CN105090347A - Damp balancing device - Google Patents
Damp balancing device Download PDFInfo
- Publication number
- CN105090347A CN105090347A CN201510547026.2A CN201510547026A CN105090347A CN 105090347 A CN105090347 A CN 105090347A CN 201510547026 A CN201510547026 A CN 201510547026A CN 105090347 A CN105090347 A CN 105090347A
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- CN
- China
- Prior art keywords
- arm
- base
- damping
- gear
- balance device
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/28—Counterweights, i.e. additional weights counterbalancing inertia forces induced by the reciprocating movement of masses in the system, e.g. of pistons attached to an engine crankshaft; Attaching or mounting same
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/32—Correcting- or balancing-weights or equivalent means for balancing rotating bodies, e.g. vehicle wheels
- F16F15/322—Correcting- or balancing-weights or equivalent means for balancing rotating bodies, e.g. vehicle wheels the rotating body being a shaft
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a damp balancing device. The gravity borne by material arms and the gravitational acceleration and the movement inertia which are generated during rotation can be balanced out partially or completely through the damp balancing device so that whole robot equipment can be driven to operate normally by providing smallest driving power, energy is saved, emission is reduced, and the operating cost of the equipment is reduced. The damp balancing device comprises a base. A driving motor, a transmission device and a first arm are placed in the base. Rotation power is connected to the first arm by means of the driving motor through the transmission device. One end of the first arm protrudes out of the base. The end, protruding outwards, of the first arm is connected with a transmission arm on the outer side. A connection weight assembly is connected to the tail end of the transmission arm on the outer side. The damp balancing device is characterized in that the rotary shaft part of the first arm is located in an internal space of the base and is sleeved with a balancing cam block through a flat key, and the balancing cam block is provided with a sector-shaped cam surface.
Description
Technical field
The present invention relates to the technical field of damping balance structure, be specially a kind of damping balance device.
Background technique
At mechanical field, existing material transfer is all completed by material arm, during material revolution of arm, its power is around the shaft provided by the rotational power of outside, because the top of material arm is generally furnished with weight, and gravity accleration, movement inertia can be produced in rotation process, existing structure peripheral rotational power needs to provide enough large driving power just can ensure, and material upper-arm circumference is around its normal rotation around the shaft, make to need the energy of at substantial during work, be unfavorable for energy-conserving and environment-protective, and equipment operation cost is high.
Summary of the invention
For the problems referred to above, the invention provides a kind of damping balance device, its gravity that material arm is supported and the gravity accleration produced in rotation process, movement inertia can balance part or all by damped Equilibrator, and then make to provide minimum driving power can drive the normal operation of whole robot device, utilize energy-saving and emission-reduction and reduce the operating cost of equipment.
A kind of damping balance device, its technological scheme is such: it comprises base, drive motor is placed with in described base, transmission device, first arm, rotational power is connected to described first arm by transmission device by described drive motor, one end evagination of described first arm is in described base, evagination one end of described first arm connects the transmission arm in outside respectively, the end of the described transmission arm in described outside is connected with connection heavy component, it is characterized in that: the rotatingshaft part of described first arm is positioned at the inner space of described base, equilibrium cam block is set in the rotatingshaft part of described first arm by flat key, described equilibrium cam block is with sector face, the both sides in described sector face respectively correspondence are furnished with damping spring group, two sides in described sector face are close to respectively by the spring of described damping spring group, the sleeve of described damping spring group is anchored on damped system bearing respectively, described damped system bearing is installed at base internal fixtion, the position that two sides in described sector face correspond to rotating part is specially the ramp structure of enlarging from inside to outside.
