CN113027931A - Air cushion suspension bearing seat of industrial robot - Google Patents
Air cushion suspension bearing seat of industrial robot Download PDFInfo
- Publication number
- CN113027931A CN113027931A CN202110320158.7A CN202110320158A CN113027931A CN 113027931 A CN113027931 A CN 113027931A CN 202110320158 A CN202110320158 A CN 202110320158A CN 113027931 A CN113027931 A CN 113027931A
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- China
- Prior art keywords
- air cushion
- push sheet
- industrial robot
- suspension bearing
- sheet
- 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C35/00—Rigid support of bearing units; Housings, e.g. caps, covers
- F16C35/04—Rigid support of bearing units; Housings, e.g. caps, covers in the case of ball or roller bearings
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C32/00—Bearings not otherwise provided for
- F16C32/06—Bearings not otherwise provided for with moving member supported by a fluid cushion formed, at least to a large extent, otherwise than by movement of the shaft, e.g. hydrostatic air-cushion bearings
- F16C32/0603—Bearings not otherwise provided for with moving member supported by a fluid cushion formed, at least to a large extent, otherwise than by movement of the shaft, e.g. hydrostatic air-cushion bearings supported by a gas cushion, e.g. an air cushion
- F16C32/0614—Bearings not otherwise provided for with moving member supported by a fluid cushion formed, at least to a large extent, otherwise than by movement of the shaft, e.g. hydrostatic air-cushion bearings supported by a gas cushion, e.g. an air cushion the gas being supplied under pressure, e.g. aerostatic bearings
- F16C32/0622—Bearings not otherwise provided for with moving member supported by a fluid cushion formed, at least to a large extent, otherwise than by movement of the shaft, e.g. hydrostatic air-cushion bearings supported by a gas cushion, e.g. an air cushion the gas being supplied under pressure, e.g. aerostatic bearings via nozzles, restrictors
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Support Of The Bearing (AREA)
Abstract
The invention relates to the technical field of industrial robots and discloses an air cushion suspension bearing seat for an industrial robot, which comprises a working arm, wherein the lower end of the working arm is fixedly connected with a connecting sleeve, a clamping lug is arranged above the inner part of the connecting sleeve, an upper push sheet is movably connected below the clamping lug, a lower push sheet is arranged below the upper push sheet, a plurality of rollers are uniformly arranged between the upper push sheet and the lower push sheet, one side of each roller, which is close to the center, is movably connected with a protector, a plurality of pressure-sensitive gaskets are arranged on the outer wall of the protector, and an air cushion block is arranged in the middle of the lower push sheet. This industrial robot air cushion suspension bearing frame, the air current passes through eccentric shunt after, forms the different air current of pressure head in the tracheal detached, upwards from the spout upwards impact the push-up piece, forms the open cylinder of several, adjusts air pump pressure and governing valve, can make upper portion component be in the suspended state just, greatly reduced the pressure on the roller in the bearing, can effectively prolong the life-span of bearing frame.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to an air cushion suspension bearing seat of an industrial robot.
Background
The rotating base of the industrial robot meets the requirement of stable working of the robot arm, needs to bear and stabilize, and guarantees the long-term operation life and precision of the robot. The existing rotating base uses a high-precision thrust bearing to connect the upper rotating arm and the bottom fixing base, in the long-term working process, the error caused by abrasion cannot be ignored, and because the gravity center of the arm of the industrial robot fixed by the base is always deviated to one side, the abrasion degree of the center side of the bearing is far greater than that of the other side, and the service life of the base is seriously influenced.
Disclosure of Invention
Technical problem to be solved
According to the requirements of intelligent manufacturing and development, aiming at the defects of the prior art, the invention provides the air cushion suspension bearing seat of the industrial robot, which has the advantages of long service life and stable work and solves the problems in the background technology.
(II) technical scheme
In order to realize the purposes of long service life and stable work, the invention provides the following technical scheme: an air cushion suspension bearing seat of an industrial robot comprises a working arm, wherein the lower end of the working arm is fixedly connected with a connecting sleeve, a clamping lug is arranged above the inner part of the connecting sleeve, an upper pushing sheet is movably connected below the clamping lug, a lower pushing sheet is arranged below the upper pushing sheet, a plurality of rollers are uniformly arranged between the upper pushing sheet and the lower pushing sheet, one side of each roller, which is close to the center, is movably connected with a protector, the outer wall of the protector is provided with a plurality of pressure-sensitive gaskets, the middle part of the lower pushing sheet is provided with an air cushion block, the upper end of the air cushion block is provided with a plurality of nozzles, the outer side of the upper part of the upper pushing sheet is provided with a plurality of regulating valves, the inner side of each regulating valve, which is close to the center, is provided with an air pressure sensing pad, the lower end of the center of the air cushion block is fixedly connected, the lower part of the eccentric shunt is provided with a stabilizing block, the outside of the eccentric shunt is provided with a support ring, and the lower end of the support ring is fixedly connected with a fixed base.
