot
Structure makes brake more compact, is conducive to guarantee the installation accuracy of robot from structure, reduces number of parts, improves planet
The service life of deceleration device has the advantages that easy to maintain.
In addition, making pulling force output wheel sprocket wheel in above-mentioned specific embodiment, output mechanism is acted and as pulling force
Pass through transmission chain link between the sprocket wheel of output wheel.
Chaindriven bearing capacity is high, high-efficient, and its to act on the power on axis small, make pulling force output wheel sprocket wheel, it is dynamic
Make by transmission chain link between output mechanism and pulling force output wheel, thus, it is ensured that action output device is smoothly moved
Power output, and be conducive to improve the service life of the robot balancer.
In addition, in above-mentioned specific embodiment, in order to make power output shaft the inside of mounting hole more glibly
Rotation, the diameter that axis direction side can be set as according to the axis that shown in Fig. 1, outputs power are straight greater than axis direction other side
The shape of diameter, and the one side being relatively large in diameter is connect with button spring.
It is an integral molding structure furthermore it is also possible to which input gear is arranged with pulling force output wheel, thus, it is ensured that input gear
There is action consistency between pulling force output wheel, avoid the presence of movement deviation between input gear and pulling force output wheel, favorably
In quick, the accuracy that guarantee robot motion output, meanwhile, input gear and pulling force output wheel are integrally formed, and are conducive to machine
The whole assembly of device people's balancer, improves the packaging efficiency of robot balancer.
In addition, in above-mentioned specific embodiment, to robot balancer provided by the utility model and decoupling type code
The specific structure of pile robot is illustrated, and but not limited to this.
For example, planetary reducer can also be including multistage input gear, multistage in above-mentioned specific embodiment
Multi-stage speed reducer structure made of output gear is intertwined, wherein planetary gear arrangement mode can subtract according to multistage
The arrangement mode of the gears at different levels of fast device and change, as long as can be realized planetary reduction gear function.
In addition, energy storage device is also possible to Pneumatic energy device or magnetic-type energy storage in above-mentioned specific embodiment
Device etc., if can play make power output shaft under the operating condition rotated towards first direction always have to first direction phase
The function of the rotation trend of anti-second direction rotation.
In addition, setting elastic element is torsional spring, and but not limited to this in above-mentioned specific embodiment, elasticity member
Part may not be torsional spring, but plane scroll spring or common spring structure etc..
In addition, setting robot balancer further includes no excitation brake in above-mentioned specific embodiment, but not
It is limited to this, this can also be not provided with without excitation brake, equally can be achieved negative using robot balancer reduction joint of robot
Torque is carried, key component stress is improved, improves the function of motor, speed reducer performance.
But according to the structure in specific embodiment, above-mentioned no excitation brake is set, thus, it can be by for machine
The central control system input control instruction of device people carries out process control to no excitation brake, and then emergency is occurring
When, by no excitation brake pulling force output wheel and input gear, robot is braked, avoids the generation of dangerous situation.By
Can be done directly on pulling force output wheel and input gear in no excitation brake, thus its braking have the characteristics that it is quick, sensitive,
It can effectively prevent unexpected generation, it is ensured that the safety of robot, robot peripheral equipment and staff on the scene.
In addition, setting planet carrier is an integral molding structure with power output shaft, still in above-mentioned specific embodiment
Without being limited thereto, being also possible to the connection being arranged between planet carrier and power output shaft is removable connection, for example, planet carrier with
By being provided with screw thread by both ends between pin or screw connection or planet carrier and power output shaft between power output shaft
Connector sleeve connection etc., it is same to can be achieved to reduce joint of robot loading moment using robot balancer, improve key component by
Power state improves the function of motor, speed reducer performance.
But according to the structure in specific embodiment, planet carrier is set and is an integral molding structure with power output shaft, from
And one end of torsional spring can be made to be directly fixed on planet carrier, so that statokinetic rotary inertia is reduced, the integrated formed structure
So that brake is more compact, is conducive to guarantee the installation accuracy of robot from structure, reduces number of parts, improve planet and subtract
The service life of speed variator has the advantages that easy to maintain.
In addition, there are four planetary gear tools in above-mentioned specific embodiment, and four planetary gears are perpendicular to dynamic
It is uniformly distributed in the plane of power output shaft around power output shaft.But not limited to this, and planetary gear quantity may not be
Four, but one or two or three or the arbitrary integers such as five, planet is driven by input gear as long as can be realized
Gear rotation is to drive planet carrier to rotate and then drive power output shaft rotation.
But according to the structure in specific embodiment, it is arranged there are four planetary gear tools, has with setting planetary gear
One or two or three compare, and the transmission stability of planetary reducer can be improved under simple structure.
In addition, power output is fixed on by hooking assemblies in one end that torsional spring is arranged in above-mentioned specific embodiment
On axis, further, make hooking assemblies include be formed in the hook of one end of torsional spring and be set on power output shaft along dynamic
The groove that the axis direction of power output shaft extends is formed with the hook hole for hooking hook in the inside of groove.But it is unlimited
In this, one end of torsional spring can also be to be fixed on power output shaft by screw, wherein, can in order to which fixation is better achieved
One end that torsional spring is arranged is flat sheet-like structure；Alternatively, welded between one end of setting torsional spring and the output shaft of planetary reduction gear,
To reach fixed function etc..
But compared with above-mentioned interchangeable structure, according to the structure in specific embodiment, one end that torsional spring is arranged is logical
Hooking assemblies are crossed to be fixed on power output shaft, thus, one end of torsional spring can be made to be fixed on power in a manner of being easily assembled defeated
It is easy for installation on shaft, and have the advantages that stable connection is reliable.