It is further characterized in that:
The spring of the described damping spring group position of being close to two sides in described sector face is arranged symmetrically with about the centre section in sector face;
Preferably, described damping spring group is two, and it is arranged in the both sides in described sector face respectively;
The concave portion of described first arm is articulated and connected one end of the second arm, the other end of described second arm is articulated and connected one end of the 3rd arm, the other end of described 3rd arm is connected with connection heavy component, the first balancing pole is provided with between the concave portion of described first arm, the other end of the second arm, be provided with the second balancing pole between the other end of described second arm, the other end of the 3rd arm, the middle part corresponding position of described second arm, the 3rd arm is provided with balance positioning rod;
Described second arm obliquely and outwards arrange, described 3rd arm obliquely and inwardly arrange, angularly arrange between described second arm, the 3rd arm, the middle part of described second arm connects one end of the 3rd balancing pole, the other end of described 3rd balancing pole connects the slide on power module, described power module is fastening with power module bracket, and described power module bracket is installed in the upper end of the rotatingshaft part of the first arm, and described slide is installed in the inside rectilinear orbit of described power module;
The output terminal of described drive motor, by connecting driving shaft after retarder, coupling, described driving shaft is set with driving gear, and described driving gear is connected with a joggle driven gear, and described driven gear is set in the rotatingshaft of described first arm;
Preferably, it also comprises jack shaft, described jack shaft is set with Double-gear structure, and described driving gear is connected with a joggle one of them gear of described Double-gear structure, and another gears meshing of described Double-gear structure connects described driven gear;
Described driven gear is specially half side gear, and the vibrational power flow of half side gear ensures the small volume of base and guarantees enough rotation angles simultaneously, saves material, space;
Described drive motor is specially actuating motor, is convenient to accurately control rotation angle;
Described retarder is positioned at speed reducer base, and described damped system bearing support is in the upper end of described speed reducer base.
After adopting structure of the present invention, the rotatingshaft of the first arm corresponding to material arm is set with equilibrium cam block, equilibrium cam is with sector face, the both sides in sector face respectively correspondence are furnished with damping spring group, two sides in sector face are close to respectively by the spring of damping spring group, the sleeve of damping spring group is anchored on damped system bearing respectively, damped system bearing support is in base, the position that two sides in sector face correspond to rotating part is specially the ramp structure of enlarging from inside to outside, the spring of the damping spring group under original state to two of sector face pressure that side is formed for material arm removes the outer deadweight+material weight born of the first arm, make drive motor that very low-power only need be provided to complete rotating drive, when the rotatingshaft of the first arm rotates, the ramp structure of enlarging from inside to outside makes spring be compressed, and then the spring of damping spring group to two of sector face pressure that side is formed for material arm removes the outer deadweight of bearing of the first arm, material weight, and the gravity accleration produced in rotation process, the summation of movement inertia whole or most of, to sum up, its gravity that material arm is supported and the gravity accleration produced in rotation process, movement inertia can balance part or all by damped Equilibrator, and then make to provide minimum driving power can drive the normal operation of whole robot device, utilize energy-saving and emission-reduction and reduce the operating cost of equipment.
Accompanying drawing explanation
Fig. 1 is plan view structural representation of the present invention;
Fig. 2 is the side view structural representation of the first arm when not rotating;
Structural representation when Fig. 3 is the first arm rotation angle α 2;
Structural representation when Fig. 4 is the first arm rotation angle α 3;
Structural representation when Fig. 5 is the first arm rotation angle α 4;
Fig. 6 is the plan view structural representation being applied to specific embodiment of the present invention;
Reference name in figure corresponding to each sequence number is as follows:
Base 1, drive motor 2, first arm 3, connect heavy component 4, equilibrium cam block 5, sector face 6, damping spring group 7, spring 8, centre section 9, second arm 10, 3rd arm 11, first balancing pole 12, second balancing pole 13, balance positioning rod 14, 3rd balancing pole 15, power module 16, slide 17, power module bracket 18, rectilinear orbit 19, retarder 20, coupling 21, driving shaft 22, driving gear 23, driven gear 24, jack shaft 25, Double-gear structure 26, speed reducer base 27, damped system bearing 28.
