CN219926097U - Built-in multi-spring balance mechanism for industrial robot - Google Patents
Built-in multi-spring balance mechanism for industrial robot Download PDFInfo
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- CN219926097U CN219926097U CN202321238249.7U CN202321238249U CN219926097U CN 219926097 U CN219926097 U CN 219926097U CN 202321238249 U CN202321238249 U CN 202321238249U CN 219926097 U CN219926097 U CN 219926097U
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- 239000007787 solid Substances 0.000 claims abstract description 19
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 18
- 230000000694 effects Effects 0.000 abstract description 6
- 238000007906 compression Methods 0.000 abstract description 4
- 230000006835 compression Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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Abstract
The utility model discloses a built-in multi-spring balance mechanism for an industrial robot, which comprises a hollow small-tooth-difference speed reducer, wherein a crankshaft is arranged on the hollow small-tooth-difference speed reducer, one end of the hollow small-tooth-difference speed reducer and the crankshaft is provided with 1-2 shoulders, and the other ends of the hollow small-tooth-difference speed reducer and the crankshaft are provided with 2-3 large arms; one end of the crank shaft, which is positioned at one end of the 2-3 large arm, is provided with a second deep groove ball bearing and a first axial fixing plate; a solid shaft is arranged at one end, far away from the crankshaft, of the-3 large arm, and a second axial fixing plate and a third deep groove ball bearing are arranged on the solid shaft; a spring assembly is mounted between the solid shaft and the crankshaft. Compared with the traditional single-spring tension-compression balance structure, the multi-spring tension-compression balance structure is more reliable, better in balance bias force effect and smaller in space occupation, and the structure is arranged inside the robot and is more attractive.
Description
Technical Field
The utility model relates to the technical field related to industrial robot balancing, in particular to a built-in multi-spring balancing mechanism for an industrial robot.
Background
In the multi-joint heavy-load and heavy-load industrial robot, the balance mechanism of the second joint is an indispensable part and is mainly used for balancing the gravity load torque M of the joint and reducing the power requirement of the joint, so that a motor and a speed reducer with small power and low price can be selected, the purposes of energy saving and consumption reduction are achieved, and meanwhile, the acceleration performance of the joint of the robot is not reduced.
In the prior art, a balance structure adopts a single spring or an air cylinder to balance, the balance effect of the single spring is poor, and the air cylinder occupies a large space, so that the built-in multi-spring balance mechanism for the industrial robot is provided.
Disclosure of Invention
The utility model aims to provide a built-in multi-spring balance mechanism for an industrial robot, which aims to solve the problems in the prior art.
In order to achieve the above purpose, the present utility model provides the following technical solutions: the built-in multi-spring balance mechanism for the industrial robot comprises a hollow small-tooth-difference speed reducer, wherein a crankshaft is arranged on the hollow small-tooth-difference speed reducer, one end of the hollow small-tooth-difference speed reducer and one end of the crankshaft are provided with 1-2 shoulders, and the other ends of the hollow small-tooth-difference speed reducer and the crankshaft are provided with 2-3 large arms; one end of the crank shaft, which is positioned at one end of the 2-3 large arm, is provided with a second deep groove ball bearing and a first axial fixing plate; a solid shaft is arranged at one end, far away from the crankshaft, of the-3 large arm, and a second axial fixing plate and a third deep groove ball bearing are arranged on the solid shaft; a spring assembly is mounted between the solid shaft and the crankshaft.
Preferably, the spring assembly and the solid shaft are fixed by a locating pin.
Preferably, the spring assembly comprises two annular sleeves and a plurality of springs, the two annular sleeves are sleeved on the crank shaft and the solid shaft respectively, and two ends of each spring are fixed on the two annular sleeves respectively.
Preferably, a first deep groove ball bearing is arranged between the crank shaft and the 2-3 big arm.
Compared with the prior art, the utility model has the beneficial effects that: adopt crankshaft one end, link firmly with the robot shoulder, the crank part is connected with many spring assembly lower extreme, and many spring assembly upper end is connected with the big arm of robot, reaches the effect of balanced unbalance moment through rotating big arm extension spring, and this structure is more reliable with traditional single spring tension and compression balanced structure, and balanced unbalance force effect is better, and the space occupies littleer, and this structure is built-in inside the robot, more pleasing to the eye.
Drawings
The accompanying drawings are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate the utility model and together with the embodiments of the utility model, serve to explain the utility model. In the drawings:
FIG. 1 is a schematic diagram of the structure of the present utility model;
FIG. 2 is a schematic view of the spring assembly of the present utility model;
fig. 3 is a schematic view of the structure of the present utility model in use.
