CN220840267U - Buffering device of robot - Google Patents

Abstract

The utility model provides a buffer device of a robot, and belongs to the technical field of robots. The robot buffer device solves the problem of ensuring the service life of the buffer device while ensuring the buffer effect on the robot. Among this buffer of robot, the robot is including the big arm of seting up the hinge groove, and buffer is including the balanced jar of sliding connection with the piston rod, and buffer still is including dismantling the switching axle of connecting on the piston rod and installing the bearing, be connected with on the big arm and be the column and pass the hinge in hinge groove, the bearing inlays and locates in the hinge groove and cup joint outside the hinge, just the inner circle of bearing is followed the axial of hinge is fixed a position in the hinge. The buffer device of the robot can ensure the buffer effect of the robot and the service life of the buffer device.

Description

Buffering device of robot

Technical Field

The utility model belongs to the technical field of robots, and relates to a robot balance cylinder.

Background

The robot is very extensive equipment of using in the industrial production field at present, and wherein the balance cylinder is the indispensable partial structure in the robot, and it specifically articulates with the big arm of robot, mainly is used to play the cushioning effect to the robot in the course of the work to guarantee that the robot is manual steady, simultaneously with regard to partly as the robot self supporting rigidity, guarantee robot structural strength.

The existing balance cylinder generally comprises a cylinder body with a spring inside, a piston rod which is connected in the cylinder body in a sliding manner and one end of the piston rod extends out of the cylinder body, a supporting and tightening plate is arranged at one end of the piston rod located in the cylinder body, the spring elastically acts on the supporting and tightening plate, one end of the piston rod extending out of the steel sleeve is clamped with a bearing, the bearing extends into a hinge groove formed in the large arm and is hinged with the large arm through an inner ring matched bolt and a nut (or a hinge shaft), and when the large arm transmits force to the balance cylinder, the impact force of the part can be buffered and unloaded through the elasticity of the spring.

However, in the practical use process, a certain degree of freedom is provided between the bearing and the nut (or the hinge shaft), that is, in the piston movement process, the bearing may have a phenomenon of moving along the axial direction of the nut (or the hinge shaft), which results in a certain shearing force on the piston rod in the piston movement process, and meanwhile, too early abrasion phenomenon of the bearing may be caused, so that the impact force buffering and unloading effect of the balance cylinder cannot reach the expected effect, and the service life of the balance cylinder is greatly influenced.

Disclosure of Invention

The utility model aims at solving the problems in the prior art, and provides a buffer device of a robot, which aims at solving the technical problems that: how to ensure the buffer effect of the robot and the service life of the buffer device.

The aim of the utility model can be achieved by the following technical scheme: the utility model provides a buffer of robot, the robot is including the big arm of seting up the hinge groove, and buffer includes the balanced jar that sliding connection has the piston rod, its characterized in that, buffer still including can dismantle the switching axle of connecting on the piston rod and installing the bearing, be connected with on the big arm and be the column and pass the hinge in hinge groove, the bearing inlays and locates in the hinge groove and cup joint outside the hinge, just the inner circle of bearing is followed the axial of hinge is fixed a position in the hinge.

In this buffer of robot, the robot is concrete including the big arm of seting up the hinge groove, buffer is including installing the balance cylinder on the robot base, sliding connection has the piston rod in the balance cylinder, the piston rod is concrete through adapter shaft and articulated piece realization and the hinge groove on the big arm of robot articulates, thereby realize carrying out auxiliary stay to the overall structure of robot through the balance cylinder, simultaneously the robot can be through the piston rod in the cylinder cooperation spring motion of doing in the balance cylinder, thereby realize the buffering uninstallation to the impact force of robot during operation, thereby ensure the job stabilization nature of robot, under the aforesaid premise, install the bearing on the adapter shaft, when carrying out the assembly, pass hinge groove and bearing inner circle in proper order through the articulated piece that installs on the big arm, and through the articulated piece with the inner circle of bearing along the axial positioning of articulated piece in the hinge groove, avoid in the axial emergence of following work in-process the bearing, and play the phenomenon, and then make the balance cylinder keep unchanged all the time along the impact force that bears in the work in the course, simultaneously also can bear the impact force of bearing, the change time and take place the change the axial play effect of bearing, can be avoided taking place the time and the change the axial play of the bearing, the axial play is avoided and the piston rod is long-time required to change the whole and can take place, the change the piston rod is detached with the piston rod is required to be removed with the axial change, and the piston rod is easy to be guaranteed, can be detached and the whole is required to be used to be detached.