Embodiment
A kind of damping balance device, see Fig. 1 ~ Fig. 6: it comprises base 1, drive motor 2 is placed with in base 1, transmission device, first arm 3, rotational power is connected to the first arm 3 by transmission device by drive motor 2, one end evagination of the first arm 3 is in base 1, evagination one end of first arm 3 connects the transmission arm in outside respectively, the end of the transmission arm in outside is connected with and connects heavy component 4, the rotatingshaft part of the first arm 3 is positioned at the inner space of base 1, equilibrium cam block 5 is set in the rotatingshaft part of the first arm 3 by flat key, equilibrium cam block 5 is with sector face 6, the both sides in sector face 6 respectively correspondence are furnished with damping spring group 7, two sides in sector face 6 are close to respectively by the spring 8 of damping spring group 7, the sleeve of damping spring group 7 is anchored on damped system bearing 28 respectively, damped system bearing 28 is installed at base 1 internal fixtion, the position that two sides in sector face 6 correspond to rotating part is specially the ramp structure of enlarging from inside to outside.
The spring 8 of damping spring group 7 position of being close to two sides in sector face 6 is arranged symmetrically with about the centre section 9 in sector face 6;
Preferably, damping spring group 7 is two, and it is arranged in the both sides in sector face 6 respectively;
The concave portion of the first arm 3 is articulated and connected one end of the second arm 10, the other end of the second arm 10 is articulated and connected one end of the 3rd arm 11, the other end of the 3rd arm 11 is connected with and connects heavy component 4, the first balancing pole 12 is provided with between the concave portion of the first arm 3, the other end of the second arm 10, be provided with the second balancing pole 13, second arm 10 between the other end of the second arm 10, the other end of the 3rd arm 11, the middle part corresponding position of the 3rd arm 11 be provided with balance positioning rod 14;
Second arm 10 obliquely and outwards arrange, 3rd arm oblique 11 upwards and inwardly arrange, angularly arrange between second arm 10, the 3rd arm 11, the middle part of the second arm 10 connects one end of the 3rd balancing pole 15, the other end of the 3rd balancing pole 15 connects the slide 17 on power module 16, power module 16 is fastening with power module bracket 18, and power module bracket 18 is installed in the upper end of the rotatingshaft part of the first arm, and slide 17 is installed in the inside rectilinear orbit 19 of power module 16;
The output terminal of drive motor 2, by connecting driving shaft 22 after retarder 20, coupling 21, driving shaft 22 is set with driving gear 23, and driving gear 23 is connected with a joggle driven gear 24, and driven gear 24 is set in the rotatingshaft of the first arm 3; Preferably, it also comprises jack shaft 25, jack shaft 25 is set with Double-gear structure 26, and driving gear 23 is connected with a joggle one of them gear of Double-gear structure 26, and another gears meshing of Double-gear structure 26 connects driven gear 24;
Driven gear 24 is specially half side gear, and the vibrational power flow of half side gear ensures the small volume of base and guarantees enough rotation angles simultaneously, saves material, space;
Drive motor 2 is specially actuating motor, is convenient to accurately control rotation angle;
Retarder 20 is positioned at speed reducer base 27, and damped system bearing 28 is supported on the upper end of speed reducer base 27.
Its working principle is as follows: when equilibrium cam block 5 with the first arm 3 rotatingshaft rotation angle α, α 2, α 3, α 4... α n time, corresponding cam bit H1, H2, H3, H4.....Hn and damping spring by compression distance L1, L2, L3, L4.....Ln and acting force of the spring N thereupon changing (this change is according to more than robot second arm deadweight and movement inertia calmly).When α is 0, deadweight more than precompression=the second arm of N; As α 2, the pressure=deadweight+gravity accleration+movement inertia of N, by that analogy.Object is deadweight and the movement inertia of more than damping device balanced robot second arm, reaches with minimum driving power the object that robot normally runs.Be intended to develop energy-saving and reduce the pressing robot manufacturing cost.
