An assembly balance structure of an arm support

Abstract

The application relates to an arm support assembly dynamic balance structure which comprises a chassis, a support body arranged on the chassis, a counterweight support body rotatably arranged on the chassis, a connecting piece for connecting the support body and the counterweight support body, and a weight increasing assembly for increasing the weight of the counterweight support body, the support body is rotatably connected with the chassis, the counterweight support body is arranged in a triangular shape, one corner of the counterweight support body is rotatably connected with the chassis, and the weight increasing assembly is arranged at a corner of the counterweight support body far away from the support body. The application can dynamically balance the arm support center of gravity, thereby realizing the effect of stabilizing the arm support operation process.

Description

Technical Field

[0001] This application relates to the technical field of hydraulic robotic arms, and in particular to a dynamic balancing structure for a boom assembly. Background Technology

[0002] Currently, hydraulic robotic arms are robotic arms driven by hydraulic principles, enabling high-precision, high-speed, and highly flexible movements. Their working principle utilizes the pressure of a hydraulic engine to move each joint of the robotic arm through the action of hydraulic cylinders, hydraulic pipes, and hydraulic valves, thereby achieving the purpose of moving the robotic arm. Hydraulic robotic arms mainly consist of multiple joints. During the movement of the end effector, all joints need to participate. However, due to factors such as its own weight and material strength, the position of the end effector is difficult to precisely reach the target location. Especially for large hydraulic robotic arms, with even more joints and larger dimensions, the negative impacts of various factors are amplified, particularly the different deformations occurring at different joints, making it even more difficult to control the end effector position.

[0003] Since most robotic arms in related technologies are three-axis or multi-axis, the robotic arm needs to be long enough, which causes the center of gravity of the entire robotic arm to shift forward. If the center of gravity of the entire robotic arm is not balanced, the robotic arm is very likely to tip over. Utility Model Content

[0004] To improve the above-mentioned technical problems, this application provides a boom assembly dynamic balancing structure.

[0005] The boom assembly dynamic balancing structure provided in this application adopts the following technical solution:

[0006] A boom assembly dynamic balancing structure includes a chassis, a frame mounted on the chassis, a counterweight frame rotatably mounted on the chassis, a connector for connecting the frame and the counterweight frame, and a weight-adding component for adding weight to the counterweight frame. The frame is rotatably connected to the chassis, the counterweight frame is triangular with one corner rotatably connected to the chassis, and the weight-adding component is located at a corner of the counterweight frame away from the frame.

[0007] Furthermore, the connector is configured as a connecting rod, one end of which is rotatably connected to a corner of the counterweight frame at its highest point, and the other end of which is rotatably connected to the frame body.

[0008] Furthermore, the counterweight frame includes a tripod and a counterweight plate. The tripod is rotatably connected to the chassis. One end of the connecting rod is rotatably connected to a corresponding corner of the tripod. The counterweight plate includes two discs with through holes. The weight-adding component includes multiple weight-adding discs and a connecting part for connecting the weight-adding discs and the counterweight plate. The weight-adding disc is disposed between two of the counterweight discs.

[0009] Furthermore, the weight-adding component also includes a plurality of side plates whose diameter gradually decreases along the direction away from the disk. The side plates have a circular cross-section. The plurality of side plates are divided into two groups, and the two groups of side plates are respectively disposed on both sides of the disk. The plurality of side plates and the plurality of weight-adding plates are combined to form a spherical structure, and the spherical structure is used to balance the center of gravity of the counterweight frame.

[0010] Furthermore, the two discs are connected by inserts, which are inclined toward the frame. The weight-adding disc is provided with a socket, which is adapted to be inserted into the insert.

[0011] Furthermore, the connecting part includes a plug rod, a collar, and a fastening assembly. The weight-adding disc is also provided with a through hole. The plug rod connects the disc, multiple side discs, and multiple weight-adding discs in sequence. The collar is sleeved on the end of the plug rod, and the fastening assembly is used to restrict the collar.

[0012] Furthermore, the fastening assembly includes a washer and a bolt, the washer abutting against the end of the collar, the end of the insert rod being provided with a threaded groove, and the bolt being threadedly connected to the threaded groove and pressing the washer against the end of the collar.

[0013] Furthermore, the weight-adding plate is provided with an arc-shaped groove, and a lifting hook is provided in the middle of the arc-shaped groove.

[0014] In summary, the beneficial technical effects of this application are as follows:

[0015] 1. The frame itself is quite long, so the center of gravity of the frame is biased towards the frame. The counterweight frame is located at the rear of the chassis and is connected to the frame. Therefore, the counterweight components can work together with the frame to control the center of gravity, and ultimately achieve the effect of balancing the center of gravity of the boom assembly.