In the buffering device of the robot, the lining is arranged on the inner wall of one side of the hinge groove, the hinge piece is a hinge shaft with a limiting step on the outer wall, one side of the bearing inner ring is abutted against the limiting step, and the other side of the bearing inner ring is abutted against the lining.

The bearing is tightly positioned on the bushing by the limiting step on the hinge shaft, so that the bearing can be tightly positioned on the bushing, the phenomenon of play of the bearing during working is avoided, and the installation mode only needs the bearing size smaller than the hinge groove to be assembled, so that the problem of high fit degree of parts is effectively reduced.

In the above-mentioned robot buffer device, a limit groove is formed in the inner side wall of the hinge groove, and the bushing is embedded in the limit groove.

The bushing is embedded in the limit groove formed in the inner wall of the hinge groove, so that the positioning stability of the bushing is guaranteed.

In the above-mentioned robot buffer device, the outer side wall of the bearing inner ring and the inner side wall of the bearing outer ring are both arc surfaces.

The outer side wall of the inner ring and the inner side wall of the outer ring are both arranged to be arc-shaped, so that better adaptability to the perpendicularity deviation between the piston rod and the axis of the hinge piece is ensured, and the phenomenon of movement of the bearing is avoided.

In the above-mentioned robot buffer device, two sealing rings are arranged between the inner ring and the outer ring of the bearing, one of the sealing rings is close to the bushing, and the other sealing ring is close to the limit step.

Through set up two sealing rings that are close to bush and spacing step setting respectively between the inner circle and the outer lane of bearing, seal the grease in the bearing when carrying out the separation to external dust by two sealing rings to this inside cleanliness and the lubrication degree of assurance bearing.

In the above-mentioned buffer device for a robot, the adapter shaft is in a strip shape, the bearing is mounted at the upper end of the adapter shaft, and a threaded channel for being screwed with the piston rod is formed at the lower end of the adapter shaft.

The adapter shaft is in a strip shape, the bearing is connected to one end of the adapter shaft in a clamping mode through the outer ring, the other end of the adapter shaft is provided with a threaded channel, and the adapter shaft is detachably connected with the piston rod in a threaded mode through the threaded channel.

Compared with the prior art, the buffer device of the robot has the following advantages:

The hinge part connected with the piston rod stretches into the hinge groove through the bearing, the hinge part is hinged with the bearing, and the bearing inner ring is positioned in the hinge groove along the axial direction of the hinge part through the hinge part, so that the phenomenon that the bearing moves in the working process of the subsequent balance cylinder is avoided, and the buffering effect of the buffering device on the robot and the service life of the balance cylinder are ensured.

Drawings

Fig. 1 is a cross-sectional view of a buffer device of the present robot.

Fig. 2 is a cross-sectional view of the adapter shaft.

Fig. 3 is a partial enlarged view at a in fig. 1.

Fig. 4 is a partial enlarged view at B in fig. 1.

In the figure, 1, big arm; 11. a hinge groove; 111. a bushing; 112. a limit groove; 12. a hinge; 121. a limit step; 2. a cylinder; 21. a piston rod; 3. a transfer shaft; 31. a bearing; 311. a seal ring; 32. a threaded passage.

Detailed Description

The following are specific embodiments of the present utility model and the technical solutions of the present utility model will be further described with reference to the accompanying drawings, but the present utility model is not limited to these embodiments.

As shown in fig. 1, in the buffering device of the robot, the robot specifically includes a big arm 1, a hinge groove 11 is formed in the big arm 1, a hinge piece 12 penetrating through the hinge groove 11 is screwed on the big arm 1, and the buffering device specifically includes a flat head bolt, alternatively, a balancing cylinder 2 is included in the buffering device, a piston rod 21 is slidably connected in the balancing cylinder 2, in combination with fig. 2, one end of the piston rod 21 extending out of the balancing cylinder 2 is provided with a strip-shaped transfer shaft 3, an installation opening is formed in the upper end of the transfer shaft 3, a threaded channel 32 is formed in the lower end of the transfer shaft 3, and the transfer shaft 3 is screwed and fixed with the piston rod 21 through the threaded channel 32 at the lower end of the transfer shaft, alternatively, the buffering device can also be directly connected by adopting a plug-in matching positioning pin.