Above specific embodiments of the invention have been described in detail, but content being only the preferred embodiment of the invention, the practical range for limiting the invention can not being considered to.All equalizations done according to the invention application range change and improve, and all should still belong within this patent covering scope.
Claims (10)
1. a damping balance device, it comprises base, drive motor is placed with in described base, transmission device, first arm, rotational power is connected to described first arm by transmission device by described drive motor, one end evagination of described first arm is in described base, evagination one end of described first arm connects the transmission arm in outside respectively, the end of the described transmission arm in described outside is connected with connection heavy component, it is characterized in that: the rotatingshaft part of described first arm is positioned at the inner space of described base, equilibrium cam block is set in the rotatingshaft part of described first arm by flat key, described equilibrium cam block is with sector face, the both sides in described sector face respectively correspondence are furnished with damping spring group, two sides in described sector face are close to respectively by the spring of described damping spring group, the sleeve of described damping spring group is anchored on damped system bearing respectively, described damped system bearing is installed at base internal fixtion, the position that two sides in described sector face correspond to rotating part is specially the ramp structure of enlarging from inside to outside.
2. a kind of damping balance device as claimed in claim 1, is characterized in that: the spring of the described damping spring group position of being close to two sides in described sector face is arranged symmetrically with about the centre section in sector face.
3. a kind of damping balance device as claimed in claim 1 or 2, it is characterized in that: described damping spring group is two, it is arranged in the both sides in described sector face respectively.
4. a kind of damping balance device as claimed in claim 1, it is characterized in that: the concave portion of described first arm is articulated and connected one end of the second arm, the other end of described second arm is articulated and connected one end of the 3rd arm, the other end of described 3rd arm is connected with connection heavy component, the first balancing pole is provided with between the concave portion of described first arm, the other end of the second arm, be provided with the second balancing pole between the other end of described second arm, the other end of the 3rd arm, the middle part corresponding position of described second arm, the 3rd arm is provided with balance positioning rod.
5. a kind of damping balance device as claimed in claim 4, it is characterized in that: described second arm obliquely and outwards arrange, described 3rd arm obliquely and inwardly arrange, angularly arrange between described second arm, the 3rd arm, the middle part of described second arm connects one end of the 3rd balancing pole, the other end of described 3rd balancing pole connects the slide on power module, described power module is fastening with power module bracket, described power module bracket is installed in the upper end of the rotatingshaft part of the first arm, and described slide is installed in the inside rectilinear orbit of described power module.
6. a kind of damping balance device as claimed in claim 1, it is characterized in that: the output terminal of described drive motor is by connecting driving shaft after retarder, coupling, described driving shaft is set with driving gear, described driving gear is connected with a joggle driven gear, and described driven gear is set in the rotatingshaft of described first arm.
7. a kind of damping balance device as claimed in claim 6, it is characterized in that: it also comprises jack shaft, described jack shaft is set with Double-gear structure, described driving gear is connected with a joggle one of them gear of described Double-gear structure, and another gears meshing of described Double-gear structure connects described driven gear.
8. a kind of damping balance device as claimed in claims 6 or 7, is characterized in that: described driven gear is specially half side gear.
9. a kind of damping balance device as claimed in claim 1, is characterized in that: described drive motor is specially actuating motor.
