CN108312176A - Balance cylinder component and the robot with it - Google Patents
Balance cylinder component and the robot with it Download PDFInfo
- Publication number
- CN108312176A CN108312176A CN201711378622.8A CN201711378622A CN108312176A CN 108312176 A CN108312176 A CN 108312176A CN 201711378622 A CN201711378622 A CN 201711378622A CN 108312176 A CN108312176 A CN 108312176A
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- CN
- China
- Prior art keywords
- cylinder
- balance
- mounting portion
- connect
- balance cylinder
- Prior art date
- 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
-
- 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
-
- 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
- B25J19/0012—Balancing devices using fluidic devices
-
- 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
- B25J19/02—Sensing devices
-
- 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
- B25J19/06—Safety devices
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of balance cylinder component and with its robot, balancing cylinder component includes：Compensating cylinder, compensating cylinder have inflating port, and the both ends of compensating cylinder are connect with two adjacent transmission arms of robot respectively, to connect two transmission arms of robot；Pressure sensor, pressure sensor is mounted on inflating port, to detect balance cylinder pressure.The balance cylinder component of the present invention solves the problems, such as that in the prior art can not effectively monitor balances in-cylinder pressure.
Description
Technical field
The present invention relates to robot fields, in particular to a kind of balance cylinder component and with its robot.
Background technology
Currently, industrial robot has the following problems at work：When due to movement lever arm around its shaft rotation, center of gravity
Not by shaft, and with the position of movement, the variation of speed, acceleration, the drop point of center of gravity also changes, thus generates
The gravity torque of variation, this not only affects the dynamic characteristic of machine, is more than the maximum output torque of driving cylinder sometimes, makes
Machine is unable to proper motion.So designing a set of effective balance mechanism to overcome gravity torque, to the maximum extent
Power consumption is reduced, obtains small volume and weight, the working performance for improving machine suffers from vital meaning.
In the prior art, industrial robot mostly uses nitrogen balance cylinder using compensating cylinder, however, this compensating cylinder pressure
Machine has that high pressure gas is easily revealed in cylinder body at work, and not noticeable.
Invention content
The main purpose of the present invention is to provide a kind of balance cylinder component and with its robot, to solve the prior art
In can not effectively monitor balance in-cylinder pressure the problem of.
To achieve the goals above, according to an aspect of the invention, there is provided a kind of balance cylinder component, including：Balance
Cylinder, compensating cylinder have inflating port, and the both ends of compensating cylinder are connect with two adjacent transmission arms of robot respectively, to connect machine
Two transmission arms of people；Pressure sensor, pressure sensor is mounted on inflating port, to detect balance cylinder pressure.
Further, balance cylinder component further includes：Pressure gauge, pressure gauge are connect with pressure sensor, to show that pressure passes
The gas pressure in compensating cylinder detected by sensor.
Further, balance cylinder component further includes：One end of cable, cable is connect with pressure sensor, cable it is another
End connect with pressure gauge so that pressure sensor by cable by the pressure signal transmission detected by pressure sensor to pressure
Table.
Further, compensating cylinder includes cylinder body and piston rod, one in cylinder body and two transmission arms and two transmission arms
Connection, piston rod are connect with another in two transmission arms.
Further, balance cylinder component further includes：Stroke detection component, stroke detection component are arranged on compensating cylinder, with
Detect the relative displacement of cylinder body and piston rod.
Further, stroke detection component includes displacement sensor, and displacement sensor is installed on the piston rod, for detecting
The stroke of piston rod.
Further, stroke detection component further includes the first mounting portion and the second mounting portion, and the first mounting portion is arranged in cylinder
On body, it is provided with signal blocks plate on the first mounting portion, the second mounting portion is arranged on the piston rod, and displacement sensor is mounted on the
On two mounting portions；Wherein, displacement sensor is oppositely arranged with signal blocks plate, with by sending light letter towards signal blocks plate
Number detection piston rod stroke.
Further, the first mounting portion and the second mounting portion are clip, and the first mounting portion is set on cylinder body, the second peace
Dress portion is arranged on the piston rod.
Further, signal blocks plate extends along the direction far from cylinder body that is radially orientated of cylinder body.
According to another aspect of the present invention, a kind of robot is provided, the first transmission arm and second of interconnection is included
Transmission arm, robot further include balance cylinder component, wherein balance cylinder component is above-mentioned balance cylinder component, the both ends of compensating cylinder
It is connect respectively with the first transmission arm and the second transmission arm, to connect the first transmission arm and the second transmission arm.
