CN206953042U - A kind of heavy-duty machinery arm perpendicular shaft configuration provided with bascule - Google Patents
A kind of heavy-duty machinery arm perpendicular shaft configuration provided with bascule Download PDFInfo
- Publication number
- CN206953042U CN206953042U CN201720490532.7U CN201720490532U CN206953042U CN 206953042 U CN206953042 U CN 206953042U CN 201720490532 U CN201720490532 U CN 201720490532U CN 206953042 U CN206953042 U CN 206953042U
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- China
- Prior art keywords
- bascule
- leading screw
- heavy
- machinery arm
- duty machinery
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
- B25J19/0016—Balancing devices using springs
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
A kind of heavy-duty machinery arm perpendicular shaft configuration provided with bascule, including the Power Component with the Lift Part of heavy-duty machinery arm connection, with fixed component that the Lift Part coordinates, for driving the relative fixed component of the Lift Part to move；The Power Component includes the actuator being fixedly connected with the fixed component, the action piece being connected with the Lift Part, and action piece coordinates with actuator, and actuator drives action piece to lift；The bascule includes the elastic parts for supporting the action piece, and the elastic parts is arranged in the fixed component.Above-mentioned design, fixed component produces a upward axial support reaction to action piece by elastic parts, can effectively reduce the axial support force suffered by Power Component, so as to reduce the power of Power Component driving source, reduce physical dimension weight, increase load/deadweight ratio；Meanwhile because the stress of actuator and fixed component reduces, the safety coefficient of mechanism is also improved.
Description
Technical field
It the utility model is related to robotic technology field, and in particular to mechanical arm.
Background technology
With widespread adoption of the mechanical arm in advanced field, compared with regular industrial mechanical arm, such mechanical arm hangs down
D-axis load endurance energy and security requirement are higher, are embodied in：Lighter amount, more high capacity/deadweight ratio, more high safety factor
Deng.Under there is a requirement that, load balance device is extremely important to the perpendicular shaft configuration performance of heavy-duty machinery arm.
In regular industrial device people, the balance mode of vertical axial load can be roughly divided into：Spring, counter weight type, air pressure
Formula and fluid pressure type.
Utility model content
The technical problem that the utility model solves：Simplify how the bascule of heavy-duty machinery arm vertical axis, be light
Quantify.
In order to solve the above technical problems, the utility model provides following technical scheme：A kind of heavy duty provided with bascule
Mechanical arm perpendicular shaft configuration, including be connected with heavy-duty machinery arm Lift Part, with the Lift Part coordinate fixed component,
For driving the Power Component of the relatively described fixed component motion of the Lift Part；The Power Component includes and the fixation
Actuator that part is fixedly connected, the action piece being connected with the Lift Part, action piece coordinate with actuator, and actuator drives
Action piece lifts；The bascule includes the elastic parts for supporting the action piece, and the elastic parts is arranged on the fixation
On part.
By above-mentioned technical proposal, the equilibrium principle of the bascule is as follows：If Power Component (passing through actuator) is by extremely
Upward axial support force is F1, and Power Component is supported by action piece by elastic parts, and fixed component passes through elastic group
It is F2 that part, which produces a upward axial support reaction to action piece, and the gravity of heavy-duty machinery arm and Lift Part is G.Above-mentioned three power
Form balance, coincidence formula G=F1+F2.Wherein G is believed that constant, it is hereby understood that the elastic force of design flexibility component, produces suitable
When support reaction F2, can effectively reduce the axial support force F1 suffered by Power Component, so as to reduce Power Component driving source
Power, reduce physical dimension weight, increase load/deadweight ratio；Meanwhile because the stress of actuator and fixed component reduces, mechanism
Safety coefficient be also improved.
The Lift Part includes outer lifting column, and the fixed component includes base and is arranged on consolidating on the base
Determine positioning vertical column, the stationary positioned column activity is plugged in the lifting column, and the Power Component is vertical positioned at outer lifting
In the cavity of post and stationary positioned column, the bascule is located in the cavity of stationary positioned column, the bottom of elastic parts
It is arranged on the base.By above-mentioned design, Power Component and bascule are arranged on outer lifting column and stationary positioned column
Inside, effectively reduce heavy-duty machinery arm perpendicular shaft configuration size.