10. a kind of damping balance device as claimed in claim 6, is characterized in that: described retarder is positioned at speed reducer base, and described damped system bearing support is in the upper end of described speed reducer base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510547026.2A CN105090347B (en) | 2015-08-31 | 2015-08-31 | A kind of damping balance device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510547026.2A CN105090347B (en) | 2015-08-31 | 2015-08-31 | A kind of damping balance device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105090347A true CN105090347A (en) | 2015-11-25 |
| CN105090347B CN105090347B (en) | 2017-12-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510547026.2A Active CN105090347B (en) | 2015-08-31 | 2015-08-31 | A kind of damping balance device |
Country Status (1)
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| CN (1) | CN105090347B (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4726253A (en) * | 1979-05-19 | 1988-02-23 | W. Vinten Limited | Torque counterbalancing mechanisms |
| GB9005935D0 (en) * | 1989-03-16 | 1990-05-09 | Sachtler Kommunikationstech | Mechanism for balancing the weight of an object |
| JP2005038291A (en) * | 2003-07-17 | 2005-02-10 | Toshiba Corp | Mechanical translation device and method, and mechanical translation program |
| JPWO2005038291A1 (en) * | 2003-10-20 | 2007-01-11 | パスカルエンジニアリング株式会社 | Balancer mechanism for rotating shaft |
| DE102008033777A1 (en) * | 2007-08-27 | 2009-03-05 | Luk Lamellen Und Kupplungsbau Beteiligungs Kg | Device for compensating torque fluctuations |
| CN101502962A (en) * | 2009-02-23 | 2009-08-12 | 广州达意隆包装机械股份有限公司 | Individual object conveying device |
| CN104708623A (en) * | 2015-04-10 | 2015-06-17 | 苏州荣威工贸有限公司 | Robot with adjustable balance moment |
| CN104723334A (en) * | 2015-04-02 | 2015-06-24 | 苏州荣威工贸有限公司 | Two-axis two-way parallel track robot |
| CN204505298U (en) * | 2015-03-28 | 2015-07-29 | 苏州荣威工贸有限公司 | A kind of transfer robot upper rotary bascule |
| CN204525470U (en) * | 2015-04-08 | 2015-08-05 | 苏州荣威工贸有限公司 | A kind of double-shaft two-way robot based on parallel principle |
| CN204921842U (en) * | 2015-08-31 | 2015-12-30 | 苏州神运机器人有限公司 | Damping balancing unit |
-
2015
- 2015-08-31 CN CN201510547026.2A patent/CN105090347B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4726253A (en) * | 1979-05-19 | 1988-02-23 | W. Vinten Limited | Torque counterbalancing mechanisms |
| GB9005935D0 (en) * | 1989-03-16 | 1990-05-09 | Sachtler Kommunikationstech | Mechanism for balancing the weight of an object |
| JP2005038291A (en) * | 2003-07-17 | 2005-02-10 | Toshiba Corp | Mechanical translation device and method, and mechanical translation program |
| JPWO2005038291A1 (en) * | 2003-10-20 | 2007-01-11 | パスカルエンジニアリング株式会社 | Balancer mechanism for rotating shaft |
| DE102008033777A1 (en) * | 2007-08-27 | 2009-03-05 | Luk Lamellen Und Kupplungsbau Beteiligungs Kg | Device for compensating torque fluctuations |
| CN101502962A (en) * | 2009-02-23 | 2009-08-12 | 广州达意隆包装机械股份有限公司 | Individual object conveying device |
| CN204505298U (en) * | 2015-03-28 | 2015-07-29 | 苏州荣威工贸有限公司 | A kind of transfer robot upper rotary bascule |
| CN104723334A (en) * | 2015-04-02 | 2015-06-24 | 苏州荣威工贸有限公司 | Two-axis two-way parallel track robot |
| CN204525470U (en) * | 2015-04-08 | 2015-08-05 | 苏州荣威工贸有限公司 | A kind of double-shaft two-way robot based on parallel principle |
| CN104708623A (en) * | 2015-04-10 | 2015-06-17 | 苏州荣威工贸有限公司 | Robot with adjustable balance moment |
| CN204921842U (en) * | 2015-08-31 | 2015-12-30 | 苏州神运机器人有限公司 | Damping balancing unit |
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| Publication number | Publication date |
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| CN105090347B (en) | 2017-12-01 |
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