[0016] 2. Multiple side plates and multiple weight-adding plates are combined to form a spherical structure. The advantage of the spherical structure is that it is used to balance the center of gravity of the counterweight frame. That is, the center of gravity of the counterweight frame remains stable regardless of the swing of the counterweight frame and the frame body. When the frame body is in motion, the center of gravity of the frame body will not shift significantly, thus achieving the stable motion effect of the dynamic balance structure. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of an embodiment of this application;

[0018] Figure 2 This is a schematic diagram of the weight-adding component according to an embodiment of this application;

[0019] Figure 3 This is a schematic diagram of the weight-adding disc according to an embodiment of this application;

[0020] Figure 4 This is a schematic diagram of the tripod and disc according to an embodiment of this application;

[0021] Figure 5 This is a schematic diagram of the disc and the insertion rod according to an embodiment of this application;

[0022] Figure 6 This is a schematic diagram of a disk according to an embodiment of this application.

[0023] Explanation of reference numerals in the attached figures:

[0024] 1. Chassis; 10. Frame; 11. Counterweight frame; 12. Connecting rod; 13. Triangular frame; 14. Counterweight plate; 15. Disc; 16. Insert plate; 17. Insertion hole; 18. Weight-adding plate; 19. Insertion rod; 20. Snap-fit ​​block; 21. Spring; 22. Snap-fit ​​groove; 23. Arc groove; 24. Sliding hole; 25. Side plate; 26. Collar; 27. Washer; 28. Bolt; 29. ​​Arc groove; 30. Lifting hook. Detailed Implementation

[0025] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0026] This application discloses a boom assembly dynamic balancing structure. (Refer to...) Figures 1-4 It includes a chassis 1, a frame 10 mounted on the chassis 1, a counterweight frame 11 rotatably mounted on the chassis 1, a connector for connecting the frame 10 and the counterweight frame 11, and a weight-adding component for adding weight to the counterweight frame 11. In this embodiment, the length of the frame 10 is set according to the actual situation. Currently, the most commonly used frame 10 is three-axis or four-axis, so the length of the frame 10 itself is relatively long. Therefore, the center of the frame 10 is biased towards the frame 10 direction. The counterweight frame 11 is located behind the chassis 1 and is connected to the frame 10. Therefore, the weight-adding component can cooperate with the frame 10 to achieve the function of controlling the center of gravity, and finally achieve the effect of balancing the center of gravity of the boom assembly.

[0027] The frame 10 is rotatably connected to the chassis 1. The counterweight frame 11 is triangular and one corner of the counterweight frame 11 is rotatably connected to the chassis 1. The weight-adding component is located at one corner of the counterweight frame 11 away from the frame 10. The connecting member is a connecting rod 12. One end of the connecting rod 12 is rotatably connected to the highest corner of the counterweight frame 11, and the other end of the connecting rod 12 is rotatably connected to the frame 10. If the frame 10 swings upward, under the transmission action of the connecting rod 12, the position where the connecting rod 12 is connected to the frame 10 swings upward. Therefore, the connecting rod 12 drives the counterweight frame 11 to swing downward, thereby achieving the effect of balancing the center of gravity.

[0028] In this embodiment, if the weight and length of the frame 10 change, or if the angle of the frame 10 swings, it is necessary to add weight to the counterweight frame 11 according to the actual situation in order to better achieve the effect of center of gravity balance. The counterweight frame 11 includes a tripod 13 and a counterweight plate 14. The tripod 13 is used to connect the base 1 and the counterweight plate 14. The counterweight plate 14 is used to increase the weight. The tripod 13 is rotatably connected to the base 1. One end of the connecting rod 12 is rotatably connected to the corresponding corner of the tripod 13. The counterweight plate 14 includes two discs 15. The discs 15 are provided with perforations. The weight-adding component includes multiple weight-adding discs 18 and a connecting part for connecting the weight-adding discs 18 and the counterweight plate 14. The weight-adding discs 18 are disposed between the two counterweight plates 14. The discs 15 are respectively disposed on both sides of the tripod 13, so that the weight can be added between the two discs 15 through the weight-adding discs 18. The weight-adding tray 18 is provided with an arc-shaped groove 23. A lifting hook 30 is provided in the middle of the arc-shaped groove 23. The lifting hook 30 is used by the staff to lift and move the weight-adding tray 18. The middle of the arc-shaped groove 23 is coplanar with the symmetrical plane of the insertion hole 17, which also stabilizes the center of gravity of the weight-adding tray 18 to a certain extent.