The actuator be ball screw assembly, screw, the action piece be ball screw assembly, leading screw, the top of leading screw
Support end is connected with motor and reductor, and motor and reductor are arranged on the top of lifting column, the leading screw to
Under stretch into the cavity of stationary positioned column, coordinate with the screw being arranged in stationary positioned column cavity.The center line of leading screw erects
Straight to set, the center line of leading screw overlaps with the center line of outer lifting column, the center line of stationary positioned column.
The elastic parts includes leading screw support guide seat, the support leading screw support being connected with leading screw bottom floating end
Balancing spring, the spring lower support seat of the support balancing spring of guide holder, spring lower support seat are arranged on the bottom
On seat.
By it is above-mentioned to actuator, action piece, elastic parts explanation, before not designing bascule, heavy-duty machinery arm and
The gravity of Lift Part is undertaken by screw, and after devising bascule, the bascule has shared the pressure suffered by screw.Tool
Body principle is as follows：If the suffered axially upwardly power of leading screw (passing through screw) is F1；Pass through the floating of leading screw support guide seat and leading screw
The connection at end, it is F2 that base, which produces a upward axial support reaction to leading screw,；The gravity of heavy-duty machinery arm and Lift Part is
G.Above-mentioned three power forms balance, coincidence formula G=F1+F2.Wherein G be believed that it is constant, it is hereby understood that design balancing spring, production
Raw appropriate support reaction F2, can effectively reduce axial force F 1 suffered by leading screw, so as to reduce the power of motor, reduce structure
Dimensional weight, increase load/deadweight ratio；Meanwhile because the stress between screw and stationary positioned column reduces, whole mechanism
Safety coefficient is also improved.
The leading screw support guide seat includes the sliding part and leading screw being slidably matched with stationary positioned column inside cavities wall
The pivoted hole of pivot joint.The leading screw is plugged in the pivoted hole by bearing, due to the sliding part and the stationary positioned
Column inside cavities wall is slidably matched, and therefore, the leading screw support guide seat will not be servo-actuated the leading screw in rotation, the leading screw branch
Support guide holder can slide up and down along the stationary positioned column inside cavities wall.
The utility model designs bascule in the inside of stationary positioned column, and equilibrant force be supported on leading screw it is same
In vertical centerline, on vertical axis outward appearance without influence, reaction force needed for bascule is small.
Bascule described in the utility model is different from gas (liquid) pressure balance mode, and bascule of the present utility model is without gas
(liquid) cylinder pressure, control valve etc., it is simple in construction, it is easy to safeguard.
Bascule described in the utility model is also different from the mode that counterweight balances, and bascule described in the utility model is not
Need to increase larger weight mass, or the labyrinth such as pulley wire rope.
The utility model is compared with other modes biggest advantage：Bascule is designed in the inside of perpendicular shaft configuration,
And equilibrant force is with being supported in same vertical centerline；Compared to can make the structure of vertical axis is more complicated, take more spaces,
Also bigger gas (liquid) flattens the mode of weighing apparatus or counterweight balance to quality, and the utility model makes whole perpendicular shaft configuration simplify and light weight
Change.
Brief description of the drawings
The utility model is described further below in conjunction with the accompanying drawings：
Fig. 1 is a kind of outside drawing of the heavy-duty machinery arm perpendicular shaft configuration provided with bascule of the utility model；
Fig. 2 is a kind of internal structure schematic diagram of the heavy-duty machinery arm perpendicular shaft configuration provided with bascule in Fig. 1.
Symbol description in figure：
1st, heavy-duty machinery arm；2nd, outer lifting column；3rd, motor and reductor；4th, ball screw assembly,；5th, screw mandrel supports
Guide holder；6th, balancing spring；7th, stationary positioned column；8th, spring lower support seat.
Embodiment
With reference to figure 2, a kind of heavy-duty machinery arm perpendicular shaft configuration provided with bascule, including be connected with heavy-duty machinery arm 1
Lift Part, coordinate with the Lift Part fixed component, for driving the relative fixed component of the Lift Part
The Power Component of motion；The Power Component includes the actuator being fixedly connected with the fixed component and the Lift Part
The action piece of connection, action piece coordinate with actuator, and actuator drives action piece to lift；The bascule is included described in support
The elastic parts of action piece, the elastic parts are arranged in the fixed component.
