CN218698987U - Balancing weight balance system - Google Patents

Balancing weight balance system Download PDF

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Publication number
CN218698987U
CN218698987U CN202222588974.9U CN202222588974U CN218698987U CN 218698987 U CN218698987 U CN 218698987U CN 202222588974 U CN202222588974 U CN 202222588974U CN 218698987 U CN218698987 U CN 218698987U
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counterweight
mechanical arm
weight
traction wire
guide
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CN202222588974.9U
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王勇
黄国伟
嘉藤荣次
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Star Seiki Xiangyang Co ltd
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Star Seiki Xiangyang Co ltd
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    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02BCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B50/00Energy efficient technologies in elevators, escalators and moving walkways, e.g. energy saving or recuperation technologies

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Abstract

The utility model discloses a counterweight weight balance system, which relates to the field of the structural design of a mechanical arm, and comprises an mechanical arm, a driving source for driving the mechanical arm to move up and down, and a counterweight component; the counterweight component comprises a counterweight block and a traction wire; the counterweight block is hung at one end of a traction wire, and the other end of the traction wire is connected to the mechanical arm; the gravity of balancing weight passes through the pull wire and acts on to the arm in order to form ascending support power of lifting, and then reduces the drive power and the contracting brake power of driving source. The balance cylinder is replaced by the balancing weight, and the structure of the manipulator becomes simple. The counterweight weight balance system balances the dead weight of the mechanical arm through the dead weight of the counterweight, reduces the motor contracting brake force required when maintaining the mechanical arm to be stationary, and simultaneously, in the ascending and descending processes of the mechanical arm, the gravity of the counterweight balances the partial dead weight of the mechanical arm under the action of the fixed pulley, so that the output torque and the output power of the motor can be reduced, and the use cost of the machine is reduced.

