CN101823262A - Balancing device for industrial robot - Google Patents
Balancing device for industrial robot Download PDFInfo
- Publication number
- CN101823262A CN101823262A CN 201010160404 CN201010160404A CN101823262A CN 101823262 A CN101823262 A CN 101823262A CN 201010160404 CN201010160404 CN 201010160404 CN 201010160404 A CN201010160404 A CN 201010160404A CN 101823262 A CN101823262 A CN 101823262A
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- CN
- China
- Prior art keywords
- bascule
- motor
- balancing device
- big arm
- industrial robot
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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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Abstract
The invention relates to a balancing device for an industrial robot. The balancing device is arranged between a big arm of the robot and a big arm driving motor and is fixedly connected with a turntable below the balancing device. The balancing device and the big arm are in rigid connection. The balancing device consists of a bracket, a screw rod, a connecting board and a motor. The motor drives the screw rod. The screw rod is in threaded connection with the connecting board. The connecting board is connected with the big arm. The lower part of the bracket is fixedly connected with the turntable. A linear guide rail is fixedly arranged in the bracket. The connecting board is in sliding connection with the linear guide rail. The screw rod is in meshing transmission with the motor by a bevel gear. Both ends of the screw rod are fixed on the bracket through a rolling bearing. The balancing device can realize active balancing, does not generate the obstructive reaction and can prolong the service life of the motor and the reducer.
Description
Technical field
The present invention relates to a kind of internal structure of industrial robot, especially relate to the bascule of a kind of industrial robot inside.
Background technology
The stressing conditions of second joint is abominable in heavy load industrial robot design, and second joint is added balancer and alleviated for this reason.Balancer is in the past finished the balance task by spring mostly, and its shortcoming is the spring apolegamy and optimizes the restriction that is subjected to overall structure and mechanical dimension, is difficult to accomplish optimization; Having is not that balancer all plays a positive role under all motion conditions of robot again, plays inhibition sometimes yet, makes motor, decelerator stressing conditions more abominable; Reasons such as material, heat treatment, moulding can not make each spring can both satisfy the design main points when spring was made.
Summary of the invention
Technical problem to be solved by this invention provides a kind of bascule of industrial robot, and it has overcome the shortcoming of passive equilibrium of the bascule of heavy load series connection industrial robot.
The present invention solves the technical scheme that its technical problem takes: a kind of bascule of industrial robot, described bascule is arranged at the big arm of robot and fixedlys connected between the arm drive motors and with the rotating disk of below greatly, is rigidly connected between described bascule and the big arm.
In order to make big arm in work, second joint can effectively keep balance, and described bascule is made up of support, leading screw, connecting plate and motor, the motor-driven leading screw, leading screw is threaded with connecting plate, and connecting plate links to each other with big arm, fixedlys connected with rotating disk in the below of support.
Be set with line slideway in the described support, connecting plate and line slideway are slidingly connected, and connecting plate just can move up and down at line slideway by leading screw and make big arm owing to be equilibrated at a fixing position at second joint in the work.
In order to make motor can effectively drive leading screw, described leading screw and motor are by being provided with the bevel gear engaged transmission, and the two ends of described leading screw are fixed on the support by rolling bearing.
Advantage of the present invention is: after the structure more than using, this bascule is active balancing in real time, does not produce the reaction of obstruction, and can prolong the service life of motor, decelerator.
Description of drawings
Fig. 1 is the outline drawing that the present invention assembles the robot of this kind bascule;
Fig. 2 is the structural representation of balancer of the present invention;
1, big arm 2, bascule 3, motor I 4, rolling bearing 5, bearing block
6, leading screw 7, connecting plate 8, sliding bearing I 9, bevel gear I 10, sliding bearing II
11, line slideway 12, support 13, bevel gear II 14, rolling bearing II
15, motor II
The specific embodiment
A kind of bascule of industrial robot as depicted in figs. 1 and 2, described bascule 2 is arranged at the big arm 1 of robot and fixedlys connected between the arm drive motors II15 and with the rotating disk of below greatly, be rigidly connected between described bascule 2 and the big arm 1, described bascule 2 is by support 12, leading screw 6, connecting plate 7 and motor I 3 are formed, motor I 3 drives leading screw 6, leading screw 6 is threaded with connecting plate 7, connecting plate 7 links to each other with big arm 1, fixedly connected with rotating disk in the below of support 12, be set with line slideway 11 in the described support 12, connecting plate 7 is slidingly connected with line slideway 11, described leading screw 6 and motor I 3 are by being provided with bevel gear 9 engaged transmission, the two ends of described leading screw 6 are fixed on the support 12 by sliding bearing 4 and bearing block 5, and bascule 2 is by sliding bearing I 8, sliding bearing II 10 is connected with the connecting axle of big arm 1.
