CN209256998U - A kind of feel trim actuator for mechanical arm - Google Patents
A kind of feel trim actuator for mechanical arm Download PDFInfo
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- CN209256998U CN209256998U CN201821677133.2U CN201821677133U CN209256998U CN 209256998 U CN209256998 U CN 209256998U CN 201821677133 U CN201821677133 U CN 201821677133U CN 209256998 U CN209256998 U CN 209256998U
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- arm
- gear
- pedestal
- synchronizing wheel
- mechanical arm
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Abstract
The utility model relates to mechanical arm fields, specifically disclose a kind of feel trim actuator for mechanical arm, comprising: pedestal；First arm, one end are articulated on the pedestal；Pedestal pulley is set on the pedestal of the rear side of first arm；Gear, synchronizing wheel, the gear and synchronizing wheel are set to the end of first arm positioned at the base side in coaxial fashion；Rack gear is engaged in the lower section of the gear in a manner of it can slidably reciprocate along the axial direction of first arm, and one end of the rack gear is connected with the first clump weight；And rope, one end are fixed on the arm of first arm far from the pedestal, the other end successively connects one second clump weight after the pedestal pulley and the synchronizing wheel.The discharge mechanism can improve balance efficiency according to the balance of the tilt angle dynamic adjusting machine device human arm of arm, so that unloading efficiency is higher.
Description
Technical field
The utility model belongs to mechanical arm field, in particular to a kind of feel trim actuator for mechanical arm.
Background technique
It is influenced by the own wt and length of mechanical arm, especially large-scale mechanical arm, the load at joint of mechanical arm
It is excessive, can to mechanical arm use, performance and safety impact.Feel trim actuator majority currently used for mechanical arm uses hydraulic
Technology, pneumatics etc..Based on this problem, provide that a kind of structure is simple, can effectively solve load problems of too for machine
The feel trim actuator of tool arm, is of great significance.
Utility model content
The purpose of this utility model is to provide a kind of feel trim actuators for mechanical arm, so that mechanical arm be overcome to unload
The excessive defect of load in the process.
To achieve the above object, the utility model provides a kind of feel trim actuator for mechanical arm, comprising: pedestal；The
One arm, one end are articulated on the pedestal；Pedestal pulley is set on the pedestal of the rear side of first arm；
Gear, synchronizing wheel, the gear and synchronizing wheel are set to the end of first arm positioned at the base side in coaxial fashion
Portion；Rack gear, one end are engaged in the lower section of the gear, institute in a manner of it can slidably reciprocate along the axial direction of first arm
The one end for stating rack gear is connected with the first clump weight；And rope, one end are fixed on first arm far from the pedestal
Arm on, the other end successively connects one second clump weight after the pedestal pulley and the synchronizing wheel.
It preferably, further include the second arm in above-mentioned technical proposal, one end of second arm and first arm
The other end be hinged.
Preferably, further include arm regulator in above-mentioned technical proposal, the gear by the arm regulator with it is described
One end of rack gear connects.
Preferably, in above-mentioned technical proposal, the arm regulator includes the gear wheel and pinion gear of coaxial arrangement, described
Gear wheel is engaged with the rack gear, and the pinion gear is engaged with the gear, and the number of teeth of the pinion gear is less than gear.
Preferably, in above-mentioned technical proposal, one end of first arm offers mounting groove, and the gear is installed on institute
It states in mounting groove, the synchronizing wheel is installed on the outside portion of first arm.
Compared with prior art, the utility model has the following beneficial effects:
1. the feel trim actuator for mechanical arm in the utility model, which can be according to the tilt angle of arm
The balance of dynamic adjusting machine device human arm improves balance efficiency, so that unloading efficiency is higher.
2. the utility model adapts to the unloading times under the conditions of different loads by adjusting the transmission ratio in arm regulator
Business, so that arm workload-adaptability is strong.
Detailed description of the invention
Fig. 1 is the first structure figure of the feel trim actuator according to the present utility model for mechanical arm.