Preferably, the connecting sleeve is of a thin cylinder structure with a downward opening, and the inner wall of the upper end of the connecting sleeve is in contact with the upper surface of the push-up piece and is kept relatively fixed.
Preferably, the clamping lug is matched with the outer edge of the upper pushing sheet and keeps relatively fixed, and a certain air flow gap is reserved at the joint of the clamping lug and the upper pushing sheet.
Preferably, the middle part of the push-up piece is provided with a plurality of slots which extend outwards and penetrate through the outer edge.
Preferably, the lower push plate is of a circular ring structure, the upper surface of the lower push plate is matched with the upper push plate, a radial groove with an outer edge inclined downwards is reserved on the lower push plate and is matched with the roller, and a lubricating oil hole is formed in the lowest point of the groove.
Preferably, the protector is made of a cylindrical flexible material and is arranged coaxially with the roller.
Preferably, a plurality of air flow channels are arranged in the air cushion block and are matched with the grooves in the middle of the upper pushing sheet, and the nozzles at the upper end of the air cushion block are upwards opposite to the inner walls of the grooves.
Preferably, the regulating valve is arranged at the position of the outlet of the slot of the upper pushing sheet, and an independent regulating valve is arranged in each slot.
Preferably, the eccentric flow divider is of an inclined disc structure, an airflow channel with uneven flow resistance is arranged in the eccentric flow divider, the upper end of the eccentric flow divider is respectively connected with an airflow channel in the air cushion block, and the lower end of the eccentric flow divider is connected with the air pump through the stabilizing block.
(III) advantageous effects
Compared with the prior art, the invention provides an air cushion suspension bearing seat of an industrial robot, which has the following beneficial effects:
1. this industrial robot air cushion suspension bearing frame, the air current passes through eccentric shunt after, forms the different air current of pressure head in the tracheal detached, upwards from the spout upwards impact the push-up piece, forms the open cylinder of several, adjusts air pump pressure and governing valve, can make upper portion component be in the suspended state just, greatly reduced the pressure on the roller in the bearing, can effectively prolong the life-span of bearing frame.
2. This industrial robot air cushion suspension bearing frame through adjusting eccentric shunt position, makes its eccentric side and arm work orientation adaptation, and cooperation pressure sensitive gasket monitoring data, the pneumatic difference of the different spouts on the steerable gas cushion piece makes its balanced robot arm weight center deviation to the influence, when extension equipment life, effective controlgear precision.
Drawings
FIG. 1 is a schematic view of the main structure of the present invention;
FIG. 2 is a schematic cross-sectional view of a pressure bearing of the present invention;
FIG. 3 is a schematic view of a partial structure of a section of a pressure bearing according to the present invention;
FIG. 4 is a schematic view of the gas suspension structure of the present invention;
FIG. 5 is an enlarged view of portion A of FIG. 1 according to the present invention.
In the figure: 1. a working arm; 2. connecting sleeves; 3. clamping a lug; 4. pushing up the sheet; 5. downward pushing the sheet; 6. a roller; 7. a protector; 8. a pressure sensitive gasket; 9. a pneumatic cushion block; 10. a spout; 11. adjusting a valve; 12. an air pressure sensing pad; 13. a central shaft; 14. an air tube; 15. an eccentric shunt; 16. a stabilizing block; 17. a support ring; 18. and fixing the base.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-5, an air cushion suspension bearing seat for an industrial robot comprises a working arm 1, a connecting sleeve 2 is fixedly connected to the lower end of the working arm 1, a clamping lug 3 is arranged above the inner part of the connecting sleeve 2, an upper push sheet 4 is movably connected below the clamping lug 3, a lower push sheet 5 is arranged below the upper push sheet 4, a plurality of rollers 6 are uniformly arranged between the upper push sheet 4 and the lower push sheet 5, a protector 7 is movably connected to one side of the roller 6 close to the center, a plurality of pressure-sensitive gaskets 8 are arranged on the outer wall of the protector 7, an air cushion block 9 is arranged in the middle of the lower push sheet 5, a plurality of nozzles 10 are arranged at the upper end of the air cushion block 9, a plurality of adjusting valves 11 are arranged on the outer side of the upper portion of the upper push sheet 4, an air pressure sensing pad 12 is arranged on the inner side of the adjusting valves 11 close to the center, an eccentric shunt 15 is arranged on the outer portion of the central shaft 13 and opposite to the lower portion of the air pipe 14, a stabilizing block 16 is arranged below the eccentric shunt 15, a supporting ring 17 is arranged on the outer portion of the eccentric shunt 15, and a fixing base 18 is fixedly connected to the lower end of the supporting ring 17.
