CN113442165A - Industrial robot with built-in moment balancing device - Google Patents
Industrial robot with built-in moment balancing device Download PDFInfo
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- CN113442165A CN113442165A CN202110262562.3A CN202110262562A CN113442165A CN 113442165 A CN113442165 A CN 113442165A CN 202110262562 A CN202110262562 A CN 202110262562A CN 113442165 A CN113442165 A CN 113442165A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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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
- B25J19/0012—Balancing devices using fluidic devices
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Abstract
The invention provides an industrial robot with a built-in moment balancing device, which relates to the technical field of industrial robots and comprises a base, a first joint, a first shaft arm, a second joint, a second shaft arm, a third joint and a third shaft arm; one end of the first shaft arm is rotatably connected with the base through a first joint, and the rotating axis is vertically arranged; one end of the second shaft arm is rotatably connected with one end of the first shaft arm far away from the base through a second joint, the other end of the second shaft arm is rotatably connected with a third shaft arm through a third joint, and the rotation axes of the second joint and the third joint are parallel to each other and are vertical to the rotation axis of the first joint; the third joint comprises two third speed reducers which are positioned at two ends of the rotating axis of the third joint and are symmetrically arranged, wherein one side of one third speed reducer is provided with a third servo motor which drives the two third speed reducers to synchronously rotate; and a nitrogen balance cylinder positioned on the symmetrical planes of the two third speed reducers is arranged at the third joint, one end of the nitrogen balance cylinder is connected with the second shaft arm, and the other end of the nitrogen balance cylinder is connected with the third shaft arm.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to an industrial robot with a built-in moment balancing device.
Background
Industrial robots, particularly vertical joints of heavy-duty industrial robots, generally need to be provided with a moment balancing device, which can reduce the driving moment and driving power of the joints, thereby reducing the configuration, weight and size of a servo motor and a speed reducer, reducing the fluctuation of unbalanced moment, facilitating the control and improvement of the dynamic characteristics of the robot, and improving the operation precision and stability. In the application of industrial robots, torque balance systems are mainly divided into additional weight type, spring type, cylinder type, hydro-pneumatic type and the like. Most of the existing balancing devices are installed at two joints of the robot, and most of the third joints of domestic and foreign mainstream heavy-load robots are balanced by adopting counterweight type torque, so that the joint load and the volume of the robot are increased, the risk of damage of a balancing cylinder is increased, and the overall attractiveness of the robot is influenced.
Disclosure of Invention
The invention aims to provide an industrial robot with a built-in torque balancing device, wherein a nitrogen balancing cylinder is arranged at a third joint, so that the driving torque of the third joint is effectively reduced, the configuration, the weight and the size of a servo motor and a speed reducer are reduced, and the running stability of the robot, particularly a large-scale load robot, can be greatly improved; meanwhile, the nitrogen balance cylinder is arranged in the robot, so that the protection of the nitrogen balance cylinder is improved, the failure rate is reduced, and the overall safety and the attractiveness of the robot are improved.
The technical purpose of the invention is realized by the following technical scheme:
an industrial robot with a built-in moment balancing device comprises a base, a first joint, a first shaft arm, a second joint, a second shaft arm, a third joint, a third shaft arm, a fourth joint and a fourth shaft arm;
one end of the first shaft arm is rotatably connected with the base through a first joint, and the rotating axis of the first joint is vertically arranged;
one end of the second shaft arm is rotatably connected with one end, far away from the base, of the first shaft arm through a second joint, the other end of the second shaft arm is rotatably connected with a third shaft arm through a third joint, and the rotation axes of the second joint and the third joint are parallel to each other and are perpendicular to the rotation axis of the first joint;
one end of the fourth shaft arm is rotatably connected with one end, far away from the second shaft arm, of the third shaft arm through a fourth joint, and the rotating axis of the fourth joint is horizontally arranged and is vertical to the rotating axis of the third joint;
the third joint comprises two third speed reducers which are positioned at two ends of the rotating axis of the third joint and are symmetrically arranged, wherein one side of one third speed reducer is provided with a third servo motor which drives the two third speed reducers to synchronously rotate;
and a nitrogen balance cylinder positioned on the symmetrical planes of the two third speed reducers is arranged at the third joint, one end of the nitrogen balance cylinder is connected with the second shaft arm, and the other end of the nitrogen balance cylinder is connected with the third shaft arm.
