CN2065699U

CN2065699U - Balance mechanism for robot horizontal and vertical arm spring

Info

Publication number: CN2065699U
Application number: CN 89220235
Authority: CN
Inventors: 罗君平; 袁洪章
Original assignee: BEIJING INST OF MACHINERY INDU
Current assignee: BEIJING INST OF MACHINERY INDU
Priority date: 1989-11-30
Filing date: 1989-11-30
Publication date: 1990-11-14

Abstract

The utility model relates to a balance mechanism for a robot horizontal and vertical arm, comprising a spring and a steel cable, a combined mechanism of the wire wheel can balance the torque of the horizontal and vertical arms, so the demonstration is a light datamation and is convenient for manual demonstration. When the utility model needs not manual light datamation, the combined mechanism can also eliminate the self gravity action of the horizontal and vertical arms of the robot, so a robot driving device needs only overcome an inertia force created when moving, and therefore, the stability of the robot system is increased.

Description

Balance mechanism for robot horizontal and vertical arm spring

The utility model provides a kind of robot arm Equilibrator, belongs to general member, can be widely used in the arm balance of various robots.

The arm balanced controls that adopt both at home and abroad have multiple at present, as 1, useful crank throw, connecting rod draw the Equilibrator of spring, 2, useful cylinder, oil cylinder come the Equilibrator of balance arm gravity, 3, useful chain, sprocket wheel draw the Equilibrator of spring etc., effect all is one, promptly eliminates the gravitational moment that arm itself produces, and reaches the purpose of light movingization of demonstration or motion stabilization.

But the shortcoming of these devices is:

1, crank link draws spring to take up an area of greatly, and processing component is many, requires the assembly precision height, the cost height.

2, cylinder, oil cylinder Equilibrator counterbalance effect are poor.

3, chain, sprocket wheel draw the Equilibrator of spring, owing to chain is afraid of to turn round, so installation precision is required high, be difficult for during assembling guaranteeing, and,, cause the unnecessary damages accident so be easier to the phenomenon that chain is broken occur in the working site because chain tensile strength is also relatively poor.

4, domestic and international most of robot, upright arm spring all is contained on the upright arm, because spring adds that device proper has bigger weight, has then strengthened the gravitational moment that upright arm spring is wanted balance, and the movement inertia increasing, and moving element is not light and handy, and structure and part are all added.

The purpose of this utility model is to reduce the inertia of horizontal stroke, upright arm as much as possible, and it is little that whole balanced controls compact structure is taken up an area of, easy-maintaining adjustment, and intensity height, beautiful shape.

The utility model adopts spring and wire rope, the upright arm of combined mechanism balance of wire wheel and the moment of transverse arm, makes light movingization of demonstration, also can improve the stability of robot system, and owing to adopted wire rope pulley, make compact structure, beautiful shape.

Further specify below in conjunction with accompanying drawing:

Fig. 1 is a transverse arm balance spring erection drawing

Fig. 2 is upright arm balance spring erection drawing

Fig. 3 overlooks erection drawing for horizontal, upright arm balance spring

Fig. 4 is upright arm wire wheel

Fig. 5 is the transverse arm wire wheel

Fig. 6 is transverse arm crank throw erection drawing

Among Fig. 1: 1 is the spring mother, and 2 is screw rod, and 3 is locknut, and 4 is the transverse arm spring, and 5 is crank throw, 6 are articulated joint, and 7 is locknut, and 8 are pull bar (the other end is connected to the transverse arm afterbody of wanting balance), and 9 is the spring mother, 41 is long threaded rod, and 42 are short double-screw bolt, and 43 is loose piece, and 44 is wire rope.

Among Fig. 2, Fig. 3: 10 are upright arm spring, and IV is the wire rope assembly, and 11 and 27 for being contained in the fulcrum of upright arm bottom, and 28 are articulated joint, and 26 is axle, and 29 is the spring mother, and 30 for adjusting cover, and 25 is cushion block, and V, VI are spring bracket.

Among Fig. 4: 18 is gland, and 19 are upright arm wire wheel, and 20 are cover, and 21 are cover, and 22 is axle.

Among Fig. 5: 23 is fulcrum, and 24 is the transverse arm wire wheel.

Among Fig. 6: 13 is pad, and 14 is little axle, and 15 is baffle ring, and 16 are pad, and 17 is back-up ring.