In the figure: 1. 1-2 shoulders; 2. a crank shaft; 3. hollow speed reducer with small tooth difference; 4. 2-3 big arms; 5. a first deep groove ball bearing; 6. a second deep groove ball bearing; 7. a first axial fixing plate; 8. a spring assembly; 9. a second axial fixing plate; 10. a third deep groove ball bearing; 11. a solid shaft; 12. and (5) positioning pins.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments. All other embodiments, based on the embodiments of the utility model, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the utility model. Thus, the following detailed description of the embodiments of the utility model, as presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, based on the embodiments of the utility model, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the utility model.
Referring to fig. 1-3, in an embodiment of the present utility model, a built-in multi-spring balancing mechanism for an industrial robot includes a hollow small-tooth-difference speed reducer 3, a crankshaft 2 is mounted on the hollow small-tooth-difference speed reducer 3, a 1-2 shoulder 1 is mounted on one end of the hollow small-tooth-difference speed reducer 3 and the crankshaft 2, and a 2-3 big arm 4 is mounted on the other end of the hollow small-tooth-difference speed reducer 3 and the crankshaft 2; one end of the crank shaft 2, which is positioned at the 2-3 big arm 4, is provided with a second deep groove ball bearing 6 and a first axial fixing plate 7; the end, far away from the crankshaft 2, of the-3 large arm is provided with a solid shaft 11, and the solid shaft 11 is provided with a second axial fixing plate 9 and a third deep groove ball bearing 10; a spring assembly 8 is arranged between the solid shaft 11 and the crankshaft 2; the spring assembly 8 and the solid shaft 11 are fixed through a positioning pin 12; the spring assembly 8 comprises two annular sleeves and a plurality of springs, the two annular sleeves are sleeved on the crankshaft 2 and the solid shaft 11 respectively, and two ends of each spring are fixed on the two annular sleeves respectively; a first deep groove ball bearing 5 is arranged between the crank shaft 2 and the 2-3 big arm 4; adopt crankshaft one end, link firmly with the robot shoulder, the crank part is connected with many spring assembly lower extreme, and many spring assembly upper end is connected with the big arm of robot, reaches the effect of balanced unbalance moment through rotating big arm extension spring, and this structure is more reliable with traditional single spring tension and compression balanced structure, and balanced unbalance force effect is better, and the space occupies littleer, and this structure is built-in inside the robot, more pleasing to the eye.
Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present utility model, and the present utility model is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present utility model has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.
Claims (4)
1. The utility model provides an industrial robot is with built-in many spring balance mechanism, includes cavity few tooth difference speed reducer (3), its characterized in that: the hollow small-tooth-difference speed reducer (3) is provided with a crankshaft (2), one ends of the hollow small-tooth-difference speed reducer (3) and the crankshaft (2) are provided with 1-2 shoulders (1), and the other ends of the hollow small-tooth-difference speed reducer (3) and the crankshaft (2) are provided with 2-3 large arms (4);
one end of the crank shaft (2) positioned at the 2-3 big arm (4) is provided with a second deep groove ball bearing (6) and a first axial fixing plate (7); one end of the large arm-3 far away from the crank shaft (2) is provided with a solid shaft (11), and the solid shaft (11) is provided with a second axial fixing plate (9) and a third deep groove ball bearing (10); a spring assembly (8) is arranged between the solid shaft (11) and the crankshaft (2).
2. The built-in multi-spring balancing mechanism for an industrial robot according to claim 1, wherein: the spring assembly (8) and the solid shaft (11) are fixed through a locating pin (12).
3. The built-in multi-spring balancing mechanism for an industrial robot according to claim 1, wherein: the spring assembly (8) comprises two annular sleeves and a plurality of springs, the two annular sleeves are respectively sleeved on the crank shaft (2) and the solid shaft (11), and two ends of each spring are respectively fixed on the two annular sleeves.
4. The built-in multi-spring balancing mechanism for an industrial robot according to claim 1, wherein: a first deep groove ball bearing (5) is arranged between the crank shaft (2) and the 2-3 big arm (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321238249.7U CN219926097U (en) | 2023-05-22 | 2023-05-22 | Built-in multi-spring balance mechanism for industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321238249.7U CN219926097U (en) | 2023-05-22 | 2023-05-22 | Built-in multi-spring balance mechanism for industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219926097U true CN219926097U (en) | 2023-10-31 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321238249.7U Active CN219926097U (en) | 2023-05-22 | 2023-05-22 | Built-in multi-spring balance mechanism for industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219926097U (en) |
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2023
- 2023-05-22 CN CN202321238249.7U patent/CN219926097U/en active Active
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