By adopting the technical scheme, the robot can rotate in a three-dimensional space due to the arrangement of the first joint, the second joint, the third joint and the fourth joint, the third servo motor of the third joint drives the two third speed reducers to synchronously rotate, and the structure of the single-motor double-speed reducer can not only transmit double torque, but also effectively reduce the volume of the third speed reducer under the condition that the output torque is the same. When the third shaft arm and the fourth shaft arm are positioned in vertical postures, the nitrogen balance cylinder is in a free state, and the moment is the minimum value; when the third shaft arm swings around the rotating axis of the third shaft arm, the nitrogen balance cylinder is stretched or compressed, and acting force in the opposite movement direction is provided for the third shaft arm, so that the effect of balancing moment is achieved. Compared with the prior art in which a balance device is arranged at the second joint, the nitrogen balance cylinder is arranged at the third joint, so that the driving moment of the third joint is effectively reduced, the configuration, weight and size of a servo motor and a speed reducer are reduced, and the running stability of the robot, particularly a large-load robot, can be greatly improved. Wherein, the nitrogen balance cylinder sets up on the symmetry plane of two third speed reducers, avoids the focus skew, guarantees the balanced effect of nitrogen balance cylinder. The nitrogen balance cylinder is used as a torque balance device to replace the traditional spring balance cylinder, the structure is simple, the size is small, the installation is convenient, the complete torque balance of the robot under the conditions of different loads and different positions can be realized, and the improvement of the dynamic characteristics of the robot is facilitated.
Furthermore, one end of the nitrogen balancing cylinder is rotatably connected to one end, close to the third shaft arm, of the second shaft arm, the other end of the nitrogen balancing cylinder is rotatably connected to one end, close to the fourth joint, of the third shaft arm, and the rotating axis of the nitrogen balancing cylinder is parallel to that of the third joint; at this time, the two third speed reducers of the third joint are attached to the third shaft arm.
Through adopting above-mentioned technical scheme, provide a nitrogen gas balance cylinder and connect the mounting means on second axletree and third axletree, two third speed reducers of third joint this moment are installed on the third axletree, and through three-dimensional simulation and processing judgement, two third speed reducers are installed and are made the structure of robot more reasonable on the third axletree, and stability is better.
Furthermore, a cavity structure is arranged in the third shaft arm, and the nitrogen balance cylinder is arranged in the cavity of the third shaft arm.
By adopting the technical scheme, the nitrogen balancing cylinder is arranged in the cavity of the third shaft arm, so that the protection of the nitrogen balancing cylinder is improved, the failure rate of the nitrogen balancing cylinder is reduced, and the overall safety and the attractiveness of the robot are improved; in addition, since the nitrogen balance cylinder needs to be arranged in the third shaft arm in a reserved installation space, the fourth joint needs to be arranged in front, and due to the moment balance effect of the nitrogen balance cylinder and the forward movement of the center caused by the front arrangement of the fourth joint, the power configuration, the weight, the volume and the like of a fourth speed reducer and a fourth servo motor in the fourth joint can be reduced by more than 30%.
Furthermore, two side lugs for mounting a third speed reducer are arranged at one end, close to the second shaft arm, of the third shaft arm, and a yielding port communicated with a cavity of the third shaft arm is formed between the two side lugs; a lug arranged in the abdicating opening is arranged at one end of the second shaft arm close to the third shaft arm, and a driving shaft of the third servo motor penetrates through the two third speed reducers and the lug; and one end of the nitrogen balancing cylinder, which is close to the second shaft arm, is rotatably connected with the lug, and the other end of the nitrogen balancing cylinder, which is far away from the second shaft arm, is rotatably connected in the cavity of the third shaft arm.
Through adopting above-mentioned technical scheme, two side ears with between the mouth of stepping down make the one end that the third arm is close to the second arm form the bifurcation structure, the lug on the second arm is installed in the mouth of stepping down, two third speed reducers are installed on the side ear, two third speed reducers and lug are passed to third servo motor's drive shaft, realize that the rotation between second arm and the third arm is connected. One end of the nitrogen balancing cylinder is rotatably connected to the lug, so that the nitrogen balancing cylinder is rotatably connected with the second shaft arm; the other end of the nitrogen balance cylinder is rotatably connected in the cavity of the third shaft arm, so that the nitrogen balance cylinder is rotatably connected with the third shaft arm.
