CN213918357U

CN213918357U - Spring force balancing device for robot joint shaft

Info

Publication number: CN213918357U
Application number: CN202023153474.XU
Authority: CN
Inventors: 储银根; 崔浩南; 余凯明
Original assignee: Guogongxin Cangzhou Robot Co ltd
Current assignee: Guogongxin Cangzhou Robot Co ltd
Priority date: 2020-12-24
Filing date: 2020-12-24
Publication date: 2021-08-10
Anticipated expiration: 2030-12-24

Abstract

The utility model discloses a robot joint axle uses spring force balancing unit belongs to the robotechnology field, and it includes the robot base, the top of robot base is provided with first articulated arm, the top of first articulated arm is provided with the articulated arm of second, the front of first articulated arm and the equal fixedly connected with mounting panel of upper surface of robot base. This articulated shaft of robot uses spring force balancing unit, through setting up balance spring, through utilizing balance spring to be connected robot base and first articulated arm, the problem of terminal shake of robot and vibration has been solved well, the moment of inertia that the process of motion produced has been balanced, stabilize robot motion precision, when balance spring needs to be changed, slide left through with the slide and utilize the fixture block of connecting rod and hinge bar drive both sides to slide to the middle part and can take off the installation pole, thereby dismantle balance spring, the staff of being convenient for changes balance spring, reduce the loaded down with trivial details degree of work.

Description

Spring force balancing device for robot joint shaft

Technical Field

The utility model belongs to the technical field of the robot, specifically be a spring force balancing unit is used to robot joint axle.

Background

Robots are machine devices that automatically perform work, including all machines that simulate human behavior or thought and other creatures. There are also a number of taxonomies and controversy over the definition of robots in the narrow sense, and some computer programs are even referred to as robots.

Industrial robot on the existing market, in high-speed operation, terminal because moment of inertia's reason can produce terminal shake of robot and vibration, can not accurate location to industrial robot's work efficiency reduces.

SUMMERY OF THE UTILITY MODEL

Technical problem to be solved

In order to overcome the above-mentioned defect of prior art, the utility model provides a spring force balancing unit is used to robot joint axle has solved industrial robot on the existing market, and in high-speed operation, terminal because moment of inertia's reason can produce terminal shake of robot and vibration, can not accurate location to reduce industrial robot's work efficiency's problem.

(II) technical scheme

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a robot joint axle uses spring force balancing unit, includes the robot base, the top of robot base is provided with first articulated arm, the top of first articulated arm is provided with the second articulated arm, the front of first articulated arm and the equal fixedly connected with mounting panel of robot base's upper surface, two joint plates of positive fixedly connected with of mounting panel, the joint groove has been seted up to the right flank of right side joint plate, the inner wall sliding connection of joint plate has the installation pole, the equal sliding connection of upper surface and the lower surface of installation pole has the fixture block, the one side that two fixture blocks are close to each other respectively with the upper and lower both ends fixed connection of elasticity telescopic link.

The left surface of fixture block has the hinge bar through round pin axle swing joint, and the one end that corresponds the fixture block was kept away from to two hinge bars passes through round pin axle swing joint with the right-hand member of same connecting rod, the inner wall sliding connection of installation pole has the slide, the front of mounting panel has into oil pipe through joint groove and installation pole swing joint, corresponds two and advances oil pipe one end and same balance spring's upper and lower both ends fixed connection that are close to each other.

As a further aspect of the present invention: the left side face of the first joint arm is fixedly connected with the right side face of the maintenance box, and an oil pushing bin is arranged inside the maintenance box.

As a further aspect of the present invention: the inner wall of the oil pushing bin is connected with a piston rod in a sliding mode, and a reset spring is sleeved on the outer surface of the piston rod.

As a further aspect of the present invention: the upper end and the lower end of the reset spring are respectively and fixedly connected with the upper surface of the inner wall of the oil pushing bin and the outer surface of the piston rod, and the lower surface of the inner wall of the oil pushing bin is fixedly connected with an oil inlet pipe through a one-way valve.

As a further aspect of the present invention: the left side of maintenance case passes through check valve fixedly connected with oil pipe, the upper surface of maintenance case is provided with the oil filler hole, the one end fixed connection that the maintenance case was kept away from to the oil pipe is at the surface of first articulated arm.

As a further aspect of the present invention: the left end fixed connection of connecting rod is in the right flank of slide, and the one side that two fixture blocks kept away from each other all sets up to the slope form.

