CN210135208U - Moment balancing device for moving support arm - Google Patents
Moment balancing device for moving support arm Download PDFInfo
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- CN210135208U CN210135208U CN201822232260.8U CN201822232260U CN210135208U CN 210135208 U CN210135208 U CN 210135208U CN 201822232260 U CN201822232260 U CN 201822232260U CN 210135208 U CN210135208 U CN 210135208U
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Abstract
The utility model discloses a moment balancing device for a moving support arm, which comprises a shell, an output flange and an input flange, wherein the output flange and the input flange are arranged on the shell; the shell is formed by combining a side cover plate and a shell bottom cover with a concave cavity; the concave cavity is also internally provided with a transmission mechanism, and the transmission mechanism comprises a planet support, a spring guide groove and a bearing. The utility model can conveniently install the equipment such as the motor and the angle encoder through the simple flange design, and then can balance any angle and load moment through the spring design by utilizing the circular moment balancing device designed by the spring mechanism; a sun gear planetary gear mechanism is further adopted, so that the expansion amount of a spring is reduced, and the load is allowed to move in a large angle; and the spring adopts the guide slot design, prevents that other directions of spring from warping, and easily change. The utility model discloses possible accurate balanced motion support arm moment has higher environmental suitability.
Description
Technical Field
The utility model relates to a moment control technical field especially relates to a motion support arm moment balancing unit.
Background
At present, in a control system of a moving arm, such as the moving arm system shown in fig. 1, if a load is desired to be lifted from a position a to a position B and then to a position C, in a process of using a common crane, a motor drives the moving arm through a rotating part, a load moment is changed constantly and is a nonlinear change in the process, the nonlinear change of the load moment can greatly aggravate the load of a power output part, a motor is required to have a large output moment, a fast moment change speed is required, instability of the whole control system is increased, and instability of the load can also be caused.
In order to overcome the nonlinear variable moment, a solution is to install a corresponding counterweight in the opposite direction of the load, and although this way can solve a certain variable moment, it not only increases the weight of the whole system, but also increases the moving radius of the moving arm; the other solution is to use a motor with large torque, and to overcome the non-linear variable torque by means of the strong output torque of the motor, the motor is required to have large torque and short torque adjustment time, and the requirement on the motor is high, so that the hardware cost is greatly increased while the problem is solved by adopting the method; the last method is to install a moment balancer, but most of the existing moment balancers are linear, not only have large volume, but also have low degree of contact with the change of load moment, so that the burden of a control system is easily increased, and the problems cannot be well solved.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a motion support arm moment balancing unit, small, moment balance nature is high, and can reduce the hardware cost of system greatly, has higher adaptability.
The utility model adopts the technical proposal that:
a moment balancing device for a moving support arm comprises a shell, an output flange and an input flange, wherein the output flange and the input flange are arranged on the shell; the shell is formed by combining a side cover plate and a shell bottom cover with a concave cavity; the cavity is internally provided with a transmission mechanism, the transmission mechanism comprises a planet support, a spring guide groove and a bearing, the input flange is fixed at one end of the bearing inner ring, the outer end of the input flange is used for connecting a motor or other power devices, the output flange is fixed at the other end of the bearing inner ring and is used for installing an encoder and other angle and speed measuring sensors, and the planet support is fixed at the bearing outer ring;
the planet carrier is provided with a plurality of extension parts, the number of the spring guide grooves corresponds to the number of the extension parts, the extension parts are arranged in parallel with the planet carrier body and are arranged in a clearance with the cavity wall at the bottom of the shell, the spring guide grooves are fixedly arranged on the cavity wall at the bottom of the shell, one end of each spring is fixedly arranged at the bottom of the spring guide groove, and the other end of each spring is arranged on the extension part of the planet carrier corresponding to the spring guide groove.
The transmission mechanism further comprises a rotation angle gain mechanism, the rotation angle gain mechanism comprises a planetary gear, a sun gear and an outer gear, the sun gear is fixed at the inner end of the input flange, the outer gear is of an annular structure and is fixedly arranged on the inner wall of the concave cavity, the planetary gears are fixedly arranged on the planetary support, and the outer gear is in combined transmission with the sun gear through the planetary gears.
The planetary gear adopts a single row of three planetary gears.
The planet carrier is of a regular triangle structure, and three extending parts are arranged on three vertex angles.
The thickness of the extension part on the planet carrier is not more than the opening thickness of the spring guide groove.
The utility model can conveniently install the equipment such as the motor and the angle encoder through the simple flange design, and then can balance any angle and load moment through the spring design by utilizing the circular moment balancing device designed by the spring mechanism; a sun gear planetary gear mechanism is further adopted, so that the expansion amount of a spring is reduced, and the load is allowed to move in a large angle; and the spring adopts the guide slot design, prevents that other directions of spring from warping, and easily change. The utility model discloses can suitably adjust local module according to load and practical application's change, just can accomplish accurate balanced motion support arm moment, can reduce later stage control system's burden greatly simultaneously to higher environmental suitability has.
Drawings
FIG. 1 is a schematic diagram of a prior art moving arm system;
FIG. 2 is a front view of the present invention;
fig. 3 is a right side view of the present invention;
FIG. 4 is a schematic diagram of the internal structure of the present invention;
fig. 5 is a schematic diagram of a half-section structure of the right side view of the present invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
As shown in fig. 1, 2, 3, 4 and 5, the utility model discloses a shell and an output flange 1 and an input flange 10 arranged on the shell; the shell is formed by covering a side cover plate 2 and a shell bottom 3 with a concave cavity; the concave cavity is also internally provided with a transmission mechanism, the transmission mechanism comprises a planet carrier 4, a spring 5, a spring guide groove 6, a planet gear 7, a sun gear 8, an external gear 9 and a bearing 11, the input flange 10 is fixed at one end of the inner ring of the bearing 11, the sun gear 8 is fixed at the inner end of the input flange 10, the outer end of the input flange 10 is used for connecting a motor or other power devices, the output flange 1 is fixed at the other end of the inner ring of the bearing 11 and used for installing an encoder and other angle and speed measuring sensors, and the planet carrier 4 is fixed at the outer ring of the bearing 11; the outer gear 9 is of an annular structure and is fixedly arranged on the inner wall of the concave cavity, the plurality of planet gears 7 are fixedly arranged on the planet carrier 4, and the outer gear 9 is in meshing transmission with the sun gear 8 through the planet gears 7;
the planet carrier 4 is provided with a plurality of extension parts, the number of the spring guide grooves 6 corresponds to the number of the extension parts, the extension parts are arranged in parallel with the planet carrier 4 body and are arranged in a clearance with the cavity wall at the bottom of the shell, the spring guide grooves 6 are fixedly arranged on the cavity wall at the bottom of the shell, one end of the spring 5 is fixedly arranged at the bottom of the spring guide grooves 6, and the other end of the spring is arranged on the extension part of the planet carrier 4 corresponding to the spring guide grooves.
The planetary gear adopts a single row of three planetary gears. The planet carrier 4 is in a regular triangle structure, and three extending parts are arranged on three vertex angles.
The thickness of the extension part on the planet carrier 4 is not more than the opening thickness of the spring guide groove 6.
The invention mainly comprises a mounting flange, an internal transmission mechanism and a shell, wherein as shown in figures 2 and 3, the mounting flange comprises an output flange 1 and an input flange 10; the shell consists of a side cover plate 2 and a shell 3; as shown in fig. 4 and 5, the internal transmission mechanism is composed of a planetary carrier 4, springs 5, spring guide grooves 6, planetary gears 7, a sun gear 8, an external gear 9, and a bearing 11.
One end of the spring 5 is fixedly arranged at the bottom of the spring guide groove 6, the other end of the spring 5 is arranged on the planet carrier 4, and the spring 5 compresses and extends in the spring guide groove 6 in the moving process of the planet carrier 4, so that variable torque is obtained. When a load rises, the input flange 10 rotates along the rising direction, the shell 3 is fixed on the platform, the sun gear 8 fixed at the other end of the input flange rotates along the rising direction, the sun gear 8 rotates to drive the three planet gears 7 to rotate, the planet gears 7 are installed with the planet carrier 4, the three planet gears 7 rotate to drive the planet carrier 4 to rotate, and the springs 5 installed on the planet carrier 4 extend in the spring guide grooves 6; the input flange 10 is fixed at one end of the inner ring of the bearing 11 and can be used for connecting power devices such as a motor and the like, the output flange 1 is fixed at the other end of the inner ring of the bearing 11 and is used for installing an angle and speed measuring sensor such as an encoder and the like, and the planet carrier 4 is fixed at the outer ring of the bearing 11; the relationship between the sun gear 8 and the planet gears ensures that the spring 5 will only extend or compress a small distance during large angular movements of the load, so that the spring 5 can be selected to be a small spring with high elasticity.
When the load is in a horizontal position, the compression of the spring 5 is shortest, the output balancing moment is highest, and the moment of the load is just counteracted; when the load moment rises, the load moment is reduced, the length of the spring 5 is increased, and the output trim moment is reduced; when the load is vertical, the load moment component is zero, and the spring 5 is in a completely relaxed state or in a state of a pull bias moment; when the load is slightly larger than the vertical state, the spring 5 is in a stretching state and outputs reverse direction moment. The moment can be highly balanced in the whole working process of the moving support arm, the input shaft is connected with the motor, the motion state of the moving support arm can be controlled without too large moment output, so that the hardware cost is reduced, and the spring 5 is easy to design and replace, so that the adaptability of the invention is greatly improved; the mechanism used in the invention is simple and reliable, and has high environmental adaptability.
The key points of the technology of the invention are as follows:
1. the circular moment balancing device designed by the spring mechanism can balance the load moment at any angle through the design of the spring; 2. a sun gear planetary gear mechanism is adopted, so that the expansion amount of a spring is reduced, and the loaded large-angle motion is allowed;
3. the simple flange design is adopted, so that equipment such as a motor, an angle encoder and the like can be conveniently installed; 4. the spring adopts a guide groove design, is easy to replace and can be placed in other directions for deformation;
compared with the prior art, the invention has the advantages of simple structure, small volume, light weight, high balancing efficiency and easy realization; the invention can realize the balancing of the whole process, greatly reduces the requirement on the torque output of the motor, reduces the hardware cost and simplifies the control process; the invention adopts a modular design, is easy to install and debug, is convenient to replace and has higher environmental adaptability.
Claims (5)
1. A motion support arm moment balancing device is characterized in that: comprises a shell, an output flange and an input flange which are arranged on the shell; the shell is formed by combining a side cover plate and a shell bottom cover with a concave cavity; the cavity is internally provided with a transmission mechanism, the transmission mechanism comprises a planet support, a spring guide groove and a bearing, the input flange is fixed at one end of the bearing inner ring, the outer end of the input flange is used for connecting a motor or a power device, the output flange is fixed at the other end of the bearing inner ring and is used for installing an encoder and other angle and speed measuring sensors, and the planet support is fixed at the bearing outer ring;
the planet carrier is provided with a plurality of extension parts, the number of the spring guide grooves corresponds to the number of the extension parts, the extension parts are arranged in parallel with the planet carrier body and are arranged in a clearance with the cavity wall at the bottom of the shell, the spring guide grooves are fixedly arranged on the cavity wall at the bottom of the shell, one end of each spring is fixedly arranged at the bottom of the spring guide groove, and the other end of each spring is arranged on the extension part of the planet carrier corresponding to the spring guide groove.
2. The moving arm moment balancing device of claim 1, wherein: the transmission mechanism further comprises a rotation angle gain mechanism, the rotation angle gain mechanism comprises a planetary gear, a sun gear and an outer gear, the sun gear is fixed at the inner end of the input flange, the outer gear is of an annular structure and is fixedly arranged on the inner wall of the concave cavity, the planetary gears are fixedly arranged on the planetary support, and the outer gear is in combined transmission with the sun gear through the planetary gears.
3. The moving arm moment balancing device of claim 2, wherein: the planetary gear adopts a single row of three planetary gears.
4. The moving arm moment balancing device of claim 2, wherein: the planet carrier is of a regular triangle structure, and three extending parts are arranged on three vertex angles.
5. The moving arm moment balancing device of claim 3, wherein: the thickness of the extension part on the planet carrier is not more than the opening thickness of the spring guide groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822232260.8U CN210135208U (en) | 2018-12-28 | 2018-12-28 | Moment balancing device for moving support arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822232260.8U CN210135208U (en) | 2018-12-28 | 2018-12-28 | Moment balancing device for moving support arm |
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| Publication Number | Publication Date |
|---|---|
| CN210135208U true CN210135208U (en) | 2020-03-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822232260.8U Active CN210135208U (en) | 2018-12-28 | 2018-12-28 | Moment balancing device for moving support arm |
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| CN (1) | CN210135208U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109654173A (en) * | 2018-12-28 | 2019-04-19 | 中国电子科技集团公司第二十七研究所 | A kind of movement support arm torque balance device |
-
2018
- 2018-12-28 CN CN201822232260.8U patent/CN210135208U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109654173A (en) * | 2018-12-28 | 2019-04-19 | 中国电子科技集团公司第二十七研究所 | A kind of movement support arm torque balance device |
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