CN201800052U - Robot lower arm balancing device - Google Patents
Robot lower arm balancing device Download PDFInfo
- Publication number
- CN201800052U CN201800052U CN2010205230914U CN201020523091U CN201800052U CN 201800052 U CN201800052 U CN 201800052U CN 2010205230914 U CN2010205230914 U CN 2010205230914U CN 201020523091 U CN201020523091 U CN 201020523091U CN 201800052 U CN201800052 U CN 201800052U
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- spring
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- tray
- underarm
- pull bar
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Abstract
The utility model relates to a robot lower arm balancing device, which comprises a cylinder (6-1), a front end cap (6-8) and a rear end cap (6-9), wherein the front end cap (6-8) and the rear end cap (6-9) are disposed at two ends of the cylinder (6-1). The robot lower arm balancing device is characterized by further comprising a draw bar (6-2), a spring tray (6-3), a spring (6-5) and a draw bar joint (6-6), the front end of the draw bar (6-2) penetrates through the front end cap (6-8) to be connected with the draw bar joint (6-6) while the rear end of the draw bar (6-2) is connected with a tray joint (6-7), the tray joint (6-7) is fixedly connected with the spring tray (6-3), the spring tray (6-3) is provided with a spring slot (6-4), the spring (6-5) is arranged in the spring slot (6-4), the draw bar (6-2), the spring tray (6-3) and the spring (6-5) form a piston component, and the piston component is disposed in the cylinder (6-1). The robot lower arm balancing device can reduce gyroscopic moment of a lower arm, decreases power of a motor, increases stability of a robot, and is low in protection requirement, convenient in manufacturing and easy in replacement.
Description
(1) technical field
The utility model relates to a kind of robot underarm bascule, belongs to the industrial robot technical field.
(2) background technology
Industrial robot is widely used in industry-by-industry, as automobile manufacture industry, packing stacking industry, electron trade etc.Along with the industrial robot promotion and application, the performance of industrial robot each side also there has been higher requirement, as load capacity, working range etc.In order to alleviate working strength of workers and to improve working conditions, increasing industry begins to adopt the industrial robot (load capacity is more than 100KG reaches) of heavy duty ability.For common vertical multi-joint industrial robot, cascaded structure is adopted in each joint, and in order to guarantee high positioning accuracy, the arm of industrial robot must have high rigidity.Because cascaded structure is adopted in each joint, the actual loading ability of industrial robot is compared with industrial machine human body's weight, and gap is very big, and the load capacity during the industrial robot real work may have only 1/10th of robot body weight.For load capacity at 100KG and above heavy load industrial robot, its this body weight is substantially all more than 1000KG, the weight of robot underarm (not comprising the underarm reductor) and forearm, wrist each several part probably accounts for more than 1/3rd of this body weight, these weight add the load of last arm front end, underarm reductor to robot can produce a very large moment of torsion, if do not adopt bascule to come the balance portion moment of torsion, then the underarm reductor needs a very big motor to drive.
The robot of domestic present research and development mostly is the robot of middle-size and small-size load, and as load 3KG, 5KG, 10KG, the robot of this kind load specification can not consider equilibrium problem, and the industrial robot of domestic heavy load is generally all from external import.The bascule that external industrial robot is adopted is generally the nitrogen balance cylinder.The nitrogen cylinder belongs to high-pressure bottle, need prevent to reveal, and pressure fills and regulate difficulty.
(3) summary of the invention
The purpose of this utility model is to overcome above-mentioned deficiency, and a kind of flywheel moment that reduces underarm is provided, and has reduced the power of motor, has increased the stability of robot, and requirement of shelter is low, easily manufactured, changes to be easy to robot underarm bascule.
The purpose of this utility model is achieved in that a kind of robot underarm bascule, comprises cylinder body and the drive end bearing bracket and the rear end cap that are arranged at the cylinder body two ends, and it is characterized in that: it also comprises pull bar, spring tray, spring and rod head;
The front end of described pull bar passes described drive end bearing bracket and links to each other with rod head, and the rear end links to each other with the pallet joint, and described pallet joint is fixedlyed connected with spring tray, and described spring tray is provided with spring groove, is provided with spring in the described spring groove; Described spring housing is loaded on outside the described pull bar and is arranged between described drive end bearing bracket and the described spring tray; Described pull bar, spring tray, groups of springs become piston component, and described piston component is arranged in the described cylinder body.