The connecting sleeve 2 is a thin cylinder structure with a downward opening, and the inner wall of the upper end of the connecting sleeve is in contact with the upper surface of the push-up piece 4 and keeps relatively fixed.
Wherein, the clamping lug 3 is matched with the outer edge of the upper pushing sheet 4 and keeps relatively fixed, and a certain air flow gap is reserved at the joint of the clamping lug and the upper pushing sheet.
Wherein, the middle part of the upper pushing sheet 4 is provided with a plurality of slots which extend outwards and penetrate through.
Wherein, the lower push plate 5 is a circular ring structure, the upper surface of the lower push plate is matched with the upper push plate 4, a radial groove with an outer edge inclined downwards is reserved on the lower push plate and is matched with the roller 6, and the lowest point of the groove is provided with a lubricating oil hole.
The protector 7 is made of a cylindrical flexible material and is provided coaxially with the roller 6.
Wherein, a plurality of air flow channels are arranged in the air cushion block 9 and are matched with the middle groove of the push-up piece 4, and the nozzle 10 at the upper end of the air cushion block is upwards opposite to the inner wall of the groove.
Wherein, the regulating valve 11 is arranged at the position of the outlet of the slot of the upper pushing sheet 4, and an independent regulating valve 11 is arranged in each slot.
The eccentric flow divider 15 is an inclined disc structure, and has an airflow channel with uneven flow resistance therein, the upper end of the eccentric flow divider is connected with the airflow channel in the air cushion block 9, and the lower end of the eccentric flow divider is connected with the air pump through a stabilizing block 16.
The working principle is as follows: this industrial robot air cushion suspension bearing frame, the below of push-up piece 4 is provided with down the push-up piece 5, evenly be provided with a plurality of rollers 6 between push-up piece 4 and the push-down piece 5, one side swing joint that roller 6 is close to the center has the protector 7, the outer wall of protector 7 is provided with a plurality of pressure-sensitive gasket 8, under quiescent condition, the main weight of work arm 1 transmits in proper order for push-up piece 4 through adapter sleeve 2, roller 6 and push-down piece 5 down, finally to unable adjustment base 18, simultaneously through the pressure-sensitive gasket 8 that sets up on the protector 7, the pressure of each position of bearing member can be monitored in real time.
The air pump work, upwards press the air through stabilizing block 16, the upper end of air cushion block 9 is provided with a plurality of spouts 10, the upper portion outside of push-up piece 4 is provided with a plurality of governing valves 11, the inboard that is close to the center of governing valve 11 is provided with atmospheric pressure response pad 12, the center lower extreme fixedly connected with center pin 13 of air cushion block 9, the lower extreme swing joint of air cushion block 9 has a plurality of trachea 14, the outside of center pin 13 is just being provided with eccentric shunt 15 to the below of trachea 14, the air current passes through behind eccentric shunt 15, form the different air current of pressure head in detached trachea 14, upwards strike push-up piece 4 from spout 10, form the open cylinder of several, adjustment air pump pressure and governing valve 11, can make the upper member be in the suspended state just, greatly reduced the pressure on the roller 6 in the bearing.
Meanwhile, the position of the eccentric shunt 15 can be adjusted, the eccentric side of the eccentric shunt is matched with the working direction of the mechanical arm, the pneumatic difference of different nozzles 10 on the pneumatic cushion block 9 can be controlled by matching with the monitoring data of the pressure-sensitive gasket 8, the gravity center deviation influence of the mechanical arm of the robot is balanced, the service life of the equipment is prolonged, and the precision of the equipment is effectively controlled.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. The utility model provides an industrial robot air cushion suspension bearing frame, includes work arm (1), its characterized in that: the lower end of the working arm (1) is fixedly connected with a connecting sleeve (2), a clamping lug (3) is arranged above the inner part of the connecting sleeve (2), an upper push sheet (4) is movably connected below the clamping lug (3), a lower push sheet (5) is arranged below the upper push sheet (4), a plurality of rollers (6) are uniformly arranged between the upper push sheet (4) and the lower push sheet (5), one side of each roller (6) close to the center is movably connected with a protector (7), the outer wall of each protector (7) is provided with a plurality of pressure sensing gaskets (8), the middle part of each lower push sheet (5) is provided with an air cushion block (9), the upper end of each air cushion block (9) is provided with a plurality of nozzles (10), the outer side of the upper part of the upper push sheet (4) is provided with a plurality of regulating valves (11), and the inner side of each regulating valve (11) close to the center is provided with an air, the gas cushion block (9) is characterized in that a central shaft (13) is fixedly connected to the lower end of the center of the gas cushion block (9), a plurality of gas pipes (14) are movably connected to the lower end of the gas cushion block (9), an eccentric shunt (15) is arranged outside the central shaft (13) just below the gas pipes (14), a stabilizing block (16) is arranged below the eccentric shunt (15), a supporting ring (17) is arranged outside the eccentric shunt (15), and a fixing base (18) is fixedly connected to the lower end of the supporting ring (17).
2. The air cushion suspension bearing seat of the industrial robot as claimed in claim 1, wherein: the connecting sleeve (2) is of a thin cylinder structure with a downward opening, and the inner wall of the upper end of the connecting sleeve is in contact with the upper surface of the push-up sheet (4) and is kept relatively fixed.
3. The air cushion suspension bearing seat of the industrial robot as claimed in claim 1, wherein: the clamping lugs (3) are matched with the outer edges of the upper pushing pieces (4) and are kept relatively fixed, and certain airflow gaps are reserved at the joints of the clamping lugs and the upper pushing pieces.
4. The air cushion suspension bearing seat of the industrial robot as claimed in claim 1, wherein: the middle part of the upper pushing sheet (4) is provided with a plurality of grooves which extend outwards and penetrate through.
5. The air cushion suspension bearing seat of the industrial robot as claimed in claim 1, wherein: the lower push sheet (5) is of a circular ring structure, the upper surface of the lower push sheet is matched with the upper push sheet (4), a radial groove with an outer edge inclined downwards is reserved on the lower push sheet and is matched with the roller (6), and a lubricating oil hole is formed in the lowest point of the groove.
6. The air cushion suspension bearing seat of the industrial robot as claimed in claim 1, wherein: the protector (7) is made of cylindrical flexible material and is arranged coaxially with the roller (6).
7. The air cushion suspension bearing seat of the industrial robot as claimed in claim 1, wherein: a plurality of airflow channels are arranged in the air cushion block (9) and are matched with the middle groove of the upper push sheet (4), and the nozzle (10) at the upper end of the air cushion block is upwards opposite to the inner wall of the groove.
8. The air cushion suspension bearing seat of the industrial robot as claimed in claim 1, wherein: the adjusting valve (11) is arranged at the position of the outlet of the slot of the upper pushing sheet (4), and an independent adjusting valve (11) is arranged in each slot.
9. The air cushion suspension bearing seat of the industrial robot as claimed in claim 1, wherein: the eccentric flow divider (15) is of an inclined disc structure, an airflow channel with uneven flow resistance is arranged in the eccentric flow divider, the upper end of the eccentric flow divider is respectively connected with the airflow channel in the air cushion block (9), and the lower end of the eccentric flow divider is connected with an air pump through a stabilizing block (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110320158.7A CN113027931A (en) | 2021-03-25 | 2021-03-25 | Air cushion suspension bearing seat of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110320158.7A CN113027931A (en) | 2021-03-25 | 2021-03-25 | Air cushion suspension bearing seat of industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113027931A true CN113027931A (en) | 2021-06-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110320158.7A Pending CN113027931A (en) | 2021-03-25 | 2021-03-25 | Air cushion suspension bearing seat of industrial robot |
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| CN (1) | CN113027931A (en) |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB954757A (en) * | 1962-03-09 | 1964-04-08 | Escher Wyss Ag | Improvements in or relating to hydrostatic mountings for shafts or journals |
| GB1093480A (en) * | 1965-08-17 | 1967-12-06 | Canal Ind Corp | Direct driving mechanism for an ultracentrifuge |
| GB1528875A (en) * | 1975-04-11 | 1978-10-18 | Beckman Instruments Inc | Air driven centrifuge |
| JPH0893765A (en) * | 1994-09-26 | 1996-04-09 | Nissan Motor Co Ltd | Guide support device of shaft-shaped part and length measuring device of shaft-shaped part using this device |
| GB0214922D0 (en) * | 2001-07-05 | 2002-08-07 | Mitutoyo Corp | Air bearing drive system |
| JP2004340760A (en) * | 2003-05-15 | 2004-12-02 | Sankyo Seiki Mfg Co Ltd | Rotational runout inspection device and rotational runout test method |
| CN1801581A (en) * | 2005-01-04 | 2006-07-12 | 三星电机株式会社 | Spindle motor having hydronamic pressure bearing |
| CN202065344U (en) * | 2010-11-11 | 2011-12-07 | 伟宝精密有限公司 | Fluid hydrostatic bearing rotary workbench |
| CN102927129A (en) * | 2012-11-14 | 2013-02-13 | 东方电气集团东方电机有限公司 | Spring bundle bearing bidirectional eccentric thrust bearing |
| CN202955126U (en) * | 2012-11-14 | 2013-05-29 | 东方电气集团东方电机有限公司 | Spring beam bearing bi-direction eccentricity thrust bearing |
| CN103388475A (en) * | 2012-05-12 | 2013-11-13 | 刘素华 | Multilayer-impacting head small-resistance high-efficiency digging apparatus |
| CN107061493A (en) * | 2017-05-04 | 2017-08-18 | 昆明理工大学 | Device and its control method based on Single electromagnet suspension with air supporting composite support |
| CN206874653U (en) * | 2017-05-04 | 2018-01-12 | 昆明理工大学 | A kind of device based on permanent magnet suspension Yu air supporting composite support |
| CN112555278A (en) * | 2020-12-21 | 2021-03-26 | 浙江天马轴承集团有限公司 | Static pressure platform thrust self-aligning roller combined bearing |
-
2021
- 2021-03-25 CN CN202110320158.7A patent/CN113027931A/en active Pending
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB954757A (en) * | 1962-03-09 | 1964-04-08 | Escher Wyss Ag | Improvements in or relating to hydrostatic mountings for shafts or journals |
| GB1093480A (en) * | 1965-08-17 | 1967-12-06 | Canal Ind Corp | Direct driving mechanism for an ultracentrifuge |
| GB1528875A (en) * | 1975-04-11 | 1978-10-18 | Beckman Instruments Inc | Air driven centrifuge |
| JPH0893765A (en) * | 1994-09-26 | 1996-04-09 | Nissan Motor Co Ltd | Guide support device of shaft-shaped part and length measuring device of shaft-shaped part using this device |
| GB0214922D0 (en) * | 2001-07-05 | 2002-08-07 | Mitutoyo Corp | Air bearing drive system |
| JP2004340760A (en) * | 2003-05-15 | 2004-12-02 | Sankyo Seiki Mfg Co Ltd | Rotational runout inspection device and rotational runout test method |
| CN1801581A (en) * | 2005-01-04 | 2006-07-12 | 三星电机株式会社 | Spindle motor having hydronamic pressure bearing |
| CN202065344U (en) * | 2010-11-11 | 2011-12-07 | 伟宝精密有限公司 | Fluid hydrostatic bearing rotary workbench |
| CN103388475A (en) * | 2012-05-12 | 2013-11-13 | 刘素华 | Multilayer-impacting head small-resistance high-efficiency digging apparatus |
| CN102927129A (en) * | 2012-11-14 | 2013-02-13 | 东方电气集团东方电机有限公司 | Spring bundle bearing bidirectional eccentric thrust bearing |
| CN202955126U (en) * | 2012-11-14 | 2013-05-29 | 东方电气集团东方电机有限公司 | Spring beam bearing bi-direction eccentricity thrust bearing |
| CN107061493A (en) * | 2017-05-04 | 2017-08-18 | 昆明理工大学 | Device and its control method based on Single electromagnet suspension with air supporting composite support |
| CN206874653U (en) * | 2017-05-04 | 2018-01-12 | 昆明理工大学 | A kind of device based on permanent magnet suspension Yu air supporting composite support |
| CN112555278A (en) * | 2020-12-21 | 2021-03-26 | 浙江天马轴承集团有限公司 | Static pressure platform thrust self-aligning roller combined bearing |
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Application publication date: 20210625 |