Such as Fig. 1, the heavy-duty machinery arm 1 is hinged small including the large arm with being connected at the top of the Lift Part, with large arm
Arm, large arm and forearm are horizontally disposed with.
With reference to figure 1, Fig. 2, the Lift Part includes outer lifting column 2, and the fixed component includes base and is arranged on
Stationary positioned column 7 on the base, the stationary positioned column activity are plugged in the outer lifting column.Stationary positioned
Column lateral wall is provided with the first guide groove (the first gib block) moved towards vertically, accordingly, on the madial wall of outer lifting column
Provided with the second gib block (the second guide groove) coordinated with first guide groove (the first gib block).
The Power Component is located in the cavity of outer lifting column and stationary positioned column, and the bascule is positioned at fixation
In the cavity of positioning vertical column, the bottom of elastic parts is arranged on the base.
Such as Fig. 2, the Power Component is ball screw assembly, 4, and the actuator is the screw of ball screw assembly, 4, described dynamic
Workpiece is the leading screw of ball screw assembly, and the top braces end of leading screw is connected with motor and reductor 3, motor and deceleration
Machine is arranged on the top of outer lifting column 2, and the leading screw extends downwardly into the cavity of stationary positioned column 7, fixed fixed with being arranged on
Screw in the column cavity of position coordinates.The center line of leading screw is vertically arranged, the center of the center line of leading screw and outer lifting column 2
Line, the center line of stationary positioned column 7 overlap.
Such as Fig. 2, leading screw support guide seat 5 that the elastic parts in bascule includes being connected with leading screw bottom floating end,
Support balancing spring 6, the spring lower support seat 8 of the support balancing spring of the leading screw support guide seat, spring bottom
Support base is arranged on the base.As one kind to above-mentioned leading screw support guide holder structure preferably, the leading screw support is led
Sliding part, the pivoted hole with leading screw pivot joint for including being slidably matched with the inside cavities wall of stationary positioned column 7 to seat 5.By above-mentioned
Design, the rotation of leading screw can not drive the leading screw support guide seat to rotate, and the rotation of leading screw can drive the leading screw to support
Guide holder lifts, and during lifting, the sliding part slides up and down along the inside cavities wall of stationary positioned column 7.
Above content is only better embodiment of the present utility model, for one of ordinary skill in the art, according to this
The thought of utility model, there will be changes, this specification content should not be understood in specific embodiments and applications
For to limitation of the present utility model.
Claims (6)
1. a kind of heavy-duty machinery arm perpendicular shaft configuration provided with bascule, including the lifting unit being connected with heavy-duty machinery arm (1)
Part, with fixed component that the Lift Part coordinates, for driving the dynamic of the relative fixed component motion of the Lift Part
Power component；The Power Component include be fixedly connected with the fixed component actuator, be connected with the Lift Part move
Workpiece, action piece coordinate with actuator, and actuator drives action piece to lift；It is characterized in that：The bascule includes support
The elastic parts of the action piece, the elastic parts are arranged in the fixed component.
A kind of 2. heavy-duty machinery arm perpendicular shaft configuration provided with bascule as claimed in claim 1, it is characterised in that：It is described
Lift Part includes outer lifting column (2), and the stationary positioned that the fixed component includes base and is arranged on the base is stood
Post (7), the stationary positioned column activity are plugged in the outer lifting column, the Power Component be located at outer lifting column and
In the cavity of stationary positioned column, the bascule is located in the cavity of stationary positioned column, and the bottom of elastic parts is set
On the base.
A kind of 3. heavy-duty machinery arm perpendicular shaft configuration provided with bascule as claimed in claim 2, it is characterised in that：It is described
Actuator is the screw of ball screw assembly, (4), and the action piece is the leading screw of ball screw assembly, and the top braces end of leading screw is with driving
Dynamic motor and reductor (3) connection, motor and reductor are arranged on the top of outer lifting column (2), and the leading screw is downward
The cavity of stationary positioned column (7) is stretched into, is coordinated with the screw being arranged in stationary positioned column cavity.
A kind of 4. heavy-duty machinery arm perpendicular shaft configuration provided with bascule as claimed in claim 3, it is characterised in that：Leading screw
Center line be vertically arranged, center line, the center line of stationary positioned column (7) of the center line of leading screw and outer lifting column (2)
Overlap.