Described spring groove has many, is arranged in the form of a ring on the described spring tray.
Described spring be provided with one, two or three.
The junction of described drive end bearing bracket and pull bar is provided with dust ring and wear ring.
Described rear end cap is provided with through hole, is provided with screen pack in the described through hole.
Compared with prior art, the beneficial effects of the utility model are:
The utility model robot underarm bascule, when the underarm of robot rotates, cylinder body is swung along with the rotation of underarm, rod head drive pull bar stretches out in spring cylinder and withdraws, motion along with pull bar, spring tray compression spring produces pulling force to pull bar, realizes the counterweight effect to underarm.In order to make pull bar obtain predetermined pressure, the user can dispose suitable spring.Spring tray can hold the spring of three kinds of dimensions simultaneously works simultaneously, provides pull bar required pulling force jointly by three springs.In order to reduce the mechanical wear between spring and other parts, a certain amount of lubricating grease of packing in the spring cylinder is equipped with wear ring, dust ring and sealing ring at pull bar guiding position, can prevent that dust and other impurities from entering spring cylinder, to prolong the life-span of spring.
The use of spring cylinder makes the flywheel moment of underarm significantly reduce, and has reduced the power of motor, has increased the stability of robot, because spring is easy to change and make, has also made things convenient for the maintenance and the debugging of equipment.The relative degree of protection of cylinder body lower (not needing to protect gases at high pressure or leak of liquid), and spring design and easily manufactured are changed easily, and the spring that can be used in combination plurality of specifications reaches the pressure of user's request.
(4) description of drawings
Fig. 1 is the structural representation of the utility model robot underarm bascule.
Fig. 2 is a user mode schematic diagram of the present utility model.
Wherein:
Pedestal 1, turntable 2, bearing 2-1, underarm 3, upper arm 4, wrist 5, the utility model bascule 6, cylinder body 6-1, pull bar 6-2, spring tray 6-3, spring groove 6-4, spring 6-5, rod head 6-6, pallet joint 6-7, drive end bearing bracket 6-8, rear end cap 6-9, dust ring and wear ring 6-10, screen pack 6-11.
(5) specific embodiment
Referring to Fig. 1, a kind of robot underarm bascule that the utility model relates to mainly is made up of cylinder body 6-1, pull bar 6-2, spring tray 6-3, spring groove 6-4, spring 6-5, rod head 6-6, pallet joint 6-7, drive end bearing bracket 6-8 and rear end cap 6-9.
The front end of described pull bar 6-2 passes drive end bearing bracket 6-8 and links to each other with rod head 6-6, the rear end links to each other with pallet joint 6-7, described pallet joint 6-7 is fixedlyed connected with spring tray 6-3, described spring tray 6-3 is provided with spring groove 6-4, described spring groove 6-4 has many, be arranged in the form of a ring on the described spring tray 6-3, be provided with spring 6-5 among the described spring groove 6-4;
The junction of described drive end bearing bracket 6-8 and pull bar 6-2 is equipped with dust ring and wear ring 6-10.
Described pull bar 6-2, spring tray 6-3, spring 6-5 form piston component, and described piston component is arranged in the described cylinder body 6-1, fixedly connected with rear end cap 6-9 in the rear end of described cylinder body 6-1, and its front end is fixedlyed connected with drive end bearing bracket 6-8.
According to the difference of required spring force, described spring 6-5 can be provided with one, two or three, just can make spring cylinder be applicable to the unequally loaded robot.
Described rear end cap 6-9 is provided with through hole, is provided with screen pack 6-11 in the described through hole.