The balance cylinder component of the present invention includes compensating cylinder and pressure sensor, wherein compensating cylinder has inflating port, compensating cylinder
Both ends connect respectively with two adjacent transmission arms of robot, to connect two transmission arms of robot；Pressure sensor
On inflating port, to detect balance cylinder pressure.The balance cylinder component at the inflating port of compensating cylinder by being arranged
Pressure sensor detects the gas pressure in compensating cylinder, to obtain the situation of change of balance cylinder pressure, and then sentencing
Whether the gas of disconnected compensating cylinder leaks, which may be implemented the real-time monitoring to compensating cylinder operating condition, ensures flat
Weighing apparatus cylinder normal safe operation.
Description of the drawings
The accompanying drawings which form a part of this application are used to provide further understanding of the present invention, and of the invention shows
Meaning property embodiment and its explanation are not constituted improper limitations of the present invention for explaining the present invention.In the accompanying drawings：
Fig. 1 shows the structural schematic diagram of an angle of the embodiment of balance cylinder component according to the present invention.
Wherein, above-mentioned attached drawing includes the following drawings label：
10, compensating cylinder；11, cylinder body；12, piston rod；20, pressure sensor；30, cable；40, stroke detection component；
42, displacement sensor；43, the first mounting portion；431, signal blocks plate；44, the second mounting portion；441, the second protrusive board.
Specific implementation mode
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific implementation mode, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or combination thereof.
The present invention provides a kind of balance cylinder components, referring to FIG. 1, balance cylinder component includes：Compensating cylinder 10, compensating cylinder
10 have inflating port, and the both ends of compensating cylinder 10 are connect with two adjacent transmission arms of robot respectively, to connect robot
Two transmission arms；Pressure sensor 20, pressure sensor 20 is mounted on inflating port, to detect gas pressure in compensating cylinder 10.
The balance cylinder component of the present invention includes compensating cylinder 10 and pressure sensor 20, wherein and compensating cylinder 10 has inflating port,
The both ends of compensating cylinder 10 are connect with two adjacent transmission arms of robot respectively, to connect two transmission arms of robot；Pressure
Force snesor 20 is mounted on inflating port, to detect gas pressure in compensating cylinder 10.The balance cylinder component passes through in compensating cylinder
Pressure sensor is set at inflating port to detect the gas pressure in compensating cylinder, to obtain the variation feelings of balance cylinder pressure
Condition, and then judge whether the gas of compensating cylinder leaks, which may be implemented to the real-time of compensating cylinder operating condition
Monitoring ensures compensating cylinder normal safe operation.
In order to realize that the visualizing of gas pressure in compensating cylinder 10, balance cylinder component further include pressure gauge, pressure gauge and pressure
Force snesor 20 connects, to show the gas pressure in the compensating cylinder 10 detected by pressure sensor 20.Such setting is real
Monitoring compensating cylinder internal pressure at any time is showed, whether visualizing monitoring compensating cylinder fails.
In order to realize the transmission of pressure signal, balance cylinder component further includes cable 30, one end of cable 30 and pressure sensing
Device 20 connects, and the other end of cable 30 connect with pressure gauge so that pressure sensor 20 by cable 30 by pressure sensor 20
Detected pressure signal transmission is to pressure gauge.
In the present embodiment, as shown in Figure 1, compensating cylinder 10 includes cylinder body 11 and piston rod 12, cylinder body 11 and two transmissions
Arm is connect with one in two transmission arms, and piston rod 12 is connect with another in two transmission arms.
In order to record the operation stroke of compensating cylinder 10, balance cylinder component further includes stroke detection component 40, stroke detection group
Part 40 is arranged on compensating cylinder 10, to detect the relative displacement of cylinder body 11 and piston rod 12.Such setting can be detailed, accurate
The really operation stroke of record compensating cylinder, and then the service life of monitoring compensating cylinder is realized, effectively prevent the failure of compensating cylinder.
When it is implemented, as shown in Figure 1, stroke detection component 40 includes displacement sensor 42, displacement sensor 42 is installed
On piston rod 12, the stroke for detecting piston rod 12.
Preferably, displacement sensor 42 can be grating sensor.
In order to realize that displacement sensor 42 and the installation of signal blocks plate 431 are fixed, stroke detection component 40 further includes
One mounting portion 43 and the second mounting portion 44, the first mounting portion 43 are arranged on cylinder body 11, and signal is provided on the first mounting portion 43
Shutter 431, the second mounting portion 44 are arranged on piston rod 12, and displacement sensor 42 is mounted on the second mounting portion 44；Wherein,
Displacement sensor 42 is oppositely arranged with signal blocks plate 431, to be lived by sending light signal detection towards signal blocks plate 431
The stroke of stopper rod 12.
Preferably, displacement sensor 42 is infrared sensor, and infrared sensor towards signal blocks plate 431 by sending light
Line, and determine according to light reflected time or stroke the stroke of piston rod 12.
When it is implemented, signal blocks plate 431 extends along the direction far from cylinder body 11 that is radially orientated of cylinder body 11.