(III) advantageous effects

Compared with the prior art, the beneficial effects of the utility model reside in that:

1. this articulated axle of robot uses spring force balancing unit, through setting up the joint groove, the installation pole, joint board and balance spring, through utilizing balance spring to be connected robot base and first articulated arm, the problem of terminal shake of robot and vibration has been solved well, through the connection of spring, through calculating, rotate the position of leaving point, balance spring produces the effect of pulling force with first articulated arm, the moment of inertia that the process of motion produced has been balanced, stabilize robot motion precision, when balance spring is because long-time use needs to be changed, slide left through with the slide and utilize the fixture block that connecting rod and hinge bar drive both sides to slide to the middle part and can take off the installation pole, thereby dismantle balance spring, the staff of being convenient for changes balance spring, reduce the loaded down with trivial details degree of work.

2. This articulated axle of robot uses spring force balancing unit, through being provided with to push away oil bin, reset spring, go out oil pipe and advance oil pipe, through with the piston rod lifting, the maintenance has to enter into through advancing oil pipe and push away in the oil bin under the effect of check valve, pushes away the junction that oil bin descends the maintenance and have and enter into first articulated arm and second articulated arm, and the staff of being convenient for maintains this robot.

3. This articulated axle of robot uses spring force balancing unit, through setting up reset spring, can add the junction of first articulated arm and second articulated arm with protection oil automatically through reset spring's reaction force behind the lifting piston rod, need not the staff and presses the piston rod.

Drawings

Fig. 1 is a schematic structural view of a front view section of the present invention;

FIG. 2 is an enlarged schematic view of the structure of FIG. 1;

FIG. 3 is a schematic structural view of a front section of the curing box of the present invention;

in the figure: the robot comprises a robot base 1, a first joint wall 2, a second joint wall 3, a mounting plate 4, a clamping groove 5, a mounting rod 6, a sliding plate 7, a connecting rod 8, a hinged rod 9, a clamping block 10, an elastic telescopic rod 11, a clamping plate 12, a curing box 13, an oil pushing bin 14, a piston rod 15, a reset spring 16, an oil outlet pipe 17, an oil inlet pipe 18, a balance spring 19 and a mounting ring 20.

Detailed Description

The technical solution of the present patent will be described in further detail with reference to the following embodiments.

As shown in fig. 1-3, the utility model provides a technical solution: the utility model provides a robot joint axle uses spring force balancing unit, including robot base 1, robot base 1's top is provided with first articulated arm 2, the top of first articulated arm 2 is provided with second articulated arm 3, the front of first articulated arm 2 and the equal fixedly connected with mounting panel 4 of robot base 1's upper surface, two joint plate 12 of positive fixedly connected with of mounting panel 4, joint groove 5 has been seted up to right flank of right side joint plate 12, it is spacing to utilize joint groove 5 to carry out fixture block 10 through being provided with joint groove 5, thereby improve the stability of installation pole 6 installation, the inner wall sliding connection of joint plate 12 has installation pole 6, the upper surface and the equal sliding connection of lower surface of installation pole 6 have fixture block 10, the one side that two fixture block 10 are close to each other respectively with the upper and lower both ends fixed connection of elasticity telescopic link 11.

The left side of the fixture block 10 is movably connected with a hinge rod 9 through a pin shaft, one end of each hinge rod 9, far away from the corresponding fixture block 10, is movably connected with the right end of the same connecting rod 8 through a pin shaft, the inner wall of the installation rod 6 is slidably connected with a sliding plate 7, the front surface of the installation plate 4 is movably connected with an oil inlet pipe 18 through a clamping groove 5 and the installation rod 6, one end, close to each other, of each oil inlet pipe 18 is fixedly connected with the upper end and the lower end of the same balance spring 19, the robot base 1 is connected with the first joint arm 2 through the balance spring 19, the problem of terminal shaking and vibration of the robot is well solved, the balance spring 19 and the first joint arm 2 generate tensile force through the connection of the balance spring 19, the inertia moment generated in the motion process is balanced, and the motion precision of the robot is stabilized.