Referring to Fig. 1 and Fig. 2, during use, the utility model bascule 6 is installed in above the turntable 2 of industrial robot, when the underarm 3 of industrial robot rotates, the utility model bascule 6 is swung around bearing 2-1, rod head 6-6 drives pull bar 6-2 and carries out stretching motion, spring tray 6-3 compresses a spring, No. two springs, and No. three springs (not drawing among the figure), make pull bar produce enough pulling force, along with underarm 3 turns forward and changes differently to the degree of layback, the pulling force that spring produced also constantly changes, the moment of torsion that balance is enough makes the flywheel moment of underarm 3 significantly reduce.For the wearing and tearing that reduce spring and other mechanical part and pull bar 6-2 is slided smoothly, an amount of lubricating grease is housed among the cylinder body 6-1, the wear ring of guiding purposes and the dust ring 6-10 of dustproof purposes are installed on the cylinder body 6-1 drive end bearing bracket 6-8.
Because the telescopic variation of pull bar 6-2, the sealed volume of cylinder body 6-1 changes, in order to prevent to occur vacuum or high pressure conditions in the cylinder body 6-1, can on the rear end cap 6-9 of described spring equalizing device, open an aperture, and install one and be used to filter dust and other impurities small air screen pack.
Claims (6)
1. robot underarm bascule, comprise cylinder body (6-1) and be arranged at the drive end bearing bracket (6-8) and the rear end cap (6-9) at cylinder body (6-1) two ends, it is characterized in that: it also comprises pull bar (6-2), spring tray (6-3), spring (6-5) and rod head (6-6);
The front end of described pull bar (6-2) passes described drive end bearing bracket (6-8) and links to each other with rod head (6-6), the rear end links to each other with pallet joint (6-7), described pallet joint (6-7) is fixedlyed connected with spring tray (6-3), described spring tray (6-3) is provided with spring groove (6-4), is provided with spring (6-5) in the described spring groove (6-4); Described spring (6-5) is set in outside the described pull bar (6-2) and is arranged between described drive end bearing bracket (6-8) and the described spring tray (6-3); Described pull bar (6-2), spring tray (6-3), spring (6-5) are formed piston component, and described piston component is arranged in the described cylinder body (6-1).
2. a kind of robot according to claim 1 underarm bascule, it is characterized in that: described spring groove (6-4) has many, is arranged in the form of a ring on the described spring tray (6-3).
3. a kind of robot according to claim 2 underarm bascule is characterized in that: described spring (6-5) be provided with one, two or three.
4. according to the described a kind of robot of one of claim 1-3 underarm bascule, it is characterized in that: described drive end bearing bracket (6-8) is provided with dust ring and wear ring (6-10) with the junction of pull bar (6-2).
5. according to the described a kind of robot of one of claim 1-3 underarm bascule, it is characterized in that: described rear end cap (6-9) is provided with through hole, is provided with screen pack (6-11) in the described through hole.
6. a kind of robot according to claim 4 underarm bascule, it is characterized in that: described rear end cap (6-9) is provided with through hole, is provided with screen pack (6-11) in the described through hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205230914U CN201800052U (en) | 2010-09-09 | 2010-09-09 | Robot lower arm balancing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205230914U CN201800052U (en) | 2010-09-09 | 2010-09-09 | Robot lower arm balancing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201800052U true CN201800052U (en) | 2011-04-20 |
Family
ID=43869567
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010205230914U Expired - Fee Related CN201800052U (en) | 2010-09-09 | 2010-09-09 | Robot lower arm balancing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201800052U (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103802133A (en) * | 2012-11-08 | 2014-05-21 | 沈阳新松机器人自动化股份有限公司 | Adjustable balance cylinder |