[0029] The weight-adding component also includes multiple side plates 25 that gradually decrease in size along the direction away from the disc 15. The side plates 25 have a circular cross-section. The multiple side plates 25 are divided into two groups, and the two groups of side plates 25 are respectively set on both sides of the disc 15, that is, the side plates 25 are set on the outer side of the disc 15. The multiple side plates 25 and the multiple weight-adding plates 18 are combined to form a spherical structure. The advantage of the spherical structure is that it is used to balance the center of gravity of the counterweight frame 11. That is, the center of gravity of the counterweight frame 11 is stable regardless of the swinging process of the counterweight frame 11 and the frame 10. When the frame 10 is in motion, the center of gravity of the frame 10 will not shift significantly, thus achieving the stable motion effect of the dynamic balance structure.

[0030] Two discs 15 are connected by inserts 16, which are inclined toward the frame 10. The weight-adding disc 18 is provided with a hole 17, the length of which is perpendicular to the axis of the weight-adding disc 18, preferably along the radial direction of the weight-adding disc 18. When multiple weight-adding discs 18 need to be installed, the hole 17 on the weight-adding disc 18 is inserted into the insert 16 to complete the installation of the weight-adding disc 18. The connecting part includes a rod 19, a collar 26 and a fastening assembly. The weight-adding disc 18 is also provided with a through hole. The rod 19 connects the disc 15, multiple side discs 25 and multiple weight-adding discs 18 in sequence. The collar 26 is fitted onto the end of the rod 26. The fastening assembly is used to limit the collar 26. The rod 19 also supports the side discs 25. The fastening assembly is mainly used to ensure the stable connection of the side discs 25.

[0031] The fastening assembly includes a washer 27 and a bolt 28. The washer 27 abuts against the end of the collar 26. The end of the insert rod 19 is provided with a threaded groove. The bolt 28 is threadedly connected to the threaded groove and presses the washer 27 against the end of the collar 26. After the side plate 25 is installed, the collar 26 restricts the sliding of the side plate 25. At the same time, the bolt 28 is threadedly connected to the threaded groove of the insert rod 199. The head of the bolt 28 presses the washer 27 against the end of the collar 26, thus realizing the installation of the spherical structure.

[0032] In another embodiment, however, the weight-adding disc 18 is not secure during actual operation. Therefore, a snap-fit ​​mechanism is required to fix the weight-adding disc 18 between the two discs 15. Each of the two discs 15 has a snap-fit ​​assembly at both ends of the insertion rod 19. The snap-fit ​​assembly includes a snap-fit ​​block 20 and a closing part. The disc 15 has a sliding hole 24 along its axial direction on the inner wall of the perforation. The insertion rod 19 has a snap-fit ​​groove 22. The snap-fit ​​block 20 is elastically disposed within the snap-fit ​​groove 22, and its end is spherical. The disc 15 also has an arc-shaped groove 23 on the inner wall of the perforation. One end of the arc-shaped groove 23 communicates with the sliding hole 24, and the other end is closed. The center of the arc-shaped groove 23 is concentric with the center of the disc 15. A spring 21 is fixedly connected between the inner wall of the snap-fit ​​groove 22 and the end of the snap-fit ​​block 20. When the spring 21 is in free deformation, one end of the snap-fit ​​block 20 is located outside the snap-fit ​​groove 22.

[0033] During the installation of the counterweight plate 14, the through holes of the counterweight plate 14 and the disc 15 are collinear. Therefore, the counterweight plate 14 and the disc 15 can be connected in series using the insert rod 19. Since the end of the locking block 20 is spherical, when the insert rod 19 passes through the counterweight plate 14, the locking block 20 is pressed into the locking groove 22, allowing the insert rod 19 to pass smoothly through the counterweight plate 14 until the two locking blocks 20 on the insert rod 19 are respectively located in the sliding holes 24 of the two discs 15, and the locking blocks 20 are directly opposite the opening of the arc groove 23. At this time, by rotating the insert rod 19, the locking blocks 20 slide to the closed end of the arc groove 23. At this time, the movement of the insert rod 19 along the axis of the disc 15 is restricted, thereby restricting the counterweight plate 14 between the two discs 15, achieving the effect of fixing the counterweight plate 14. Of course, in this embodiment, the locking block 20 can also be set as one, so the locking block 20 does not need to pass through multiple counterweight plates 14.

[0034] The sealing part is set as a rubber block, which is inserted into the sliding hole 24. In this embodiment, the size of the rubber block is preferably larger than the opening size of the sliding hole 24. Therefore, when the rubber block is squeezed into the sliding hole 24, the rubber block is squeezed and deformed, and the rubber block seals the opening of the arc groove 23. Therefore, the snap-fit ​​block 20 will not slide out of the arc groove 23. When it is necessary to pull out the plug rod 19, the rubber block needs to be pulled out of the sliding hole 24, and the snap-fit ​​block 20 slides from the arc groove 23 into the sliding hole 24.