Fig. 2 is the second structure chart of the feel trim actuator according to the present utility model for mechanical arm.
Fig. 3 is the structure scheme of installation of arm regulator according to the present utility model.
Main appended drawing reference explanation:
1, pedestal；2, the first arm；3, the second arm；4, rope；5, pedestal pulley；6, synchronizing wheel；7, gear；8, tooth
Item；9, the first clump weight；10, the second clump weight；11, arm regulator；12, gear wheel；13, pinion gear.
Specific embodiment
With reference to the accompanying drawing, specific embodiment of the present utility model is described in detail, it is to be understood that this is practical
Novel protection scope is not limited by the specific implementation.
Fig. 1-Fig. 2 shows the structure of the feel trim actuator for mechanical arm according to the preferred embodiments of the present invention
Figure.
As shown in Figure 1, the feel trim actuator for mechanical arm in the embodiment includes: pedestal 1, the first arm 2, pedestal cunning
Wheel 5, gear 7, synchronizing wheel 6, rack gear 8, rope 4, the second arm 3 and arm regulator 11；The preferably L-type pedestal of pedestal 1, first
One end of arm 2 is articulated on pedestal 1；Pedestal pulley 5 is set on the pedestal 1 at the rear of the first arm 2；Gear 7 and synchronizing wheel 6
It is set to the end of the first arm 2 positioned at base side in coaxial fashion, it is preferred that one end of the first arm 2 offers installation
Slot, gear 7 are installed in mounting groove, and synchronizing wheel is installed on the outside portion of the first arm 2, one end of the second arm 3 with it is first-hand
The other end of arm 2 is hinged；One end of rack gear 8 is engaged in gear 7 in a manner of it can slidably reciprocate along the axial direction of the first arm 2
Lower section, the other end of rack gear 8 is connected with the first clump weight；Rope 4 is preferably wirerope, and one end of rope 4 is fixed on separate
On the arm of first arm 2 of pedestal 1, the other end successively connects one second clump weight after pedestal pulley 5 and synchronizing wheel 6
10, so that the generation of rope 4 can be pulled to pull when the movement of the first arm 2, so that the second clump weight 10 is driven to move up and down,
The rope 4 of tensioning drives synchronizing wheel 6 and gear 7 to rotate simultaneously, thus it is mobile with carry-over bar 8, to drive on the second clump weight 10
Lower movement.
As shown in figure 3, preferred in the embodiment, gear 7 is connect by arm regulator 11 with one end of rack gear 8, is led to
The transmission ratio in adjustment arm regulator 11 is crossed, the unloading task under the conditions of different loads is adapted to, so that arm workload-adaptability
By force, specifically, rack gear 8 is mounted in the U-type groove of the first arm 2, rack gear 8 can be moved forward and backward along U-type groove, gear wheel 12 and tooth
Item 8 engages, and gear wheel 12 and the installation of the coaxial secure fit of pinion gear 13, pinion gear 13 are engaged with gear 7, the number of teeth of pinion gear 13
Less than gear 7.When mechanical arm tilt angle expands, wirerope 4 pulls gear 7 to rotate, and gear 7 drives 13 speedup of pinion gear to turn
It moves, pinion gear 13 drives gear wheel 12 to rotate, and 12 drive rack 8 of gear wheel quickly stretches out, and realizes when mechanical arm inclination is small
When angle, rack gear 8 can move relatively large distance, to realize the fast discharging of mechanical arm.
When operation, from the position of Fig. 1 to the position of Fig. 2: after the first arm 2 drops to the position Fig. 2 by the position Fig. 1, pulling
Rope 4, rope 4 drive synchronizing wheel 6, gear 7 and rack gear 8, and the first clump weight 9 applies pulling force to gear 7, and guarantees rope 4
Tensioning, rack gear 8 and the relative position of gear 7 change, and rack gear 8 is protruding, and the tilt angle of rack gear 8 is also with the first arm
2 change in location and reduce, i.e. the torque arm length of the first clump weight 9 increases, last mechanical under above series of dynamic regulation
Arm stress reaches new balance.