When the second joint of robot moves, bascule 2 will be followed second joint by structural relation and be moved together, but this moment is by the motion of leading screw 6 restriction second joints, therefore motor II 15 must be rotated simultaneously, and by bevel gear I 9, drive leading screw 6 rotations after the bevel gear II 13 deceleration commutations, leading screw 6 promotes connecting plate 7 along line slideway 11 directions, finish the associated movement of bascule 2 and robot second joint, this moment, motor I 3 and the motor II 15 common second joints that drive moved, and the second joint of 2 pairs of big arms 1 of bascule that motor II 15 is driven has played the effect of real-time balance.
Claims (5)
1. the bascule of an industrial robot, described bascule (2) is arranged at the big arm (1) of robot and fixedlys connected between the arm drive motors I (3) and with the rotating disk of below greatly, it is characterized in that: be rigidly connected between described bascule (2) and the big arm (1).
2. the bascule of industrial robot according to claim 1, it is characterized in that: described bascule (2) is made up of support (12), leading screw (6), connecting plate (7) and motor II (15), motor II (15) drives leading screw (6), leading screw (6) is threaded with connecting plate (7), connecting plate (7) links to each other with big arm (1), fixedlys connected with rotating disk in the below of support (12).
3. the bascule of industrial robot according to claim 2 is characterized in that: be set with line slideway (11) in the described support (12), connecting plate (7) is slidingly connected with line slideway (11).
4. the bascule of industrial robot according to claim 2, it is characterized in that: described leading screw (6) and motor II (15) are by being provided with bevel gear (9,13) engaged transmission.
5. the bascule of industrial robot according to claim 2, it is characterized in that: the two ends of described leading screw (6) are fixed on the support (12) by rolling bearing (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010160404 CN101823262A (en) | 2010-04-30 | 2010-04-30 | Balancing device for industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010160404 CN101823262A (en) | 2010-04-30 | 2010-04-30 | Balancing device for industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101823262A true CN101823262A (en) | 2010-09-08 |
Family
ID=42687527
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201010160404 Pending CN101823262A (en) | 2010-04-30 | 2010-04-30 | Balancing device for industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101823262A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102755939A (en) * | 2011-04-29 | 2012-10-31 | 鸿富锦精密工业（深圳）有限公司 | Adjusting device for spray gun |
| CN102990677A (en) * | 2011-09-13 | 2013-03-27 | 鸿富锦精密工业（深圳）有限公司 | Balance mechanism and robot using same |
| CN107361996A (en) * | 2017-08-11 | 2017-11-21 | 哈工大机器人（合肥）国际创新研究院 | A kind of stepless adjustment device suitable for healing robot four limbs length |
| CN107718037A (en) * | 2017-09-28 | 2018-02-23 | 李从宾 | A kind of bascule of articulated robot |
| CN111729790A (en) * | 2020-06-16 | 2020-10-02 | 湖北工业大学 | Movable paint spraying robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4517853A (en) * | 1981-02-16 | 1985-05-21 | Toyama Machine Works, Limited | Balancing device |
| JPH01257589A (en) * | 1988-04-05 | 1989-10-13 | Toshiba Corp | Industrial robot |
| JPH1015874A (en) * | 1996-07-08 | 1998-01-20 | Yaskawa Electric Corp | Gravity compensating spring device of industrial robot |
| CN201338276Y (en) * | 2009-01-08 | 2009-11-04 | 江苏中欧机械有限公司 | Z-axis driving device of robot arm |
| CN201693559U (en) * | 2010-04-30 | 2011-01-05 | 苏州博实机器人技术有限公司 | Balancing device of industrial robot |
-
2010
- 2010-04-30 CN CN 201010160404 patent/CN101823262A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4517853A (en) * | 1981-02-16 | 1985-05-21 | Toyama Machine Works, Limited | Balancing device |
| JPH01257589A (en) * | 1988-04-05 | 1989-10-13 | Toshiba Corp | Industrial robot |
| JPH1015874A (en) * | 1996-07-08 | 1998-01-20 | Yaskawa Electric Corp | Gravity compensating spring device of industrial robot |
| CN201338276Y (en) * | 2009-01-08 | 2009-11-04 | 江苏中欧机械有限公司 | Z-axis driving device of robot arm |
| CN201693559U (en) * | 2010-04-30 | 2011-01-05 | 苏州博实机器人技术有限公司 | Balancing device of industrial robot |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102755939A (en) * | 2011-04-29 | 2012-10-31 | 鸿富锦精密工业（深圳）有限公司 | Adjusting device for spray gun |
| CN102755939B (en) * | 2011-04-29 | 2014-08-20 | 鸿富锦精密工业（深圳）有限公司 | Adjusting device for spray gun |
| CN102990677A (en) * | 2011-09-13 | 2013-03-27 | 鸿富锦精密工业（深圳）有限公司 | Balance mechanism and robot using same |
| CN107361996A (en) * | 2017-08-11 | 2017-11-21 | 哈工大机器人（合肥）国际创新研究院 | A kind of stepless adjustment device suitable for healing robot four limbs length |
| CN107718037A (en) * | 2017-09-28 | 2018-02-23 | 李从宾 | A kind of bascule of articulated robot |
| CN111729790A (en) * | 2020-06-16 | 2020-10-02 | 湖北工业大学 | Movable paint spraying robot |
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| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Open date: 20100908 |