The bearing 31 is installed at the upper end of the adapter shaft 3 in combination with fig. 3 and 4, the bearing 31 is specifically clamped in an installation opening formed in the upper end of the adapter shaft 3 through an outer ring, an inner ring of the bearing 31 is sleeved outside the hinge piece 12, a limiting groove 112 is formed in the inner wall of one side of the hinge groove 11, a lining 111 is embedded in the limiting groove 112, a limiting step 121 is circumferentially arranged on the outer wall of the hinge piece 12, the limiting step 121 is tightly attached to one side of the inner ring of the bearing 31, the other side of the inner ring of the bearing 31 is tightly pressed on the lining 111, two sealing rings 311 made of rubber materials are arranged between the inner ring and the outer ring of the bearing 31, one sealing ring 311 is arranged close to the lining 111, the other sealing ring 311 is arranged close to the limiting step 121, and in addition, the outer side wall of the inner ring of the bearing 31 and the inner side wall of the outer ring are arranged in a cambered surface shape.

When the balance cylinder is used, the inner ring of the bearing 31 can be clamped and positioned through the cooperation of the limiting step 121 and the bushing 111, so that the phenomenon that the bearing 31 moves along the axial direction of the hinge 12 during operation of the balance cylinder 2 is avoided, the balance cylinder 2 can sufficiently buffer and unload impact force, and meanwhile, the piston rod 21 can be prevented from receiving shearing force during piston movement, and the service life of the balance cylinder 2 is ensured.

The specific embodiments described herein are offered by way of example only to illustrate the spirit of the utility model. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions thereof without departing from the spirit of the utility model or exceeding the scope of the utility model as defined in the accompanying claims.

Although terms such as the large arm 1, the hinge groove 11, the bushing 111, the limit groove 112, the hinge 12, the limit step 121, the cylinder 2, the piston rod 21, the adapter shaft 3, the bearing 31, the seal ring 311, the screw passage 32, etc. are used more herein, the possibility of using other terms is not excluded. These terms are used merely for convenience in describing and explaining the nature of the utility model; they are to be interpreted as any additional limitation that is not inconsistent with the spirit of the present utility model.

Claims (6)

1. The utility model provides a buffer of robot, the robot is including offering big arm (1) of hinge groove (11), and buffer includes balancing cylinder (2) that sliding connection has piston rod (21), its characterized in that, buffer still including dismantling switching axle (3) of connecting on piston rod (21) and installing bearing (31), be connected with on big arm (1) and be column and pass hinge (12) of hinge groove (11), bearing (31) inlay locate in hinge groove (11) and cup joint outside hinge (12), just the inner circle of bearing (31) is followed the axial of hinge (12) is located in hinge groove (11).

2. The buffering device of the robot according to claim 1, wherein a bushing (111) is arranged on the inner wall of one side of the hinge groove (11), the hinge piece (12) is a hinge shaft with a limiting step (121) on the outer wall, one side of the inner ring of the bearing (31) is abutted against the limiting step (121), and the other side is abutted against the bushing (111).

3. The buffering device of the robot according to claim 2, wherein a limiting groove (112) is formed in the inner side wall of the hinge groove (11), and the bushing (111) is embedded in the limiting groove (112).

4. A buffer device for a robot according to any one of claims 1-3, characterized in that the outer side wall of the inner ring of the bearing (31) and the inner side wall of the outer ring of the bearing (31) are both arc-shaped.

5. A damping device for a robot according to claim 3, characterized in that two sealing rings (311) are arranged between the inner ring and the outer ring of the bearing (31), wherein one sealing ring (311) is arranged close to the bushing (111) and the other sealing ring (311) is arranged close to the limit step (121).

6. The buffering device of the robot according to claim 4, wherein the transfer shaft (3) is in a strip shape, the bearing (31) is installed at the upper end of the transfer shaft (3), and a threaded channel (32) for being in threaded connection with the piston rod (21) is formed at the lower end of the transfer shaft (3).