From the position of Fig. 2 to the position of Fig. 1: after the first arm 2 rises to the position Fig. 1 by the position Fig. 2, the second clump weight 10
Wirerope 4 is pulled, guarantees the tensioning of wirerope 4, the second clump weight 10 drives synchronizing wheel 6, gear 7 and rack gear 8 simultaneously, gives gear
7 apply pulling force, and rack gear 7 and the relative position of gear 8 change, and rack gear 8 is to contract, and the tilt angle of rack gear 8 is also with the
The change in location of one arm 2 and increase, i.e. the torque arm length of the first clump weight 9 reduces, under above series of dynamic regulation, most
Mechanical arm stress reaches new balance afterwards.
In conclusion the feel trim actuator for mechanical arm in the utility model, the discharge mechanism can be according to arms
The balance of tilt angle dynamic adjusting machine device human arm improves balance efficiency, so that unloading efficiency is higher.
The description of the aforementioned specific exemplary embodiment to the utility model is in order to illustrate and illustration purpose.These
Description is not wishing to for the utility model to be limited to disclosed precise forms, and it will be apparent that according to the above instruction, can carry out
It is many to change and change.The purpose of selecting and describing the exemplary embodiment is that explaining the specific principle of the utility model
And its practical application, so that those skilled in the art can be realized and utilize a variety of different examples of the utility model
Property embodiment and various chooses and changes.The scope of the utility model is intended to by claims and its waits similar shapes
Formula is limited.
Claims (5)
1. a kind of feel trim actuator for mechanical arm characterized by comprising
Pedestal；
First arm, one end are articulated on the pedestal；
Pedestal pulley is set on the pedestal of the rear side of first arm；
Gear, synchronizing wheel, the gear and synchronizing wheel are set to first arm positioned at the base side in coaxial fashion
End；
Rack gear, one end are engaged in the lower section of the gear in a manner of it can slidably reciprocate along the axial direction of first arm,
The other end of the rack gear is connected with the first clump weight；And
Rope, one end are fixed on the arm of first arm far from the pedestal, and the other end is successively around the base
One second clump weight is connected after seat pulley and the synchronizing wheel.
2. the feel trim actuator according to claim 1 for mechanical arm, which is characterized in that it further include the second arm, it is described
One end of second arm and the other end of first arm are hinged.
3. the feel trim actuator according to claim 1 for mechanical arm, which is characterized in that it further include arm regulator, institute
Gear is stated to connect by the arm regulator with one end of the rack gear.
4. the feel trim actuator according to claim 3 for mechanical arm, which is characterized in that the arm regulator includes same
The gear wheel and pinion gear, the gear wheel of axis setting are engaged with the rack gear, and the pinion gear is engaged with the gear, described
The number of teeth of pinion gear is less than gear.
5. the feel trim actuator according to claim 1 for mechanical arm, which is characterized in that open one end of first arm
Equipped with mounting groove, the gear is installed in the mounting groove, and the synchronizing wheel is installed on the outside portion of first arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821677133.2U CN209256998U (en) | 2018-10-16 | 2018-10-16 | A kind of feel trim actuator for mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821677133.2U CN209256998U (en) | 2018-10-16 | 2018-10-16 | A kind of feel trim actuator for mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209256998U true CN209256998U (en) | 2019-08-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821677133.2U Active CN209256998U (en) | 2018-10-16 | 2018-10-16 | A kind of feel trim actuator for mechanical arm |
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| CN (1) | CN209256998U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109262655A (en) * | 2018-10-16 | 2019-01-25 | 广西电网有限责任公司电力科学研究院 | A kind of mechanical arm discharge mechanism for robot |
-
2018
- 2018-10-16 CN CN201821677133.2U patent/CN209256998U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109262655A (en) * | 2018-10-16 | 2019-01-25 | 广西电网有限责任公司电力科学研究院 | A kind of mechanical arm discharge mechanism for robot |
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