Description

Balancing weight balance system
Technical Field
The utility model relates to a structural design field of manipulator specifically is balancing weight balance system to manipulator.
Background
Along with the development of science and manufacturing technology, automation devices such as manipulators appear more and more in the production and manufacturing process, and the manipulator is used for achieving the purposes that the produced articles are taken out and carried, and compared with the manual work, the manipulator has the advantages of being high in efficiency, high in precision and the like. When the large article is taken out, the strength of the mechanical arm needs to be increased, so that the mass of the mechanical arm is increased, the brake force of a motor cannot balance the dead weight of the mechanical arm, and the current solution is to install a balance cylinder to balance the dead weight of the mechanical arm; however, the adoption of the balance cylinder has the following disadvantages:
1. the balance cylinder weight balance system balances the dead weight of the mechanical arm by the pressure generated by the cylinder, and once the air path has the conditions of air leakage, blockage and the like, the balance cylinder cannot normally work. Meanwhile, the use of the balance cylinder increases the air consumption amount, resulting in an increase in the use cost of the robot.
2. The balance cylinder weight balance system is adopted, the cylinders need to be installed, the structural change of the manipulator is complex, and meanwhile, the cylinders need to be provided with pneumatic elements such as control valves, air pipes and air pumps, so that the cost of the manipulator is greatly increased.
3. The structure of equalizing cylinder is more complicated, and is higher to the leakproofness requirement of cylinder, in case unfavorable conditions such as gas leakage appear, in time the discovery is more difficult, probably drops because of the not enough arm that leads to of motor's band-type brake power when serious, causes the damage of arm and arouses personnel's injury even.
Therefore, it is the subject of our research to adopt a new balancing system to ensure the stability of the robot arm.
SUMMERY OF THE UTILITY MODEL
The problems that the structure is complex, the cost investment is large, the air leakage problem is difficult to find and the like caused by the fact that a traditional air cylinder weight balance system is adopted to balance the mechanical arm in the prior art are solved; the utility model provides a new simple and easy scheme, and then reach the structure of simplifying whole manipulator, reduce the maintenance degree of difficulty, reduce maintenance cost, reduce required motor band-type brake power, reduce driving motor's power, reduce use cost and energy-conserving purpose.
Specifically, the utility model provides a detailed scheme as follows:
the counterweight weight balance system comprises a mechanical arm, a driving source for driving the mechanical arm to move up and down, and a counterweight component;
the counterweight component comprises a counterweight block and a traction wire; the counterweight block is hung at one end of the traction wire, and the other end of the traction wire is connected to the mechanical arm;
the gravity of balancing weight passes through the pull wire effect extremely the arm is in order to form ascending support power, and then reduces the drive power and the contracting brake power of driving source.
Furthermore, the counterweight assembly further comprises a reversing fixed pulley, the traction wire is wound on the reversing fixed pulley to achieve reversing, so that the traction wire and one end, fixed by the counterweight block, of the traction wire are located on the left side of the reversing fixed pulley, and the traction wire and one end, fixed by the mechanical arm, of the traction wire are located on the right side of the reversing fixed pulley.
Further, the counterweight assembly also comprises a guide fixed pulley; the guide stator is configured to guide the pull wire to be fixed with the robot arm.
Further, the weight assembly further includes a guide configured to guide the weight block up and down.
Further, the guide piece comprises a sliding rail and a sliding seat; the slide rail is fixed on the support table; the sliding seat is fixed with the balancing weight and is connected with the sliding rail in a sliding manner.
Further, the driving source includes a motor and a driving belt; the output end of the motor is fixedly connected with a belt pulley; the transmission belt is meshed with the belt pulley; the mechanical arm is fixedly connected with the transmission belt through a transfer block; the motor starts to enable the belt pulley to rotate, and then the transmission belt rotates to achieve the purpose of moving the mechanical arm up and down.
Further, a tensioning mechanism is further provided in the drive source, and the tensioning mechanism is configured to tension and adjust the tension of the transmission belt.
Further, the tensioning mechanism comprises a tensioning synchronizing wheel configured to be rotatable and capable of adjusting the movement setting; and adjusting the tensioning synchronous wheel to extrude the transmission belt so as to tension the transmission belt.
Furthermore, two tensioning synchronous wheels are arranged and are respectively arranged at the upper side and the lower side of the motor; and each tensioning synchronous wheel respectively adjusts the transmission belt at the corresponding position.
The beneficial effect that adopts this technical scheme to reach does:
the balance cylinder is replaced by the balancing weight, and the structure of the manipulator becomes simple. The counterweight weight balance system can be regarded as a fixed pulley system and consists of mechanical parts such as counterweights, fixed pulleys and traction lines, and all the parts can be independently replaced, so that the counterweight weight balance system is convenient to check and maintain, and the maintenance cost is low. The counterweight weight balance system balances the dead weight of the mechanical arm through the dead weight of the counterweight, reduces the motor contracting brake force required when maintaining the mechanical arm to be stationary, and simultaneously, in the ascending and descending processes of the mechanical arm, the gravity of the counterweight balances the partial dead weight of the mechanical arm under the action of the fixed pulley, so that the output torque and the output power of the motor can be reduced, and the use cost of the machine is reduced.
The counterweight weight balancing system is balanced only by the gravity of the counterweight, and does not need to be driven by air pressure or electricity, thereby achieving the purpose of energy conservation. Mechanical parts such as balancing weight, fixed pulley, pull wire, guiding mechanism are cheaper relatively, and the processing degree of difficulty is low, has universal suitability, greatly reduced the cost of manipulator. Simultaneously still can suitably increase or reduce the weight of balancing weight according to the weight that the manipulator took out the product and the weight of arm, applicable different models.
Drawings
Fig. 1 is a schematic view of the weight balancing system of the present invention.
Wherein: 10 mechanical arms, 20 driving sources, 21 motors, 22 transmission belts, 23 belt pulleys, 24 tensioning synchronous wheels, 30 counterweight components, 31 counterweight blocks, 32 traction lines, 33 reversing fixed pulleys, 34 guiding fixed pulleys and 35 guiding elements.
Detailed Description
The principles and features of the present invention are described below in conjunction with the following drawings, the examples given are only intended to illustrate the present invention and are not intended to limit the scope of the present invention.
The embodiment provides a counterweight weight balancing system, which is mainly applied to the structural design of a manipulator; by designing the set of balance system, the aims of simplifying the structure of the whole manipulator, reducing the maintenance difficulty, reducing the maintenance cost, reducing the required motor contracting brake force, reducing the power of the driving motor, reducing the use cost and saving energy are fulfilled.
In the set of balance system provided by the present embodiment, referring to fig. 1, the balance system includes a robot arm 10 and a driving source 20 for driving the robot arm to move up and down, that is, it can be understood that, by using the driving source 20 here, the motion of the driving source 20 will or make the robot arm 10 move up and down, and thus the handling operation of the robot arm is realized.
Meanwhile, in the embodiment, the weight component 30 is also included; specifically, the weight assembly 30 includes a weight 31 and a traction wire 32; the counterweight 31 is hung at one end of a traction wire 32, and the other end of the traction wire 32 is connected to the mechanical arm 10; the gravity of the weight 31 acts on the robot arm 10 through the traction wire 32 to form an upward lifting force (equal to a pulling force), thereby reducing the driving force and the contracting brake force of the driving source 20 on the robot arm 10.
That is, in the present embodiment, only the weight block 31 is used to achieve the purpose of promoting the up-and-down movement of the robot arm 10. The specific principle mode is as follows:
when the robot arm 10 is in a stationary state, the weight-balancing block 31 can partially offset the self-weight of the robot arm 10 by the self-weight of the weight-balancing block 31 under the action of the pulling wire 32, so that the force required for maintaining the robot arm 10 stationary is reduced, and the braking force required by the driving source 20 is reduced accordingly.
When the mechanical arm 10 moves up and down, the counterweight block 31 also moves up and down; when the mechanical arm 10 moves upwards, the counterweight 31 moves downwards, and the mechanical arm 10 is pulled upwards through the pull wire 32, so that the force for maintaining the motion state of the mechanical arm 10 is reduced, the output torque of the driving source 20 is reduced, and the output power is reduced; when the mechanical arm 10 moves downwards, the counterweight 31 moves upwards, and the driving source 20 for driving the mechanical arm 10 to move downwards only needs to be the gravity difference between the mechanical arm 10 and the counterweight 31, so that compared with the conventional weight balance system, the driving force of the driving source 20 is reduced, the power is reduced, and the purposes of saving energy and reducing the use cost are achieved.
In this embodiment, in order to improve the connection stability of the traction wire 32, the counterweight assembly 30 further includes a reversing fixed pulley 33, and the traction wire 32 is wound around the reversing fixed pulley 33 to achieve reversing, so that the end of the traction wire 32 fixed to the counterweight 31 is located on the left side of the reversing fixed pulley 33, and the end of the traction wire 32 fixed to the mechanical arm 10 is located on the right side of the reversing fixed pulley 33.
The reversing fixed pulley 33 is used for reducing the friction of the traction wire 32 in the working process, and the reversing fixed pulley 33 is used for reversing the traction wire 32; one end of the traction wire 32 is fixedly hung on the counterweight 31 and the other end is fixedly hung on the mechanical arm 10 under the support of the reversing fixed pulley 33.
Optionally, counterweight assembly 30 further includes a guide crown block 34; the guide sheaves 34 are configured to guide the pull wires 32 into fixed relation with the robot arm 10. That is, the guide sheaves 34 herein are primarily directed to facilitate the pulling of the pull lines 32 into secure engagement with the robot arm 10.
In this embodiment, the weight assembly 30 further includes a guide 35, and the guide 35 is configured to guide the weight block 31 to move up and down. Specifically, the guide 35 includes a slide rail and a slider; the slide rail is fixed on the support table; the sliding base is fixed with the balancing weight 31 and is connected with the sliding rail in a sliding way.
It can be simply understood that the counterweight 31 is slidably disposed on a sliding table (i.e., the guide 35), and the counterweight 31 moves back and forth in the vertical direction under the traction action of the traction wire 32 by the guiding action of the sliding table.
In the present embodiment, the above-mentioned drive source 20 includes a motor 21 and a transmission belt 22; wherein, the output end of the motor 21 is fixedly connected with a belt pulley 23; the transmission belt 22 is engaged with the belt pulley 23; the mechanical arm 10 is fixedly connected with a transmission belt 22 through a transfer block; the motor 21 is activated to rotate the pulley 23, which in turn rotates the drive belt 22 for the purpose of moving the robot arm 10 up and down.
Meanwhile, a tension mechanism configured to tension-adjust the tension of the drive belt 22 is further provided in the drive source 20. In particular, the tensioning mechanism comprises a tensioning synchronizing wheel 24, the tensioning synchronizing wheel 24 being configured to be rotatable and to enable adjustment of the movement setting; the tensioning timing wheel 24 is adjusted to press against the drive belt 22 to tension the drive belt 22.
In this embodiment, two tensioning synchronizing wheels 24 are provided, and are respectively provided at the upper and lower side positions of the motor 21; each tensioning synchronous wheel 24 adjusts the corresponding transmission belt 22 to complete the adjustment of the tensioning force of the transmission belt 22.
In this scheme, balancing weight balance system compares with current balance cylinder weight balance system, and balancing weight balance system's structure is more simple, and mechanical parts precision such as balancing weight, pull wire, pulley is not high, and the price is cheaper moreover, has reduced the manufacturing cost of manipulator. The counterweight weight balancing system balances the gravity of the mechanical arm by the gravity of the counterweight, and the balancing system is driven without an additional electric element. The weight of the balancing weight can be increased or reduced according to the weight of the mechanical arm and the product taken out of the mechanical arm in practical application, so that the mechanical arm works under normal conditions.
Consequently, this technical scheme replaces balance cylinder with the balancing weight, and the structure of manipulator becomes simple. The counterweight weight balance system can be regarded as a fixed pulley system and consists of mechanical parts such as counterweights, fixed pulleys and traction lines, and all the parts can be independently replaced, so that the counterweight weight balance system is convenient to check and maintain, and the maintenance cost is low. The counterweight weight balance system balances the dead weight of the mechanical arm through the dead weight of the counterweight, reduces the motor contracting brake force required when maintaining the mechanical arm to be still, and simultaneously, in the ascending and descending processes of the mechanical arm, the gravity of the counterweight balances the partial dead weight of the mechanical arm under the action of the fixed pulley, so that the output torque and the output power of the motor can be reduced, and the use cost of the machine is reduced.
The counterweight weight balancing system is balanced only by the gravity of the counterweight, and does not need to be driven by air pressure or electricity, thereby achieving the purpose of energy conservation. Mechanical parts such as balancing weight, fixed pulley, pull wire, guiding mechanism are cheaper relatively, and the processing degree of difficulty is low, has universal suitability, greatly reduced the cost of manipulator. Simultaneously still can suitably increase or reduce the weight of balancing weight according to the weight that the manipulator took out the product and the weight of arm, applicable different models.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
It should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships that are conventionally placed when the products of the art are used, and are used only for convenience in describing the technology and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the technology. Furthermore, "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Thus, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present technology, it should also be noted that, unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and can be, for example, a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present technology can be understood in a specific case to those of ordinary skill in the art.
It should be noted that there are no specific structures in the above description, and it will be apparent to those skilled in the art that various modifications, decorations, or changes can be made without departing from the technical principles of the present invention; such modifications, variations, or combinations, or applying the concepts and solutions of the technology directly to other applications without further modifications, are intended to be within the scope of the present technology.

Claims (9)

1. The counterweight weight balance system comprises a mechanical arm (10) and a driving source (20) for driving the mechanical arm (10) to move up and down, and is characterized by further comprising a counterweight component (30);
the counterweight assembly (30) comprises a counterweight block (31) and a traction wire (32); the counterweight block (31) is hung at one end of the traction wire (32), and the other end of the traction wire (32) is connected to the mechanical arm (10);
the gravity of the balancing weight (31) acts on the mechanical arm (10) through the traction line (32) to form an upward lifting force, and then the driving force and the brake force of the driving source (20) are reduced.
2. The counterweight weight balancing system of claim 1, wherein the counterweight assembly (30) further comprises a reversing fixed pulley (33), and the traction wire (32) is wound around the reversing fixed pulley (33) to achieve reversing, such that an end of the traction wire (32) fixed to the counterweight (31) is located on a left side of the reversing fixed pulley (33), and an end of the traction wire (32) fixed to the mechanical arm (10) is located on a right side of the reversing fixed pulley (33).
3. The counterweight weight balancing system of claim 2, wherein the counterweight assembly (30) further comprises a guide fixed sheave (34); the guiding crown block (34) is configured to guide the traction wire (32) into fixation with the robot arm (10).
4. The counterweight weight balancing system of claim 1, wherein the counterweight assembly (30) further comprises a guide (35), the guide (35) configured to guide the counterweight (31) up and down.
5. The counterweight weight balancing system of claim 4, wherein the guide (35) comprises a slide and a slide; the slide rail is fixed on the support table; the sliding seat is fixed with the balancing weight (31) and is in sliding connection with the sliding rail.
6. The counterweight weight balancing system of claim 1, wherein the drive source (20) includes a motor (21) and a drive belt (22); the output end of the motor (21) is fixedly connected with a belt pulley (23); the transmission belt (22) is meshed with the belt pulley (23); the mechanical arm (10) is fixedly connected with the transmission belt (22) through a transfer block; the motor (21) is started to enable the belt pulley (23) to rotate, and then the transmission belt (22) rotates to achieve the purpose of moving the mechanical arm (10) up and down.
7. The counterweight weight balancing system of claim 6, wherein a tensioning mechanism is further provided in the drive source (20), the tensioning mechanism being configured to tension adjust a tension of the drive belt (22).
8. The counterweight weight balancing system of claim 7, wherein the tensioning mechanism includes a tensioning synchronizing wheel (24), the tensioning synchronizing wheel (24) configured to be rotatable and to enable adjustment of a movement setting; adjusting the tensioning synchronizing wheel (24) to press the drive belt (22) and thereby tension the drive belt (22).
9. The counterweight weight balancing system of claim 8, wherein the tension synchronizing wheel (24) is provided in two, respectively arranged at upper and lower side orientations of the motor (21); each tensioning synchronous wheel (24) respectively adjusts the transmission belt (22) at the corresponding position.
CN202222588974.9U 2022-09-28 2022-09-28 Balancing weight balance system Active CN218698987U (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116945206A (en) * 2023-09-07 2023-10-27 广州慧谷动力科技有限公司 Universal science and technology information service robot based on AI artificial intelligence

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116945206A (en) * 2023-09-07 2023-10-27 广州慧谷动力科技有限公司 Universal science and technology information service robot based on AI artificial intelligence
CN116945206B (en) * 2023-09-07 2023-12-22 广州慧谷动力科技有限公司 Universal science and technology information service robot based on AI artificial intelligence

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