[0035] The implementation principle of the boom assembly dynamic balancing structure in this application embodiment is as follows: The frame 10 itself has a relatively long length, so the center of the frame 10 is biased towards the frame 10. The counterweight frame 11 is located behind the chassis 1 and is connected to the frame 10. Therefore, by cooperating with the weight-adding components and the frame 10, the center of gravity can be controlled, ultimately achieving the effect of balancing the center of gravity of the boom assembly. The counterweight plate 14 and the disc 15 are connected in series using the insertion rod 19. When the locking block 20 on the insertion rod 19... After passing through the sliding hole 24, the locking block 20 needs to be pressed into the locking groove 22 so that the insertion rod 19 can pass smoothly through the counterweight plate 14 until the two locking blocks 20 on the insertion rod 19 are respectively located in the sliding holes 24 of the two discs 15, and the locking blocks 20 are facing the opening of the arc groove 23. At this time, by rotating the insertion rod 19, the locking block 20 slides to the closed end of the arc groove 23. At this time, the movement of the insertion rod 19 along the axis of the disc 15 is restricted, and the counterweight plate 14 is restricted between the two discs 15, thus achieving the effect of fixing the counterweight plate 14.

[0036] Unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms "first," "second," "third," and similar terms used in this application specification and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. The terms "a" or "an," and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms "comprising," "including," and similar terms mean that the elements or objects preceding "comprising" encompass the elements or objects listed following "comprising" or "including," and their equivalents, but do not exclude other elements or objects. "Above," "below," "left," "right," etc., are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0037] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A boom assembly dynamic balancing structure, characterized in that, The device includes a chassis (1), a frame (10) mounted on the chassis (1), a counterweight frame (11) rotatably mounted on the chassis (1), a connector for connecting the frame (10) and the counterweight frame (11), and a weight-adding component for adding weight to the counterweight frame (11). The frame (10) is rotatably connected to the chassis (1), the counterweight frame (11) is triangular and one corner of the counterweight frame (11) is rotatably connected to the chassis (1), and the weight-adding component is located at one corner of the counterweight frame (11) away from the frame (10).

2. The boom assembly dynamic balancing structure according to claim 1, characterized in that, The connector is configured as a connecting rod (12), one end of which is rotatably connected to a corner of the counterweight frame (11) at its highest point, and the other end of which is rotatably connected to the frame body (10).

3. The boom assembly dynamic balancing structure according to claim 2, characterized in that, The counterweight frame (11) includes a tripod (13) and a counterweight plate (14). The tripod (13) is rotatably connected to the base (1). One end of the connecting rod (12) is rotatably connected to a corresponding corner of the tripod (13). The counterweight plate (14) includes two discs (15). The discs (15) are provided with perforations. The weight-adding component includes multiple weight-adding discs (18) and a connecting part for connecting the weight-adding discs (18) and the counterweight plate (14). The weight-adding discs (18) are disposed between the two counterweight plates (14).

4. The boom assembly dynamic balancing structure according to claim 3, characterized in that, The weight-adding component also includes a plurality of side discs (25) whose diameter gradually decreases along the direction away from the disk (15). The side discs (25) have a circular cross-section. The plurality of side discs (25) are divided into two groups, and the two groups of side discs (25) are respectively disposed on both sides of the disk (15). The plurality of side discs (25) and the plurality of weight-adding discs (18) are combined to form a spherical structure, and the spherical structure is used to balance the center of gravity of the counterweight frame (11).

5. The boom assembly dynamic balancing structure according to claim 4, characterized in that, The two discs (15) are connected by inserts (16), which are inclined toward the frame (10). The weight-adding disc (18) is provided with a socket (17), which is adapted to be inserted into the insert (16).

6. The boom assembly dynamic balancing structure according to claim 5, characterized in that, The connecting part includes a plug rod (19), a collar (26), and a fastening assembly. The weight-adding disc (18) is also provided with a through hole. The plug rod (19) connects the disc (15), multiple side discs (25), and multiple weight-adding discs (18) in sequence. The collar (26) is sleeved on the end of the plug rod (19). The fastening assembly is used to restrict the collar (26).

7. The boom assembly dynamic balancing structure according to claim 6, characterized in that, The fastening assembly includes a washer (27) and a bolt (28). The washer (27) abuts against the end of the collar (26). The end of the insert (19) is provided with a threaded groove. The bolt (28) is threadedly connected to the threaded groove and tightens the washer (27) against the end of the collar (26).

8. The boom assembly dynamic balancing structure according to claim 3, characterized in that, The weight-adding plate (18) is provided with an arc-shaped groove (29), and a lifting hook (30) is provided in the middle of the arc-shaped groove (29).

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