CN102161206A - Robot balancer connection structure and assembling method thereof - Google Patents
Robot balancer connection structure and assembling method thereof Download PDFInfo
- Publication number
- CN102161206A CN102161206A CN 201010611600 CN201010611600A CN102161206A CN 102161206 A CN102161206 A CN 102161206A CN 201010611600 CN201010611600 CN 201010611600 CN 201010611600 A CN201010611600 A CN 201010611600A CN 102161206 A CN102161206 A CN 102161206A
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- Prior art keywords
- balancer
- axle
- big arm
- sliding bearing
- rotating shaft
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000009434 installation Methods 0.000 claims description 5
- 230000000670 limiting effect Effects 0.000 claims description 3
- 238000003466 welding Methods 0.000 claims description 2
- 238000012545 processing Methods 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005008 domestic process Methods 0.000 description 1
- 229910002804 graphite Inorganic materials 0.000 description 1
- 239000010439 graphite Substances 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
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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)
- Manipulator (AREA)
Abstract
The invention provides a robot balancer connection structure and a assembling method thereof, wherein the robot balancer connection structure comprises a large arm, a base, a balancer and a balancer shaft mounted in the balancer; one end of the balancer shaft extends out of the balancer and can axially move along the balancer; the large arm is movably mounted on the base by virtue of a large arm rotation shaft; the balancer is movably mounted on the base by virtue of a balancer rotation shaft; the large arm rotation shaft and the balancer rotation shaft are parallel to each other; the end part of the balancer shaft is fixed with a connection joint; a sliding bearing is arranged in the connection joint; the sliding bearing is vertical to the axis of the balancer shaft; and the large arm is movably connected to the connection joint by the sliding bearing. The robot balancer connection structure provided by the invention is reliable and practical; and the assembling method can be used for directly detecting whether the phenomenon of suppressing exists during the mounting of the balancer shaft or not in the assembling procedure, therefore the interference wear phenomenon of the balancer rotation shaft can be avoided.
Description
Technical field
The invention belongs to the industrial robot technical field, specially refer to robot balancer draw bail and assembly method thereof.
Background technology
Industrial robot can be for some dullness of oblige by doing, the frequent and long working that repeats in industrial production, or the operation under dangerous, the adverse circumstances, therefore is subjected to the welcome of a lot of enterprises.In recent years, domestic more and more enterprises and universities and colleges all begin to develop cooperatively the development industrial robot, and country is also in the development that guides domestic robot industry by input substantial contribution and the every preferential policy of appearance.
In the robot R﹠D process, the design of balancer is an important step very, and wherein the balancer rotating shaft is the factor that influences balancer most critical in service life.The balancer axle of robot all connects with big arm by oscillating bearing at present, and the rotation of certain angle can be arranged between big arm and the balancer axle.External process equipment precision height, processing technology are advanced and mature, in use there is not the problem of oscillating bearing and balancer axle interference wear in therefore external robot, and being subject to domestic process equipment and the processing technology that comparatively falls behind, the robot of China's independent research manufacturing oscillating bearing outer ring and balancer axle wear problems will occur when using this kind draw bail.In addition, the rotational angle of oscillating bearing is difficult to the location, is difficult to detect the phenomenon whether the balancer axle exists the strength of spraining when balancer assembles, and therefore the balancer axle often occurs because of the strength phenomenon serious wear of spraining when reality is used, and influences service life.
Summary of the invention
The objective of the invention is to propose a kind of robot balancer draw bail and assembly method thereof, whether there is the strength phenomenon of spraining with the installation of finding the balancer axle in advance, and avoid improving the whole service life of balancer because of the balancer axle rotates the wearing and tearing that cause oscillating bearing and balancer rotating shaft.
Robot of the present invention balancer draw bail comprises big arm, base, balancer and be installed on balancer axle in the balancer, one end of described balancer axle stretches out balancer also can be along the balancer axially-movable, described big arm is movably installed on the base by big arm rotating shaft, described balancer is movably installed on the base by the balancer rotating shaft, described big arm rotating shaft and balancer shaft parallel, key is that the end of described balancer axle is fixed with one and connects the joint, be provided with a sliding bearing in the described connection joint, described sliding bearing, the axis of balancer axle is orthogonal, described big arm be connected the joint and flexibly connect by sliding bearing.
Oscillating bearing is made up of an inner ring and the outer ring by Internal Spherical Surface by spherical outside surface, and when big arm rotated, the inner ring of oscillating bearing can be made banking motion in the certain angle scope, so the outer ring is easy and the balancer axle interferes, and causes wearing and tearing.Sliding bearing is a copper sheathing of inlaying graphite, itself does not have to relatively rotate, and sliding bearing is fixed to and connects on the joint, and the balancer axle only can move in a circle around the axis of sliding bearing, so sliding bearing and balancer axle can not interfere.