Specifically, as shown in fig. 1 and 3, the left side surface of the first articulated arm 2 is fixedly connected with the right side surface of the curing box 13, an oil pushing bin 14 is arranged inside the curing box 13, the inner wall of the oil pushing bin 14 is connected with a piston rod 15 in a sliding manner, a return spring 16 is sleeved on the outer surface of the piston rod 15, the upper end and the lower end of the return spring 16 are respectively and fixedly connected with the upper surface of the inner wall of the oil pushing bin 14 and the outer surface of the piston rod 15, the lower surface of the inner wall of the oil pushing bin 14 is fixedly connected with an oil inlet pipe 18 through a one-way valve, the left side surface of the curing box 13 is fixedly connected with an oil outlet pipe 17 through a one-way valve, the upper surface of the curing box 13 is provided with an oil filling port, one end of the oil outlet pipe 17 far away from the curing box 13 is fixedly connected with the outer surface of the first articulated arm 2, by arranging the return spring 16, after the piston rod 15 is lifted, the protective oil can be automatically added to the joint of the first articulated arm 2 and the second articulated arm 3 through the reaction force of the return spring 16, no operator is required to press the piston rod 15.

Specifically, as shown in fig. 2, the left end fixed connection of connecting rod 8 is in the right flank of slide 7, and the one side that two fixture blocks 10 kept away from each other all sets up to the slope form, through being provided with fixture block 10, because the one side that two fixture blocks 10 kept away from each other is the slope form, when inserting installation pole 6, the fixture block 10 of both sides slides to the middle part to the staff of being convenient for installs balance spring 19.

The utility model discloses a theory of operation does:

s1, when the balance spring 19 needs to be replaced due to long-term use, the mounting rod 6 can be taken down by sliding the sliding plate 7 leftwards and driving the clamping blocks 10 at the two sides to slide towards the middle part by the connecting rod 8 and the hinge rod 9, so that the balance spring 19 is detached;

s2, the piston rod 15 is lifted, the oil enters the oil pushing bin 14 through the oil inlet pipe 18 under the action of the one-way valve, and after the piston rod 15 is lifted, protective oil is automatically added to the joint of the first articulated arm 2 and the second articulated arm 3 through the reaction force of the return spring 16.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

Although the preferred embodiments of the present patent have been described in detail, the present patent is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present patent within the knowledge of those skilled in the art.

Claims

1. The utility model provides a robot joint axle uses spring force balancing unit, includes robot base (1), its characterized in that: a first joint arm (2) is arranged at the top end of the robot base (1), a second joint arm (3) is arranged at the top end of the first joint arm (2), the front surface of the first joint arm (2) and the upper surface of the robot base (1) are fixedly connected with a mounting plate (4), the front surface of the mounting plate (4) is fixedly connected with two clamping plates (12), a clamping groove (5) is formed in the right side surface of the right clamping plate (12), a mounting rod (6) is slidably connected to the inner wall of the clamping plate (12), clamping blocks (10) are slidably connected to the upper surface and the lower surface of the mounting rod (6), and the surfaces, close to each other, of the two clamping blocks (10) are fixedly connected with the upper end and the lower end of an elastic telescopic rod (11) respectively;

the left surface of fixture block (10) has hinge bar (9) through round pin axle swing joint, and the one end of keeping away from corresponding fixture block (10) and the right-hand member of same connecting rod (8) pass through round pin axle swing joint in two hinge bar (9), the inner wall sliding connection of installation pole (6) has slide (7), the front of mounting panel (4) has into oil pipe (18) through joint groove (5) and installation pole (6) swing joint, corresponds two and advances the upper and lower both ends fixed connection of the one end that oil pipe (18) are close to each other and same balance spring (19).

2. The device for balancing a robot joint axis using spring force according to claim 1, wherein: the left side surface of the first joint arm (2) is fixedly connected with the right side surface of the curing box (13), and an oil pushing bin (14) is arranged inside the curing box (13).

3. The device for balancing a robot joint axis using spring force according to claim 2, wherein: the inner wall of the oil pushing bin (14) is connected with a piston rod (15) in a sliding mode, and a return spring (16) is sleeved on the outer surface of the piston rod (15).

4. The device for balancing a robot joint axis using spring force according to claim 3, wherein: the upper end and the lower end of the return spring (16) are respectively and fixedly connected with the upper surface of the inner wall of the oil pushing bin (14) and the outer surface of the piston rod (15), and the lower surface of the inner wall of the oil pushing bin (14) is fixedly connected with an oil inlet pipe (18) through a one-way valve.

5. The device for balancing robot joint axis using spring force according to claim 4, wherein: the left side of maintenance case (13) is through check valve fixedly connected with play oil pipe (17), the upper surface of maintenance case (13) is provided with the oil filler hole, the one end fixed connection of keeping away from maintenance case (13) in play oil pipe (17) is at the surface of first articulated arm (2).

6. The device for balancing a robot joint axis using spring force according to claim 1, wherein: the left end fixed connection of connecting rod (8) is in the right flank of slide (7), and the one side that two fixture blocks (10) kept away from each other all sets up to the slope form.