Furthermore, one end of the nitrogen balancing cylinder is rotatably connected to one end, close to the second shaft arm, of the third shaft arm, the other end of the nitrogen balancing cylinder is rotatably connected to one end, close to the first shaft arm, of the second shaft arm, and the rotating axis of the nitrogen balancing cylinder is parallel to that of the third joint; at this time, the two third speed reducers of the third joint are attached to the second axis arm.
Through adopting above-mentioned technical scheme, provide another kind of nitrogen gas balance cylinder and connect the mounting means on second axis arm and third axis arm, two third speed reducers of third joint this moment are installed on the second axis arm, and the structure of fourth joint, fourth axis arm need not to change like this, reduces design cost.
Furthermore, the second shaft arm is internally provided with a cavity structure, and the nitrogen balance cylinder is internally arranged in the cavity of the second shaft arm.
By adopting the technical scheme, the nitrogen balance cylinder is arranged in the cavity of the second shaft arm, so that the protection performance of the nitrogen balance cylinder is improved, the failure rate of the nitrogen balance cylinder is reduced, and the overall safety and attractiveness of the robot are improved.
Furthermore, two lug seats used for mounting a third speed reducer are arranged at one end, close to the third shaft arm, of the second shaft arm, and an ear opening communicated with the cavity of the second shaft arm is formed between the two lug seats; an extension lug installed in the lug is arranged at one end, close to the second shaft arm, of the third shaft arm, and a driving shaft of the third servo motor penetrates through the two third speed reducers and the extension lug; one end of the nitrogen balancing cylinder, which is close to the third shaft arm, is rotatably connected with the extension lug, and one end of the nitrogen balancing cylinder, which is far away from the third shaft arm, is rotatably connected in the cavity of the second shaft arm.
Through adopting above-mentioned technical scheme, two ear seats make the one end that the second axis arm is close to the third axis arm form the bifurcation structure with the ear mouth between, and the extension ear on the third axis arm is installed in the ear, and two third speed reducers are installed on the ear seat, and two third speed reducers and ear seat are passed to third servo motor's drive shaft, realize the rotation between second axis arm and the third axis arm and connect. One end of the nitrogen balancing cylinder is rotatably connected to the lug seat, so that the nitrogen balancing cylinder is rotatably connected with the third shaft arm; the other end of the nitrogen balance cylinder is rotatably connected in the cavity of the second shaft arm, so that the nitrogen balance cylinder is rotatably connected with the second shaft arm.
Further, the nitrogen balance cylinder comprises a cylinder body and a piston rod which is slidably mounted on the cylinder body, one end, extending out of the cylinder body, of the piston rod is close to the third joint, and one end, far away from the piston rod, of the cylinder body is far away from the third joint.
Through adopting above-mentioned technical scheme, the piston rod of nitrogen gas balance cylinder is close to the third joint, and the third joint is kept away from to the cylinder body, guarantees like this that when the third axle arm swings around its axis of rotation, the nitrogen gas balance cylinder is stretched or compressed, provides the opposite effort of direction of motion for the third axle arm, plays the effect of equilibrium moment, guarantees the result of use of nitrogen gas balance cylinder.
Furthermore, an external balance cylinder is arranged at the second joint, one end of the external balance cylinder is rotatably connected to the first shaft arm, the other end of the external balance cylinder is rotatably connected to one end, close to the first shaft arm, of the second shaft arm, and the rotating axis of the external balance cylinder is parallel to that of the second joint.
By adopting the technical scheme, the external balance cylinder is arranged at the second joint, so that the driving moment of the second joint can be effectively reduced, the configuration, weight and size of the servo motor and the speed reducer at the second joint are reduced, and the running stability of the robot, particularly a large-scale load robot, can be greatly improved.