The balancer axle can have following two kinds with the fixed form that is connected the joint: 1: the end of described balancer axle is with to be connected joint welding fixing, this kind mode is simple, firm, but the balancer axle need be welded in advance with being connected the joint, therefore underaction, convenience in production and stock control; 2, be provided with mutually perpendicular sliding bearing installation portion of axis and screwed hole in the described connection joint, the balancer axle of described balancer is fixed in the screwed hole of described connection joint, and this kind mode is assembled simply, flexibly.
Big arm is as follows with the fixed form that is connected the joint: the end of big arm is provided with and connects the joint installing hole, the sliding bearing in described connection joint stretches to and connects in the installing hole of joint, sliding bearing be connected the joint installing hole and connect by connecting axle, the fixture axial limiting of described connecting axle by the one end is in big arm.
For guaranteeing that the balancer axle the strength phenomenon of spraining can not occur, described big arm rotating shaft, balancer rotating shaft and connecting axle are parallel to each other.In the rotation process of big arm, the balancer axle only can be subjected to the power of its axial direction like this, therefore the strength phenomenon of spraining can not occur.
The assembly method of above-mentioned robot balancer draw bail comprises the steps:
A: the balancer axle of balancer is installed in the screwed hole of connection joint;
B: big arm is movably installed on the base by big arm rotating shaft, balancer is movably installed on the base by the balancer rotating shaft;
C: adjust the angle of big arm and balancer, and the rotary balancer axle, make connecting axle pass the shaft hole and the sliding bearing that is connected the joint of big arm successively, and lock the fixture of connecting axle one end.
In theory, after the balancer axle was assembled on the balancer, its axis was vertical with the balancer rotating shaft; The balancer axle has guaranteed the axis normal of balancer axle and sliding bearing because connect the structural limitations in joint; Simultaneously big arm rotating shaft and balancer shaft parallel, parallel to each other between so big arm rotating shaft, balancer rotating shaft and the connecting axle three.But in actual production, always there are certain error in parts processing and assembling, might cause having parallelism error between sliding bearing and the balancer shaft axis, but because last installation step is to connect big arm and balancer axle by connecting axle, so all processing, rigging error can finally be reflected in this place's assembling process, if connecting axle can be installed smoothly, the parallelism error that between then provable sliding bearing and the balancer rotating shaft is can meet the demands, there is not the strength problem of spraining, otherwise just need check or keep in repair parts, so just guarantee not to occur spraining in can actual motion afterwards the strength phenomenon, guaranteed the service life of balancer.
Robot of the present invention balancer draw bail is reliable, practical, and its assembly method can directly detect the balancer axle and whether have the strength phenomenon of spraining in assembling process, therefore can avoid the interference wear phenomenon of balancer rotating shaft.
Description of drawings
Fig. 1 is the structural representation of balancer in the robot of the present invention balancer draw bail.
Fig. 2 is the overall structure schematic diagram of robot of the present invention balancer draw bail.
Fig. 3 is the syndeton schematic diagram that connects joint and balancer axle in the robot of the present invention balancer draw bail.
Fig. 4 is the syndeton partial sectional view of big arm, sliding bearing and balancer axle in the robot of the present invention balancer draw bail.
Identify among the figure: 1, big arm 2, base 3, balancer 4, balancer axle 5, big arm rotating shaft
6, balancer rotating shaft 7, connection joint 8, sliding bearing 9, screwed hole 10, connection joint installing hole 11, connecting axle 12, the fixture 13 of connecting axle, balancer tube 14, guide pin bushing
15, spring 16, spring base 17, balancer lid 18, locking nut.
The specific embodiment
Describe the present invention in detail below in conjunction with specific embodiments and the drawings.
Embodiment 1:
As shown in Figure 1, balancer 3 comprises by balancer tube 13, balancer lid 17 cavity body structures of forming, its inside is equipped with the guide pin bushing 14 that is used for 4 motions of spacing balancer axle, be used to provide reaction force spring 15, be used for the spring base 16 of limit spring, wherein an end of balancer axle 4 is fixed by locking nut 18 and spring base, so that the axially-movable of balancer axle can drive spring 15 compression, the other end of balancer axle 4 be connected joint 7 connections.
As Fig. 2,3, shown in 4, the robot balancer draw bail of present embodiment comprises big arm 1, base 2, balancer 3 and be installed on balancer axle 4 in the balancer, one end of balancer axle 4 stretches out balancer 3 also can be along balancer 3 axially-movables, big arm 1 is movably installed on the base 2 by big arm rotating shaft 5, balancer 3 is movably installed on the base 2 by balancer rotating shaft 6, big arm rotating shaft 5 is parallel with balancer rotating shaft 6, the end of balancer axle 4 is fixed with one and connects joint 7, connection is provided with mutually perpendicular sliding bearing 8 of axis and screwed hole 9 in the joint 7, and the balancer axle 4 of described balancer is fixed in the screwed hole 9; The end of big arm 1 is provided with and connects joint installing hole 10, the sliding bearing 8 that connects joint 7 is mounted to and connects in the joint installing hole 10, sliding bearing 8 be connected joint installing hole 10 and connect by a connecting axle 11, connecting axle 11 is orthogonal with the axis of balancer axle 4, fixture 12 axial limitings of connecting axle 11 by the one end are in big arm 1, and fixture 12 is ring flanges of connecting axle 11.
The assembly method of above-mentioned robot balancer draw bail comprises the steps:
A: be installed in the screwed hole 9 that connects on the joint 7 the balancer axle 4 of balancer also fixing;
B: big arm 1 is movably installed on the base 2 by big arm rotating shaft 5, balancer 3 is movably installed on the base 2 by balancer rotating shaft 6;
C: make big arm 1 be in vertical state, and then the angle of adjustment balancer 3, and rotary balancer axle 4, make connecting axle 11 pass the connection joint installing hole 10 and the sliding bearing 8 that is connected joint 7 of big arm successively, and with the fixture 12 of screw lock connecting axle 11 1 ends.
In theory, after balancer axle 4 was assembled on the balancer 3, its axis was vertical with balancer rotating shaft 6; Balancer axle 4 has guaranteed the axis normal of balancer axle 4 with sliding bearing 8 because connect the structural limitations in joint 7; Simultaneously big arm rotating shaft 5 is parallel with balancer rotating shaft 6, and is parallel to each other between so big arm rotating shaft 5, balancer rotating shaft 6 and connecting axle 11 threes.In actual production, always there are certain error in parts processing and assembling, might cause having parallelism error between sliding bearing 8 and balancer rotating shaft 6 axis, but because last installation step is to connect big arm 1 and balancer axle 4 by connecting axle 11, so all processing, rigging error can finally be reflected in this place's assembling process, if connecting axle 11 can be installed smoothly, parallelism error between then provable sliding bearing 8 and the balancer rotating shaft 6 can meet the demands, there is not the strength problem of spraining, otherwise just need check or keep in repair parts, so just guarantee not to occur spraining in can actual motion afterwards the strength phenomenon, guaranteed the service life of balancer 3.
Claims (7)
1. robot balancer draw bail, comprise big arm, base, balancer and be installed on balancer axle in the balancer, one end of described balancer axle stretches out balancer also can be along the balancer axially-movable, described big arm is movably installed on the base by big arm rotating shaft, described balancer is movably installed on the base by the balancer rotating shaft, described big arm rotating shaft and balancer shaft parallel, the end that it is characterized in that described balancer axle is fixed with a connection joint, be provided with a sliding bearing in the described connection joint, described sliding bearing, the axis of balancer axle is orthogonal, described big arm be connected the joint and flexibly connect by sliding bearing.
2. robot according to claim 1 balancer draw bail, the end that it is characterized in that described balancer axle is with to be connected the joint welding fixing.
3. robot according to claim 1 balancer draw bail is characterized in that being provided with in the described connection joint mutually perpendicular sliding bearing installation portion of axis and screwed hole, and the balancer axle of described balancer is fixed in the screwed hole of described connection joint.
4. according to claim 1 or 2 or 3 described robot balancer draw bails, the end that it is characterized in that described big arm is provided with connection joint installing hole, the sliding bearing in described connection joint stretches to and connects in the installing hole of joint, sliding bearing be connected the joint installing hole and connect by connecting axle, the fixture axial limiting of described connecting axle by the one end is in big arm.
5. robot according to claim 4 balancer draw bail is characterized in that described big arm rotating shaft, balancer rotating shaft and connecting axle are parallel to each other.
6. the assembly method of robot according to claim 5 balancer draw bail is characterized in that comprising the steps:
A: the balancer axle of balancer is installed in the screwed hole of connection joint;
B: big arm is movably installed on the base by big arm rotating shaft, balancer is movably installed on the base by the balancer rotating shaft;
C: adjust the angle of big arm and balancer, and the rotary balancer axle, make connecting axle pass the shaft hole and the sliding bearing that is connected the joint of big arm successively, and lock the fixture of connecting axle one end.
7. the assembly method of robot according to claim 6 balancer draw bail is characterized in that making big arm be in vertical state in the described C step, and then adjusts the angle of balancer and connecting axle is installed.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010611600 CN102161206B (en) | 2010-12-29 | 2010-12-29 | Robot balancer connection structure and assembling method thereof |
| PCT/CN2011/082858 WO2012088975A1 (en) | 2010-12-29 | 2011-11-24 | Robot balancing device connecting structure and assembling method for same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010611600 CN102161206B (en) | 2010-12-29 | 2010-12-29 | Robot balancer connection structure and assembling method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102161206A true CN102161206A (en) | 2011-08-24 |
| CN102161206B CN102161206B (en) | 2013-03-06 |
Family
ID=44462794
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201010611600 Active CN102161206B (en) | 2010-12-29 | 2010-12-29 | Robot balancer connection structure and assembling method thereof |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN102161206B (en) |
| WO (1) | WO2012088975A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012088975A1 (en) * | 2010-12-29 | 2012-07-05 | 奇瑞汽车股份有限公司 | Robot balancing device connecting structure and assembling method for same |
| CN104526716A (en) * | 2014-12-17 | 2015-04-22 | 上海交通大学 | Energy storage and energy saving type gravity balancing device for industrial robot |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6725580B2 (en) | 2018-04-24 | 2020-07-22 | ファナック株式会社 | Gravity balancer for robot and robot |
| DE102019205560B4 (en) | 2019-04-17 | 2022-02-03 | Fanuc Corporation | Robotic Gravity Balancers and Robots |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4738576A (en) * | 1983-04-06 | 1988-04-19 | Mantec Gesellschaft fur Automatisierungs-und Handhabungssysteme mbH | Robot joint |
| US4753128A (en) * | 1987-03-09 | 1988-06-28 | Gmf Robotics Corporation | Robot with spring pivot balancing mechanism |
| CN2270586Y (en) * | 1996-05-17 | 1997-12-17 | 桂林电子工业学院建筑钢筋机械连接工程研究所 | Reinforcing steel connecting thread machining equipment |
| CN101190769A (en) * | 2006-12-01 | 2008-06-04 | 上海比亚迪有限公司 | Heavy load balance mechanism |
| CN201566156U (en) * | 2009-12-25 | 2010-09-01 | 江苏扬力集团有限公司 | Connector of press balancer and sliding block |
| CN101863037A (en) * | 2010-06-02 | 2010-10-20 | 奇瑞汽车股份有限公司 | Balancer of welding robot and constructing method thereof |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4592697A (en) * | 1983-04-26 | 1986-06-03 | Kabushiki Kaisha Kobe Seiko Sho | Gravity balancing device for rocking arm |
| JPH11277479A (en) * | 1998-03-31 | 1999-10-12 | Fanuc Ltd | Spring balancer device |
| JP4281195B2 (en) * | 2000-02-16 | 2009-06-17 | 株式会社安川電機 | Gravity balancer for industrial robot and industrial robot |
| ITTO20020987A1 (en) * | 2002-11-14 | 2004-05-15 | Comau Spa | INDUSTRIAL ROBOT |
| CN102161206B (en) * | 2010-12-29 | 2013-03-06 | 奇瑞汽车股份有限公司 | Robot balancer connection structure and assembling method thereof |
-
2010
- 2010-12-29 CN CN 201010611600 patent/CN102161206B/en active Active
-
2011
- 2011-11-24 WO PCT/CN2011/082858 patent/WO2012088975A1/en active Application Filing
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4738576A (en) * | 1983-04-06 | 1988-04-19 | Mantec Gesellschaft fur Automatisierungs-und Handhabungssysteme mbH | Robot joint |
| US4753128A (en) * | 1987-03-09 | 1988-06-28 | Gmf Robotics Corporation | Robot with spring pivot balancing mechanism |
| CN2270586Y (en) * | 1996-05-17 | 1997-12-17 | 桂林电子工业学院建筑钢筋机械连接工程研究所 | Reinforcing steel connecting thread machining equipment |
| CN101190769A (en) * | 2006-12-01 | 2008-06-04 | 上海比亚迪有限公司 | Heavy load balance mechanism |
| CN201566156U (en) * | 2009-12-25 | 2010-09-01 | 江苏扬力集团有限公司 | Connector of press balancer and sliding block |
| CN101863037A (en) * | 2010-06-02 | 2010-10-20 | 奇瑞汽车股份有限公司 | Balancer of welding robot and constructing method thereof |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012088975A1 (en) * | 2010-12-29 | 2012-07-05 | 奇瑞汽车股份有限公司 | Robot balancing device connecting structure and assembling method for same |
| CN104526716A (en) * | 2014-12-17 | 2015-04-22 | 上海交通大学 | Energy storage and energy saving type gravity balancing device for industrial robot |
| CN104526716B (en) * | 2014-12-17 | 2016-07-06 | 上海交通大学 | A kind of industrial robot energy-storage economical type gravity balance device |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2012088975A1 (en) | 2012-07-05 |
| CN102161206B (en) | 2013-03-06 |
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