A kind of 5. heavy-duty machinery arm perpendicular shaft configuration provided with bascule as claimed in claim 3, it is characterised in that：It is described
Leading screw support guide seat (5) that elastic parts includes be connected with leading screw bottom floating end, support the leading screw support guide seat
The spring lower support seat (8) of balancing spring (6), the support balancing spring, spring lower support seat are arranged on the base
On.
A kind of 6. heavy-duty machinery arm perpendicular shaft configuration provided with bascule as claimed in claim 5, it is characterised in that：It is described
Leading screw support guide seat (5) is pivotally connected including the sliding part being slidably matched with stationary positioned column (7) inside cavities wall and leading screw
Pivoted hole.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2016110542301 | 2016-11-25 | ||
| CN201611054230.1A CN106514718A (en) | 2016-11-25 | 2016-11-25 | Heavy-load mechanical arm with balance device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206953042U true CN206953042U (en) | 2018-02-02 |
Family
ID=58356964
Family Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611054230.1A Pending CN106514718A (en) | 2016-11-25 | 2016-11-25 | Heavy-load mechanical arm with balance device |
| CN201720490532.7U Active CN206953042U (en) | 2016-11-25 | 2017-05-05 | A kind of heavy-duty machinery arm perpendicular shaft configuration provided with bascule |
| CN201710310549.4A Pending CN107139210A (en) | 2016-11-25 | 2017-05-05 | A kind of heavy-duty machinery arm perpendicular shaft configuration provided with bascule |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611054230.1A Pending CN106514718A (en) | 2016-11-25 | 2016-11-25 | Heavy-load mechanical arm with balance device |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710310549.4A Pending CN107139210A (en) | 2016-11-25 | 2017-05-05 | A kind of heavy-duty machinery arm perpendicular shaft configuration provided with bascule |
Country Status (1)
| Country | Link |
|---|---|
| CN (3) | CN106514718A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107139210A (en) * | 2016-11-25 | 2017-09-08 | 哈尔滨思哲睿智能医疗设备有限公司 | A kind of heavy-duty machinery arm perpendicular shaft configuration provided with bascule |
| CN113017839A (en) * | 2021-02-01 | 2021-06-25 | 武汉中科医疗科技工业技术研究院有限公司 | Lifting upright post and surgical robot |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5149029A (en) * | 1982-08-25 | 1992-09-22 | Intest Corporation | Electronic test head positioner for test systems |
| US4592697A (en) * | 1983-04-26 | 1986-06-03 | Kabushiki Kaisha Kobe Seiko Sho | Gravity balancing device for rocking arm |
| JP5115309B2 (en) * | 2008-04-28 | 2013-01-09 | 株式会社安川電機 | Industrial robot and method of operation |
| CN103831821B (en) * | 2014-03-26 | 2015-08-19 | 哈尔滨工业大学 | Seven freedom heavy duty movable operating arm |
| CN106514718A (en) * | 2016-11-25 | 2017-03-22 | 东莞市天合机电开发有限公司 | Heavy-load mechanical arm with balance device |
-
2016
- 2016-11-25 CN CN201611054230.1A patent/CN106514718A/en active Pending
-
2017
- 2017-05-05 CN CN201720490532.7U patent/CN206953042U/en active Active
- 2017-05-05 CN CN201710310549.4A patent/CN107139210A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107139210A (en) * | 2016-11-25 | 2017-09-08 | 哈尔滨思哲睿智能医疗设备有限公司 | A kind of heavy-duty machinery arm perpendicular shaft configuration provided with bascule |
| CN113017839A (en) * | 2021-02-01 | 2021-06-25 | 武汉中科医疗科技工业技术研究院有限公司 | Lifting upright post and surgical robot |
| CN113017839B (en) * | 2021-02-01 | 2022-07-26 | 武汉中科医疗科技工业技术研究院有限公司 | Lifting upright post and surgical robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106514718A (en) | 2017-03-22 |
| CN107139210A (en) | 2017-09-08 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: No. 8, Dalian North Road, Haping Road Concentration Area, Harbin Economic Development Zone, Harbin City, Heilongjiang Province, 150000 Patentee after: Harbin sizherui intelligent medical equipment Co.,Ltd. Address before: 150090 08, room 15, No. 368 Changjiang Road, Nangang District, Harbin, Heilongjiang. Patentee before: HARBIN SIZHERUI INTELLIGENT MEDICAL EQUIPMENT Co.,Ltd. |