When it is implemented, as shown in Figure 1, there is the second mounting portion 44 second protrusive board 441, displacement sensor 42 to be fixed on the
On two protrusive boards 441.
Preferably, the first mounting portion 43 and the second mounting portion 44 are clip, and the first mounting portion 43 is set on cylinder body 11,
Second mounting portion 44 is set on piston rod 12.The installation of the first mounting portion 43 and the second mounting portion 44 is convenient in such setting.
The balance cylinder component of the present invention includes following device：1 pressure display instrument table, 1 pressure transmitter, 1 set of flexibility
Cable and 1 set of mechanical part.
The present invention also provides the first transmission arm and the second transmission arm of a kind of robot, including interconnection, robots
Further include balance cylinder component, wherein balance cylinder component is the balance cylinder component in above-described embodiment, the both ends difference of compensating cylinder 10
It is connect with the first transmission arm and the second transmission arm, to connect the first transmission arm and the second transmission arm.
It can be seen from the above description that the above embodiments of the present invention realize following technique effect：
The balance cylinder component of the present invention includes compensating cylinder 10 and pressure sensor 20, wherein and compensating cylinder 10 has inflating port,
The both ends of compensating cylinder 10 are connect with two adjacent transmission arms of robot respectively, to connect two transmission arms of robot；Pressure
Force snesor 20 is mounted on inflating port, to detect gas pressure in compensating cylinder 10.The balance cylinder component passes through in compensating cylinder
Pressure sensor is set at inflating port to detect the gas pressure in compensating cylinder, to obtain the variation feelings of balance cylinder pressure
Condition, and then judge whether the gas of compensating cylinder leaks, which may be implemented to the real-time of compensating cylinder operating condition
Monitoring ensures compensating cylinder normal safe operation.
It should be noted that term " first " in the description and claims of this application and above-mentioned attached drawing, "
Two " etc. be for distinguishing similar object, without being used to describe specific sequence or precedence.It should be appreciated that using in this way
Data can be interchanged in the appropriate case, so that presently filed embodiment described herein for example can be in addition to herein
Sequence other than those of diagram or description is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that
Be to cover it is non-exclusive include, for example, containing the process of series of steps or unit, method, system, product or equipment not
Those of be necessarily limited to clearly to list step or unit, but may include not listing clearly or for these processes, side
The intrinsic other steps of method, product or equipment or unit.
For ease of description, herein can with use space relative terms, as " ... on ", " in ... top ",
" ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation of sign.It should be understood that spatially relative term is intended to comprising the orientation in addition to device described in figure
Except different direction in use or operation.For example, if the device in attached drawing is squeezed, it is described as " in other devices
It will be positioned as " under other devices or construction after part or construction top " or the device of " on other devices or construction "
Side " or " under other devices or construction ".Thus, exemplary term " ... top " may include " ... top " and
" in ... lower section " two kinds of orientation.The device can also other different modes positioning (be rotated by 90 ° or be in other orientation), and
And respective explanations are made to the opposite description in space used herein above.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of balance cylinder component, which is characterized in that including：
Compensating cylinder (10), the compensating cylinder (10) have an inflating port, the both ends of the compensating cylinder (10) respectively with robot two
A adjacent transmission arm connection, to connect two transmission arms of the robot；
Pressure sensor (20), the pressure sensor (20) is mounted on the inflating port, to detect the compensating cylinder (10)
Interior gas pressure.
2. balance cylinder component according to claim 1, which is characterized in that the balance cylinder component further includes：
Pressure gauge, the pressure gauge are connect with the pressure sensor (20), to show that the pressure sensor (20) is detected
The gas pressure in the compensating cylinder (10) arrived.
3. balance cylinder component according to claim 2, which is characterized in that the balance cylinder component further includes：
One end of cable (30), the cable (30) is connect with the pressure sensor (20), the other end of the cable (30)
Connect with the pressure gauge so that the pressure sensor (20) by the cable (30) by the pressure sensor (20) institute
The pressure signal transmission detected gives the pressure gauge.
4. balance cylinder component according to claim 1, which is characterized in that the compensating cylinder (10) includes cylinder body (11) and lives
Stopper rod (12), the cylinder body (11) connect with two transmission arms with one in described two transmission arms, the piston rod (12)
It is connect with another in described two transmission arms.
5. balance cylinder component according to claim 4, which is characterized in that the balance cylinder component further includes：
Stroke detection component (40), the stroke detection component (40) is arranged on the compensating cylinder (10), to detect the cylinder
The relative displacement of body (11) and the piston rod (12).
6. balance cylinder component according to claim 5, which is characterized in that the stroke detection component (40) includes that displacement passes
Sensor (42), institute's displacement sensors (42) are mounted on the piston rod (12), for detecting stretching for the piston rod (12)
Contracting amount.