In addition, on the basis of one end that torsional spring is arranged is fixed on power output shaft by hooking assemblies, above-mentioned hook
Hanging component, which can also be, to be formed as with flowering structure: the installation sheet with hook hole and setting including being formed in one end of torsional spring
In the U-shaped locating piece that can be passed through hook hole and the installation sheet is fixed on power output shaft, wherein U-shaped locating piece can
To be distributed across on the circumferential surface of power output shaft, it is also possible to be distributed on the end face of power output shaft；Alternatively, above-mentioned hook
Component is the hooking assemblies etc. of other forms.
In addition, making pulling force output wheel sprocket wheel in above-mentioned specific embodiment, output mechanism is acted and as pulling force
By transmission chain link between the sprocket wheel of output wheel, but not limited to this, and pulling force output wheel may not be sprocket wheel, but common
Friction pulley, power take-off mechanism pass through pulling force as long as can reach accordingly between pulling force output wheel through friction belt drive etc.
The function of output wheel realization power output.
But according to the structure in specific embodiment, make pulling force output wheel sprocket wheel, it acts output mechanism and pulling force is defeated
Out by transmission chain link between wheel, thus, it is high, high-efficient using chaindriven bearing capacity, and it is acted on axis
The small advantage of power, safety action output device carries out stable power output, and is conducive to improve making for the robot balancer
Use the service life.
In addition, the robot balancer and decoupling type robot palletizer of the utility model, it can be by each of above embodiment
Kind structure is composed, and can equally play above-mentioned effect.
Finally, it should be noted that the above various embodiments is only to illustrate the technical solution of the utility model, rather than it is limited
System；Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should
Understand: it is still possible to modify the technical solutions described in the foregoing embodiments, or to some or all of
Technical characteristic is equivalently replaced；And these are modified or replaceed, it does not separate the essence of the corresponding technical solution, and this is practical new
The range of each embodiment technical solution of type.
Claims (10)
1. a kind of robot balancer, which is characterized in that including pedestal, pulling force output device, planetary reducer and energy storage
Device,
The mounting hole for penetrating through the pedestal is formed on the pedestal, the power output shaft for carrying the energy storage device is installed on
In the mounting hole,
The planetary reducer includes input gear and planet carrier,
The planet carrier is connect with one end of the power output shaft, the input gear be able to drive the planet carrier rotate into
And the power output shaft is driven to rotate；
The energy storage device be configured to make the power output shaft have always under the operating condition rotated towards first direction to institute
State the rotation trend of the opposite second direction rotation of first direction；
The pulling force output device includes the pulling force output wheel connecting with the input gear and connects with the pulling force output wheel
The movement output mechanism connect.
2. robot balancer according to claim 1, which is characterized in that
The planetary reducer further includes gear ring and the planetary gear that is set on the planet carrier,
The gear ring has internal tooth, and the planetary gear and the input gear are respectively provided with respective external tooth, the planet tooth
Wheel and the input gear are surrounded on the inside of the gear ring, and the planetary gear external tooth internal tooth with the gear ring respectively
It is meshed with the external tooth of the input gear,
The gear ring is fixed on the hole wall of one end of the close planet carrier of the mounting hole.
3. robot balancer according to claim 1, which is characterized in that the energy storage device includes elastic element, institute
Elastic element is stated to apply and rotation direction opposite effect power when the power output shaft is rotated to the power output shaft；
One end of the elastic element is fixed on the power output shaft, and the other end of the elastic element is fixed on the base
On seat.
4. robot balancer according to claim 3, which is characterized in that the elastic element is defeated set on the power
Torsional spring on the periphery of shaft.
5. robot balancer according to claim 4, which is characterized in that one end of the torsional spring is solid by hooking assemblies
Due on the power output shaft.
6. robot balancer according to claim 2, which is characterized in that there are four the planetary gear tools, and four
The planetary gear is uniformly distributed in the plane perpendicular to the power output shaft around the power output shaft.
7. robot balancer according to claim 1, which is characterized in that the robot balancer further includes no excitation
Brake,
The rotor of the no excitation brake is connect by rotation axis with the input gear,
The pulling force output wheel is fixedly connected in a manner of being sheathed on the outside of the rotation axis with the input gear.
8. robot balancer according to claim 1, which is characterized in that the planet carrier is with the power output shaft
Integrated formed structure.
9. robot balancer according to claim 1, which is characterized in that the pulling force output wheel is sprocket wheel, described dynamic
Make between output mechanism and the sprocket wheel through transmission chain link.
10. a kind of decoupling type robot palletizer, which is characterized in that have robot described in any one of claims 1 to 9 flat
Weighing apparatus.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821127594.2U CN208575895U (en) | 2018-07-16 | 2018-07-16 | Robot balancer and decoupling type robot palletizer |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821127594.2U CN208575895U (en) | 2018-07-16 | 2018-07-16 | Robot balancer and decoupling type robot palletizer |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108772853A (en) * | 2018-07-16 | 2018-11-09 | 上海元心智能机器人有限公司 | Robot balancer and decoupling type robot palletizer |
| CN113043322A (en) * | 2021-05-13 | 2021-06-29 | 上海大学 | Cable driving device for motion decoupling of rolling joint continuum mechanical arm |
-
2018
- 2018-07-16 CN CN201821127594.2U patent/CN208575895U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108772853A (en) * | 2018-07-16 | 2018-11-09 | 上海元心智能机器人有限公司 | Robot balancer and decoupling type robot palletizer |
| CN113043322A (en) * | 2021-05-13 | 2021-06-29 | 上海大学 | Cable driving device for motion decoupling of rolling joint continuum mechanical arm |
| CN113043322B (en) * | 2021-05-13 | 2023-02-17 | 上海大学 | Cable driving device for motion decoupling of rolling joint continuum mechanical arm |
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