In conclusion, the invention has the following beneficial effects:
1. the external balance cylinder is arranged at the second joint of the robot, and the nitrogen balance cylinder is arranged at the third joint of the robot, so that the driving moments of the second joint and the third joint can be effectively reduced, the configuration, the weight and the size of a servo motor and a speed reducer are reduced, and the running stability of the robot, particularly a large heavy-load robot, can be greatly improved;
2. two third speed reducers are arranged at the third joint and are synchronously driven by a third servo motor, and the structure of the single-motor double-speed reducer can not only transmit double torque, but also effectively reduce the volume of the third speed reducer under the condition of the same output torque;
3. the nitrogen balance cylinder is used for replacing a traditional spring balance cylinder, a traditional counterweight balance device and the like, the structure is simple, the installation is convenient, the complete moment balance of the robot under the conditions of different loads and different positions can be realized, and the improvement of the dynamic characteristics of the robot is facilitated;
4. the nitrogen balance cylinder is arranged in the second shaft arm or the third shaft arm, so that the protection of the nitrogen balance cylinder is improved, the failure rate is reduced, and the overall safety and the attractiveness of the robot are improved;
5. when the nitrogen balancing cylinder is arranged in the third shaft arm, the fourth speed reducer and the fourth servo motor of the fourth joint need to be arranged in front, so that the bending moment borne by the fourth joint is reduced, and the power configuration, the weight and the volume of the fourth joint speed reducer and the servo motor can be reduced by more than 30%.
Drawings
FIG. 1 is an overall schematic view of a nitrogen balancing cylinder of an industrial robot with a built-in moment balancing device built in a third axis arm;
FIG. 2 is a cross-sectional view of a nitrogen balancing cylinder built in a third shaft arm of an industrial robot with a built-in moment balancing device;
FIG. 3 is an overall schematic view of a nitrogen balancing cylinder built into a second axis of an industrial robot with a built-in moment balancing device;
fig. 4 is a sectional view of an industrial robot with a built-in moment balance device in which a nitrogen gas balance cylinder is built in a second axis arm.
In the figure, 1, a base; 2. a first joint; 3. a first shaft arm; 31. mounting lugs; 32. an installation port; 4. a second joint; 41. a second speed reducer; 42. a second servo motor; 5. a second shaft arm; 51. connecting lugs; 52. an ear mount; 53. an ear opening; 54. a lug; 6. a third joint; 61. a third speed reducer; 62. a third servo motor; 7. a third shaft arm; 71. a lateral ear; 72. a let position port; 73. an extension ear; 8. a fourth joint; 81. a fourth speed reducer; 82. a fourth servo motor; 9. a fourth shaft arm; 10. a nitrogen balancing cylinder; 101. a cylinder body; 102. a piston rod; 103. a connecting ring; 104. a connecting shaft; 11. and a balance cylinder is arranged outside.
Detailed Description
The present invention will be described in further detail with reference to the following drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
An industrial robot with a built-in moment balancing device is shown in figure 1 or figure 3 and comprises a base 1, a first joint 2, a first shaft arm 3, a second joint 4, a second shaft arm 5, a third joint 6, a third shaft arm 7, a fourth joint 8, a fourth shaft arm 9, a fifth joint, a fifth shaft arm and a sixth joint, wherein the six joints are formed by a speed reducer and a servo motor and are used for rotationally connecting adjacent joints.
As shown in fig. 1 or fig. 3, specifically, the lower end of the first shaft arm 3 is rotatably connected to the base 1 through the first joint 2, and the rotation axis of the first joint 2 is vertically arranged to drive the other shaft arms to rotate along the vertical axis. The left upper end of the first shaft arm 3 is rotatably connected with the lower end of the second shaft arm 5 through a second joint 4, the upper end of the second shaft arm 5 is rotatably connected with the right end of a third shaft arm 7 through a third joint 6, and the rotating axes of the second joint 4 and the third joint 6 are horizontally vertical to the rotating axis of the first joint 2 to drive the second, third, fourth and fifth shaft arms to swing back and forth. The left end of the third shaft arm 7 is rotatably connected with the right end of the fourth shaft arm 9 through a fourth joint 8, and the rotating axis of the fourth joint 8 is perpendicular to the rotating axes of the first joint 2 and the second joint 4 to drive the fifth shaft arm to rotate along the horizontal axis. The left end of the fourth shaft arm 9 is connected with the fifth shaft arm in a rotating way through a fifth joint, and the rotating axis of the fifth joint is parallel to the rotating axis of the third joint 6. The other end of the fifth shaft arm is provided with a sixth joint which can be connected with the sixth shaft arm, and the rotation axis of the sixth joint is perpendicular to the rotation axis of the fifth joint.
As shown in fig. 1 and 2, the second joint 4 includes two second speed reducers 41 symmetrically disposed at both ends of a rotation axis thereof, one side of one of the second speed reducers 41 is connected to a second servo motor 42 that drives the two second speed reducers 41 to rotate synchronously, and the two second speed reducers 41 are mounted on the first shaft arm 3. Specifically, the upper left end of the first shaft arm 3 is provided with an integrally formed mounting lug 31 for mounting two second speed reducers 41, and a mounting opening 32 positioned on the symmetrical plane of the two second speed reducers 41 is formed between the two mounting lugs 31; the lower end of the second shaft arm 5 is provided with a convex connecting lug 51, the connecting lug 51 is installed in the installation opening 32, and the driving shaft of the second servo motor 42 passes through the two second speed reducers 41 and the connecting lug 51, so that the rotary connection between the first shaft arm 3 and the second shaft arm 5 is realized.
As shown in fig. 1 and 2, an external balance cylinder 11 is disposed at the second joint 4, one end of the external balance cylinder 11 is rotatably connected to the connecting lug 51 of the second shaft arm 5, the other end of the external balance cylinder 11 is rotatably connected to the upper right end of the first shaft arm 3, and the rotation axes of the two ends of the external balance cylinder 11 are parallel to the rotation axis of the second joint 4. When the second shaft arm 5 is positioned in a vertical posture, the external balance cylinder 11 is in a free state, and the moment is the minimum value; when the second shaft arm 5 drives other shaft arms to swing, the external balance cylinder 11 is stretched or compressed to provide acting force with opposite movement directions for the second shaft arm 5, and the effect of balancing moment is achieved. In this embodiment, the external balance cylinder 11 is a nitrogen balance cylinder, and has the advantages of simple structure, convenient installation and stable balance. The external balance cylinder 11 comprises a cylinder barrel rotatably connected with the first shaft arm 3 and a cylinder rod rotatably connected with the connecting lug 51 on the second shaft arm 5, and the cylinder rod is slidably arranged in the cylinder barrel.
As shown in fig. 1 and 2, the third joint 6 also includes two third speed reducers 61 located at two ends of the rotation axis and symmetrically arranged, wherein one side of one third speed reducer 61 is provided with a third servo motor 62 for driving the two third speed reducers 61 to synchronously rotate. And a nitrogen balance cylinder 10 positioned on the symmetrical planes of the two third speed reducers 61 is arranged at the third joint 6, one end of the nitrogen balance cylinder 10 is connected with the second shaft arm 5, and the other end of the nitrogen balance cylinder is connected with the third shaft arm 7. When the third shaft arm 7 and the fourth shaft arm 9 are positioned in vertical postures, the nitrogen balance cylinder 10 is in a free state, and the moment is the minimum value; when the third shaft arm 7 swings around the rotation axis, the nitrogen gas balance cylinder 10 is stretched or compressed, and provides acting force with opposite movement directions for the third shaft arm 7, so as to play a role of balance moment.
The second joint 4 and the third joint 6 are both of a single-motor double-speed reducer structure, so that double torque can be transmitted, and the volumes of the second speed reducer 41 and the third speed reducer 61 are effectively reduced under the condition that the output torque is the same. The external balance cylinder 11 is arranged at the second joint 4, the nitrogen balance cylinder 10 is arranged at the third joint 6, the driving torque of the second joint 4 and the driving torque of the third joint 6 can be effectively reduced, the configuration, the weight and the size of the servo motor and the speed reducer are reduced, and the running stability of the robot, particularly the large heavy load robot, can be greatly improved. The nitrogen balance cylinder 10 is used for replacing a traditional spring balance cylinder, a traditional counterweight balance device and the like, the structure is simple, the size is small, the installation is convenient, the complete moment balance of the robot under the conditions of different loads and different positions can be realized, and the improvement of the dynamic characteristics of the robot is facilitated.
As shown in fig. 2 or fig. 4, the nitrogen balancing cylinder 10 includes a cylinder body 101 and a piston rod 102 slidably mounted in the cylinder body 101, and one end of the piston rod 102 extending out of the cylinder body 101 is close to the third joint 6, and one end of the cylinder body 101 away from the piston rod 102 is far from the third joint 6. In order to improve the protection of the nitrogen balance cylinder 10, reduce the failure rate and improve the overall safety and the aesthetic degree of the robot, the nitrogen balance cylinder 10 is arranged in the second shaft arm 5 or the third shaft arm 7.
When the nitrogen balancing cylinder 10 is arranged in the third shaft arm 7, two third speed reducers 61 of the third joint 6 are arranged at the right end of the third shaft arm 7; when the nitrogen balance cylinder 10 is built in the second boom 5, two third speed reducers 61 of the third joint 6 are attached to the upper end of the second boom 5. This corresponds to two different configurations of the second and third axial arms 5, 7, as will be explained in more detail below.
As shown in fig. 1 and 2, when the nitrogen balance cylinder 10 is built in the third shaft arm 7,the third shaft arm 7 is internally provided with a cavity structure, the nitrogen balance cylinder 10 is internally arranged in the cavity of the third shaft arm 7, the end of a piston rod 102 of the nitrogen balance cylinder 10 is rotatably connected with the upper end of the second shaft arm 5, and the end of a cylinder body 101 is rotatably connected with the left inner end wall of the third shaft arm 7. Specifically, two side lugs 71 for mounting the third speed reducer 61 are arranged at the right end of the third shaft arm 7 close to the second shaft arm 5, a yielding port 72 communicated with the cavity of the third shaft arm 7 is formed between the two side lugs 71, and the two side lugs 71 and the yielding port 72 form a branched structure. The upper end of the second shaft arm 5 close to the third shaft arm 7 is provided with a lug 54 arranged in the relief port 72, the driving shaft of the third servo motor 62 passes through the two third speed reducers 61 and the lug 54, and the piston rod 102 of the nitrogen balancing cylinder 10 is rotatably connected with the lug 54.
As shown in fig. 2, in the present embodiment, a connecting ring 103 is respectively provided at ends of the cylinder body 101 and the piston rod 102 of the nitrogen balancing cylinder 10 that are away from each other, and an axis of the connecting ring 103 is provided along a rotation axis of the third joint 6; connecting shafts 104 matched with the connecting rings 103 are respectively arranged on the lugs 54 and the left inner end wall of the third shaft arm 7, and the nitrogen balancing cylinder 10 is rotatably connected with the second shaft arm 5 and the third shaft arm 7 through the matching of the connecting rings 103 and the connecting shafts 104. Wherein, a bearing can be arranged between the connecting ring 103 and the connecting shaft 104 to ensure the stability of rotation.
As shown in fig. 2 and 4, when the nitrogen balancing cylinder 10 is built in the third arm 7, a position for installing the nitrogen balancing cylinder 10 needs to be reserved in the third arm 7, and in order to ensure that the length of the whole robot arm is constant, the fourth speed reducer 81 and the fourth servo motor 82 of the fourth joint 8 need to be arranged in front, so that the bending moment borne by the fourth joint 8 is reduced, and the power configuration, the weight and the volume of the fourth speed reducer 81 and the fourth servo motor 82 in the fourth joint 8 can be reduced by more than 30%.
As shown in fig. 3 and 4, when the nitrogen balance cylinder 10 is built in the second axle arm 5,the second shaft arm 5 is of a cavity structure, the nitrogen balance cylinder 10 is installed in the cavity of the second shaft arm 5, the end of a piston rod 102 of the nitrogen balance cylinder 10 is connected with the right end, close to the second shaft arm 5, of the third shaft arm 7, and the end of a cylinder body 101 of the nitrogen balance cylinder 10 is rotatably connected with the lower inner end wall, far away from the third shaft arm 7, of the second shaft arm 5. Specifically, two ear seats 52 for mounting the third speed reducer 61 are arranged at one end of the second shaft arm 5 close to the third shaft arm 7, an ear opening 53 communicated with the cavity of the second shaft arm 5 is formed between the two ear seats 52, and the two ear seats 52 and the ear opening 53 form a branched structure. An extension lug 73 arranged in the lug opening 53 is arranged at one end of the third shaft arm 7 close to the second shaft arm 5, a driving shaft of the third servo motor 62 penetrates through the two third speed reducers 61 and the extension lug 73, and the end of a piston rod 102 of the nitrogen balancing cylinder 10 is rotatably connected with the extension lug 73.
As shown in fig. 2 and 4, different from the case where the nitrogen balance cylinder 10 is built in the third shaft arm 7, the extension lug 73 and the lower inner end wall of the second shaft arm 5 are provided with a connecting shaft 104 which is matched with the connecting rings 103 at the two ends of the nitrogen balance cylinder 10, so as to realize the rotational connection of the nitrogen balance cylinder 10 with the second shaft arm 5 and the third shaft arm 7. When the nitrogen balance cylinder 10 is arranged in the second shaft arm 5, the fourth joint 8 at the front end of the third shaft arm 7 does not need to be changed, and the design cost is reduced.
The working principle and the using method of the invention are as follows:
the second joint 4 and the third joint 6 are both of a single-motor double-speed reducer structure, so that double torque can be transmitted, and the volumes of the second speed reducer 41 and the third speed reducer 61 are effectively reduced under the condition that the output torque is the same. The external balance cylinder 11 is arranged at the second joint 4, the nitrogen balance cylinder 10 is arranged at the third joint 6, the driving torque of the second joint 4 and the driving torque of the third joint 6 can be effectively reduced, the configuration, the weight and the size of the servo motor and the speed reducer are reduced, and the running stability of the robot, particularly the large heavy load robot, can be greatly improved.
When the second shaft arm 5 is positioned in a vertical posture, the external balance cylinder 11 is in a free state, and the moment is the minimum value; when the second shaft arm 5 drives other shaft arms to swing, the external balance cylinder 11 is stretched or compressed to provide acting force with opposite movement directions for the second shaft arm 5, and the effect of balancing moment is achieved. When the third shaft arm 7 and the fourth shaft arm 9 are positioned in vertical postures, the nitrogen balance cylinder 10 is in a free state, and the moment is the minimum value; when the third shaft arm 7 swings around the rotation axis, the nitrogen gas balance cylinder 10 is stretched or compressed, and provides acting force with opposite movement directions for the third shaft arm 7, so as to play a role of balance moment.
The nitrogen balancing cylinder 10 is arranged in the second shaft arm 5 or the third shaft arm 7, so that the protection of the nitrogen balancing cylinder 10 is improved, the failure rate is reduced, and the overall safety and the attractiveness of the robot are improved; meanwhile, when the nitrogen balance cylinder 10 is built in the third arm 7, the fourth speed reducer 81 and the fourth servo motor 82 of the fourth joint 8 need to be placed in front, so that the bending moment borne by the fourth joint 8 is reduced, and the power configuration, weight and volume of the fourth speed reducer 81 and the fourth servo motor 82 in the fourth joint 8 can be reduced by more than 30%.
While the foregoing description shows and describes the preferred embodiments of the present invention, it is to be understood that the invention is not limited to the forms disclosed herein, but is not to be construed as excluding other embodiments and is capable of use in various other combinations, modifications, and environments and is capable of changes within the scope of the inventive concept as described herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. An industrial robot with a built-in moment balancing device, characterized in that: comprises a base (1), a first joint (2), a first shaft arm (3), a second joint (4), a second shaft arm (5), a third joint (6), a third shaft arm (7), a fourth joint (8) and a fourth shaft arm (9);
one end of the first shaft arm (3) is rotatably connected with the base (1) through a first joint (2), and the rotating axis of the first joint (2) is vertically arranged;
one end of the second shaft arm (5) is rotatably connected with one end, far away from the base (1), of the first shaft arm (3) through a second joint (4), the other end of the second shaft arm is rotatably connected with a third shaft arm (7) through a third joint (6), and the rotation axes of the second joint (4) and the third joint (6) are parallel to each other and are vertical to the rotation axis of the first joint (2);
one end of the fourth shaft arm (9) is rotatably connected with one end, far away from the second shaft arm (5), of the third shaft arm (7) through a fourth joint (8), and the rotating axis of the fourth joint (8) is horizontally arranged and is vertical to the rotating axis of the third joint (6);
the third joint (6) comprises two third speed reducers (61) which are positioned at two ends of a rotating axis and are symmetrically arranged, wherein one side of one third speed reducer (61) is provided with a third servo motor (62) which drives the two third speed reducers (61) to synchronously rotate;
and a nitrogen balance cylinder (10) positioned on the symmetrical planes of the two third speed reducers (61) is arranged at the third joint (6), one end of the nitrogen balance cylinder (10) is connected with the second shaft arm (5), and the other end of the nitrogen balance cylinder is connected with the third shaft arm (7).
2. An industrial robot incorporating a moment balance device according to claim 1, wherein: one end of the nitrogen balancing cylinder (10) is rotatably connected to one end, close to the third shaft arm (7), of the second shaft arm (5), the other end of the nitrogen balancing cylinder is rotatably connected to one end, close to the fourth joint (8), of the third shaft arm (7), and the rotating axis of the nitrogen balancing cylinder is parallel to that of the third joint (6); at this time, the two third speed reducers (61) of the third joint (6) are attached to the third shaft arm (7).
3. An industrial robot with a built-in moment balancing device according to claim 2, characterized in that: the third shaft arm (7) is internally provided with a cavity structure, and the nitrogen balance cylinder (10) is internally arranged in the cavity of the third shaft arm (7).
4. An industrial robot incorporating a moment balance device according to claim 3, wherein: one end, close to the second shaft arm (5), of the third shaft arm (7) is provided with two side lugs (71) used for mounting a third speed reducer (61), and a position yielding opening (72) communicated with a cavity of the third shaft arm (7) is formed between the two side lugs (71); one end, close to the third shaft arm (7), of the second shaft arm (5) is provided with a lug (54) installed in a relief opening (72), and a driving shaft of the third servo motor (62) penetrates through the two third speed reducers (61) and the lug (54); one end of the nitrogen balancing cylinder (10) close to the second shaft arm (5) is rotatably connected with the lug (54), and the other end of the nitrogen balancing cylinder far away from the second shaft arm (5) is rotatably connected in a cavity of the third shaft arm (7).
5. An industrial robot incorporating a moment balance device according to claim 1, wherein: one end of the nitrogen balancing cylinder (10) is rotatably connected to one end, close to the second shaft arm (5), of the third shaft arm (7), the other end of the nitrogen balancing cylinder is rotatably connected to one end, close to the first shaft arm (3), of the second shaft arm (5), and the rotating axis of the nitrogen balancing cylinder is parallel to that of the third joint (6); at this time, the two third speed reducers (61) of the third joint (6) are attached to the second shaft arm (5).
6. An industrial robot with a built-in moment balancing device according to claim 5, characterized in that: the second shaft arm (5) is internally provided with a cavity structure, and the nitrogen balance cylinder (10) is internally arranged in the cavity of the second shaft arm (5).
7. An industrial robot incorporating a moment balance device according to claim 6, wherein: two lug seats (52) used for mounting a third speed reducer (61) are arranged at one end, close to the third shaft arm (7), of the second shaft arm (5), and an ear opening (53) communicated with a cavity of the second shaft arm (5) is formed between the two lug seats (52); one end of the third shaft arm (7) close to the second shaft arm (5) is provided with an extension ear (73) installed in an ear opening (53), and a driving shaft of the third servo motor (62) penetrates through the two third speed reducers (61) and the extension ear (73); one end of the nitrogen balancing cylinder (10) close to the third shaft arm (7) is rotatably connected with the extension lug (73), and the end far away from the third shaft arm (7) is rotatably connected in the cavity of the second shaft arm (5).
8. An industrial robot with a built-in moment balancing device according to any one of claims 1-7, characterized in that: the nitrogen balancing cylinder (10) comprises a cylinder body (101) and a piston rod (102) which is slidably mounted on the cylinder body (101), one end, extending out of the cylinder body (101), of the piston rod (102) is close to the third joint (6), and one end, far away from the piston rod (102), of the cylinder body (101) is far away from the third joint (6).
9. An industrial robot with a built-in moment balancing device according to any one of claims 1-7, characterized in that: the joint is characterized in that an external balance cylinder (11) is arranged at the second joint (4), one end of the external balance cylinder (11) is rotatably connected to the first shaft arm (3), the other end of the external balance cylinder is rotatably connected to one end, close to the first shaft arm (3), of the second shaft arm (5), and the rotating axis of the external balance cylinder is parallel to that of the second joint (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110262562.3A CN113442165A (en) | 2021-03-10 | 2021-03-10 | Industrial robot with built-in moment balancing device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110262562.3A CN113442165A (en) | 2021-03-10 | 2021-03-10 | Industrial robot with built-in moment balancing device |
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| CN113442165A true CN113442165A (en) | 2021-09-28 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114179129A (en) * | 2021-12-30 | 2022-03-15 | 伯朗特机器人股份有限公司 | Method for setting auxiliary supporting device of robot |
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2021
- 2021-03-10 CN CN202110262562.3A patent/CN113442165A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114179129A (en) * | 2021-12-30 | 2022-03-15 | 伯朗特机器人股份有限公司 | Method for setting auxiliary supporting device of robot |
| CN114179129B (en) * | 2021-12-30 | 2024-03-22 | 伯朗特机器人股份有限公司 | Method for setting auxiliary supporting device of robot |
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