7. balance cylinder component according to claim 6, which is characterized in that the stroke detection component (40) further includes first
Mounting portion (43) and the second mounting portion (44), first mounting portion (43) are arranged on the cylinder body (11), first peace
Signal blocks plate (431) is provided in dress portion (43), second mounting portion (44) is arranged on the piston rod (12), described
Displacement sensor (42) is mounted on second mounting portion (44)；Wherein, institute's displacement sensors (42) hide with the signal
Baffle (431) is oppositely arranged, to detect the piston rod (12) by sending light signal towards the signal blocks plate (431)
Stroke.
8. balance cylinder component according to claim 7, which is characterized in that first mounting portion (43) and the second mounting portion
(44) it is clip, first mounting portion (41) is set on the cylinder body (11), and second mounting portion (44) is set in
On the piston rod (12).
9. balance cylinder component according to claim 7, which is characterized in that the signal blocks plate (431) is along the cylinder body
(11) the direction far from the cylinder body (11) that is radially orientated extends.
10. a kind of robot includes the first transmission arm and the second transmission arm of interconnection, the robot further includes compensating cylinder
Component, which is characterized in that the balance cylinder component balance cylinder component as claimed in any one of claims 1 to 9, the balance
The both ends of cylinder (10) are connect with first transmission arm and second transmission arm respectively, to connect first transmission arm and institute
State the second transmission arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711378622.8A CN108312176A (en) | 2017-12-19 | 2017-12-19 | Balance cylinder component and the robot with it |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711378622.8A CN108312176A (en) | 2017-12-19 | 2017-12-19 | Balance cylinder component and the robot with it |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108312176A true CN108312176A (en) | 2018-07-24 |
Family
ID=62891955
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711378622.8A Pending CN108312176A (en) | 2017-12-19 | 2017-12-19 | Balance cylinder component and the robot with it |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108312176A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110488622A (en) * | 2019-08-15 | 2019-11-22 | 珠海格力智能装备有限公司 | The control method and device of equipment moving |
| CN113606202A (en) * | 2021-07-28 | 2021-11-05 | 共享智能铸造产业创新中心有限公司 | Balance cylinder system and heavy-load robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05228884A (en) * | 1992-02-19 | 1993-09-07 | Tokico Ltd | Industrial robot |
| CN201329634Y (en) * | 2008-12-11 | 2009-10-21 | 江西昌河航空工业有限公司 | Mould opening and closing synchronization mechanism of helicopter composite material blade mould pressing system |
| CN202468547U (en) * | 2011-12-20 | 2012-10-03 | 中联重科股份有限公司 | Telescoping cylinder and stroke detection apparatus thereof |
| CN202883339U (en) * | 2012-09-14 | 2013-04-17 | 山推楚天工程机械有限公司 | Coaxiality precise measurement device of concrete machine pumping system |
| CN103527568A (en) * | 2013-10-18 | 2014-01-22 | 浙江工业大学 | Constant-force-output air-floating device with guide rail following function |
| CN205928729U (en) * | 2016-08-19 | 2017-02-08 | 资阳市精工机械有限公司 | Nitrogen balance cylinder |
-
2017
- 2017-12-19 CN CN201711378622.8A patent/CN108312176A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05228884A (en) * | 1992-02-19 | 1993-09-07 | Tokico Ltd | Industrial robot |
| CN201329634Y (en) * | 2008-12-11 | 2009-10-21 | 江西昌河航空工业有限公司 | Mould opening and closing synchronization mechanism of helicopter composite material blade mould pressing system |
| CN202468547U (en) * | 2011-12-20 | 2012-10-03 | 中联重科股份有限公司 | Telescoping cylinder and stroke detection apparatus thereof |
| CN202883339U (en) * | 2012-09-14 | 2013-04-17 | 山推楚天工程机械有限公司 | Coaxiality precise measurement device of concrete machine pumping system |
| CN103527568A (en) * | 2013-10-18 | 2014-01-22 | 浙江工业大学 | Constant-force-output air-floating device with guide rail following function |
| CN205928729U (en) * | 2016-08-19 | 2017-02-08 | 资阳市精工机械有限公司 | Nitrogen balance cylinder |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110488622A (en) * | 2019-08-15 | 2019-11-22 | 珠海格力智能装备有限公司 | The control method and device of equipment moving |
| CN110488622B (en) * | 2019-08-15 | 2022-09-23 | 珠海格力智能装备有限公司 | Method and device for controlling equipment motion |
| CN113606202A (en) * | 2021-07-28 | 2021-11-05 | 共享智能铸造产业创新中心有限公司 | Balance cylinder system and heavy-load robot |
| CN113606202B (en) * | 2021-07-28 | 2024-04-19 | 共享智能装备(安徽)有限公司 | Balance cylinder system and heavy-duty robot |
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| PB01 | Publication | ||
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Application publication date: 20180724 |