The utility model is installed two spring bracket V and VI on the column of robot, wire rope pulley 24 and 19 is installed in support V and two ends, wire rope assembly IV is walked around on wire rope pulley 24, one end is connected with transverse arm spring 4, the other end links to each other with crank throw 5, the other end of crank throw 5 is loaded onto pull bar 8, goes to spur the transverse arm rear portion of wanting balance.After wire rope assembly IV was walked around wire rope pulley 19, an end was connected with upright arm spring 10, the other end with want the fulcrum 27 of the upright arm bottom of balance to be hinged (to see Fig. 1～Fig. 6).Spring and to want the beaer between the parts of balance be wire rope, and the Placement of wire rope and spring is, wire rope 44 1 ends are welded in (see figure 1) on the loose piece 43 with the lead welding method, fixedly (see figure 1) is tightened with double-screw bolt 42 and spring mother 9 in the back of packing among the spring mother 9, wire rope with the Placement of the parts of wanting balance is: transverse arm is connected with a long threaded rod 41 lead weldings with an end of wire rope, long threaded rod 41 is screwed in the articulated joint 6 of dress on the crank throw 5, length can be regulated, and uses fixedly (see figure 1) of nut 7 then.Upright arm is connected with a long threaded rod 41 lead weldings with an end of wire rope, and long threaded rod is screwed into (see figure 3) in the articulated joint of standing on the arm bottom fulcrum 11.Transverse arm and upright arm balance are only used a spring, and a pull bar and a rope sheave of wire rope etc., horizontal, upright arm spring are installed in (see figure 3) on the vertical shaft VII of base.Spring bracket V, VI all are contained on the vertical shaft VII of robot (seeing Fig. 1, Fig. 3), and the vertical shaft VII illustrates with double dot dash line.The other end of two springs is screwed in (see figure 3) on the spring bracket VI with two screw rods 1 respectively.

Upright arm wire rope of the present utility model is to be wrapped on the sleeve shape wire wheel, and purpose is to guarantee that spring has under the situation of enough spaces, makes the axial length of fulcrum 11 of upright arm short as much as possible, to reduce the torsional moment of the opposition arm that spring force causes.

The method of attachment of steel wire rope of the present utility model and spring as previously mentioned, be convenient to like this replacing and the length adjustment (by twisting double-screw bolt) of steel wire rope, when twisting double-screw bolt, because the steel wire rope other end in the spring mother is loose piece, so can rotate, can not reverse steel wire rope itself thereupon. The lead welding technology of steel wire rope at home and abroad is advanced, and reliability is up to 100%, and the mechanism that makes like this is because using a lot of wire line shoes, compact conformation, good looking appearance.

Claims

1, a kind of robot transverse arm, upright arm balanced controls, form by spring bracket, wire rope assembly, crank throw, pull bar, articulated joint, fulcrum, upright arm spring and transverse arm spring etc., it is characterized in that on its main shaft two spring brackets being housed, two wire wheels are equipped with at the two ends of one of them spring bracket, two screw rods that connect transverse arm and upright arm spring respectively are installed on another spring bracket, a wire rope assembly is walked around wire wheel one end and is connected with the transverse arm spring, one end links to each other with crank throw, and the other end of crank throw is loaded onto pull bar and gone to spur the transverse arm rear portion of wanting balance; Another wire wheel assembly is walked around another wire wheel one end and is connected with upright arm spring, the other end with want the fulcrum of the upright arm bottom of balance to be hinged.

2,, transverse arm spring balancing mechanism upright according to the described robot of claim 1, it is characterized in that, the Placement of said wire rope assembly and spring is: wire rope one end is welded on the loose piece with the lead welding method, and the back is tightened fixing with double-screw bolt and spring nut in the spring nut of packing into.

3, according to the upright arm of the described robot of claim 1, transverse arm spring balancing mechanism, it is characterized in that, said wire wheel assembly with the Placement of the transverse arm of wanting balance is: an end of wire rope is connected with a long threaded rod lead welding, long threaded rod is screwed in the articulated joint of installing on the crank throw, fixing with nut 7, its length can be regulated.

4, according to the upright arm of claim 1 or 2 described robots, transverse arm balanced controls, it is characterized in that, said wire wheel assembly with the Placement of the upright arm of wanting balance is: an end of wire rope is connected with a long threaded rod lead welding, and long threaded rod is screwed in the articulated joint of upright arm bottom fulcrum.

5, according to the upright arm of claim 1 or 3 described robots, transverse arm balanced controls, it is characterized in that, said wire wheel assembly with the Placement of the upright arm of wanting balance is: an end of wire rope is connected with a long threaded rod lead welding, and long threaded rod is screwed in the articulated joint of upright arm bottom fulcrum.