| CN104526716A (en) * | 2014-12-17 | 2015-04-22 | 上海交通大学 | Energy storage and energy saving type gravity balancing device for industrial robot |
| CN104816313A (en) * | 2015-04-01 | 2015-08-05 | 湖北骐通机电工程有限公司 | Articulated robot |
| CN104816317A (en) * | 2015-04-01 | 2015-08-05 | 湖北骐通机电工程有限公司 | Balancing device and robot therewith |
| CN107901081A (en) * | 2017-12-26 | 2018-04-13 | 聊城大学 | A kind of heavy-load robot balancer and its application method |
| CN108015807A (en) * | 2017-12-07 | 2018-05-11 | 上海宇航系统工程研究所 | Compressed spring type double acting compensating cylinder in parallel applied to industrial robot |
| DE102017213457A1 (en) * | 2017-08-03 | 2019-02-07 | Robert Bosch Gmbh | Hydrostatic adjusting device for a hydrostatic displacement machine and hydrostatic displacement machine |
| CN109986598A (en) * | 2017-12-29 | 2019-07-09 | 沈阳新松机器人自动化股份有限公司 | A kind of compensating cylinder and industrial robot |
| CN110900660A (en) * | 2019-12-14 | 2020-03-24 | 上海世辰机电有限公司 | Flexible positioning device of industrial robot |
| CN113400346A (en) * | 2021-05-11 | 2021-09-17 | 安徽涌诚机械有限公司 | Large-scale high accuracy industrial robot balance cylinder |
-
2010
- 2010-09-09 CN CN2010205230914U patent/CN201800052U/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103802133A (en) * | 2012-11-08 | 2014-05-21 | 沈阳新松机器人自动化股份有限公司 | Adjustable balance cylinder |
| CN104526716A (en) * | 2014-12-17 | 2015-04-22 | 上海交通大学 | Energy storage and energy saving type gravity balancing device for industrial robot |
| CN104526716B (en) * | 2014-12-17 | 2016-07-06 | 上海交通大学 | A kind of industrial robot energy-storage economical type gravity balance device |
| CN104816313A (en) * | 2015-04-01 | 2015-08-05 | 湖北骐通机电工程有限公司 | Articulated robot |
| CN104816317A (en) * | 2015-04-01 | 2015-08-05 | 湖北骐通机电工程有限公司 | Balancing device and robot therewith |
| DE102017213457A1 (en) * | 2017-08-03 | 2019-02-07 | Robert Bosch Gmbh | Hydrostatic adjusting device for a hydrostatic displacement machine and hydrostatic displacement machine |
| CN108015807A (en) * | 2017-12-07 | 2018-05-11 | 上海宇航系统工程研究所 | Compressed spring type double acting compensating cylinder in parallel applied to industrial robot |
| CN108015807B (en) * | 2017-12-07 | 2020-11-06 | 上海宇航系统工程研究所 | Parallel compression spring type double-acting balance cylinder applied to industrial robot |
| CN107901081A (en) * | 2017-12-26 | 2018-04-13 | 聊城大学 | A kind of heavy-load robot balancer and its application method |
| CN109986598A (en) * | 2017-12-29 | 2019-07-09 | 沈阳新松机器人自动化股份有限公司 | A kind of compensating cylinder and industrial robot |
| CN109986598B (en) * | 2017-12-29 | 2022-04-05 | 沈阳新松机器人自动化股份有限公司 | Balance cylinder and industrial robot |
| CN110900660A (en) * | 2019-12-14 | 2020-03-24 | 上海世辰机电有限公司 | Flexible positioning device of industrial robot |
| CN113400346A (en) * | 2021-05-11 | 2021-09-17 | 安徽涌诚机械有限公司 | Large-scale high accuracy industrial robot balance cylinder |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee |
Owner name: JIANGSU JINMING INDUSTRIAL ROBOT AUTOMATION CO., L Free format text: FORMER NAME: JIANGYIN CITY JINMING GLASS TECHNOLOGY CO., LTD. |
|
| CP01 | Change in the name or title of a patent holder |
Address after: 214405, Jiangsu City, Jiangyin province view of the town of South Gate of the ASEAN science and Technology Industrial Zone 6 Patentee after: JIANGSU JINMING INDUSTRY ROBOT AUTOMATION CO., LTD. Address before: 214405, Jiangsu City, Jiangyin province view of the town of South Gate of the ASEAN science and Technology Industrial Zone 6 Patentee before: Jiangyin City Jinming Glass Technology Co., Ltd. |
|
| TR01 | Transfer of patent right |
Effective date of registration: 20171225 Address after: 213100 West Lake Road, Wujin District, Changzhou, Jiangsu Province, national high tech Industrial Development Zone, No. 16 Patentee after: Changzhou Hua Jin Ming Intelligent Equipment Technology Research Institute Co., Ltd. Address before: 214405, Jiangsu City, Jiangyin province view of the town of South Gate of the ASEAN science and Technology Industrial Zone 6 Patentee before: JIANGSU JINMING INDUSTRY ROBOT AUTOMATION CO., LTD. |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110420 Termination date: 20180909 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |