DD228484A1 - DEVICE FOR MASS EQUALIZATION FOR SWIVEL ARMS ON JIBROBROWERS - Google Patents

Abstract

The invention relates to a device for mass balance in swing arms on articulated robots with the aim to change the geometry of the springs on the pivot arm in a simple manner and thus compensate for different handling masses. The device is to make it possible with simple constructive and thus low-wear means to change the bearing point of the tension springs on the base frame and thus to influence the geometry of the tension spring on the swivel arm without changing the tension springs or other components. According to the invention, articulated levers are attached to the bearing surfaces of the swivel arm in the area of the basic mounting of the swivel arm. These are adjustable via eccentric and mounted rotatably about the axis of the pivot arm. At the Anlenkhebeln are the bearing points of the tension spring for mass balance and are thus readjusted according to the applied handling masses. Fig. 1

Description

Title of the invention

 Device for mass balance in swing arms on articulated robots

Field of application of the invention

The invention relates to a device for mass balance of the handling mass on articulated robots whose pivoting arms move around pivot joints and are provided with springs and mass balancing.

Characteristic of the known technical solutions

For mass balance on robot rocker arms, it is known to use one or more springs. DS-OS 33 31 318 describes a mass balance system in which the geometry of the spring of the system is changed depending on the weight, z, B. different types of tools at the end of the Hoboterarmes. Here, the arm facing away from the end of the spring is mounted longitudinally displaceable in an axial guide. This solution makes it possible to change the geometry of the tension spring. However, it has the disadvantage that it is only applicable to balancing by spring on such robots, in which the attachment point of the spring for the

-, j ι. ο - υ _ Li

Arm shipped end in front of the fixed pivot point of the pivot arm is, as in the concrete Pail for the L-shaped Roboterarni, which is pivotally mounted in its apex at a fixed pivot point. Pur hinge arms, which are rotatably mounted on a base frame, this solution is not applicable.

From DD-PS 205 843 a solution is known which is intended to effect the compensation of the net mass of a manipulator or robotic arm by generating a Riickstellmomentes. Here, a rotatable toggle lever mounted on the stationary bogie scans a cam to be relieved: manipulator arm mounted and controls a rotatably mounted on the Manipulatoranaachse and provided with the pivot point of a Peder lever. In this solution it is achieved that the course of the relief torque is that of a sinusoid which is in phase with the load curve of the arm *. The scanning of the cam through the rotating toggle is done as a closed system of mechanical parts in Ver. Bonding with non-adjustable pedals after a predetermined course of the relief torque and is tuned to the arm load. There is the disadvantage that it is necessary when mounting. Different handle masses, one on the new, mass-matched Peder baw. use another cam to change the geometry of the springs on the swing arm.

A disadvantage of this solution is still the relatively complicated mechanical structure, since all mechanical components are subject to high wear «

Object of the invention

The aim of the invention is a low-wear system for mass balance, on pivot arms of articulated robots, which makes it possible to change the geometry of the springs on the pivot arm in a simple manner and thus compensate for different handling masses «

Explanation of the essence of the invention

The invention has for its object to provide a device for changing the geometry of the tension springs of the swing arm of articulated robots, which makes it possible with simple design means, the bearing point of the springs .am base frame and thus the geometry of the springs without changing springs or other components infinitely adjustable with preloaded tension spring system to adjust the applied handling mass optimally.

The features of the invention are that the device is arranged to change the geometry of the articulation point of the springs in the region of the base support of the pivoting arm. The arranged on both sides of the pivot arm for mass balance and fixed by means of receiving element on the flange in the region of the upper end of the pivot arm spring is connected via a spring tensioning device according to the invention via an eye and a bolt with an articulation lever. Depending on a lever is rotatably mounted on the inside of the arranged for the pivot arm on the base frame bearing blocks about the axis of the pivot arm and is located on a hat with a mounted in the bearing blocks Sxzenterbolzen in operative connection. The linkage levers are fastened to the bearing blocks via clamping screws »

The device works in the following way: When turning the swivel arm forwards? Rear occurs by the gravity of the Sehwenkarmes and in particular by different masses of subsequently arranged modules a different torque on the swing arm with the help of the device is the spring force of the articulated in the eye of the articulated lever helical spring on the effective lever arm of the articulation lever a torque of Swivel arm counteracting moment generated. To compensate for different torques, the adjustment of the articulation lever is used. By turning the eccentric pin of Anleienkhebei biased spring and thus designed as a point of articulation of the spring is deflected about the bearing axis of the pivot arm. Thus, the geometry of the articulation point of the spring according to 4.e ^ adjacent, mass ratios ^ adjusted. After adjustment, the determination of the linkage takes place by means of clamping screws.

embodiment

The invention will be explained below using an exemplary embodiment

 The accompanying drawings show the following representations:

Fig.. 1: Arrangement of the elements for mass balance in the

Front view Pig. 2; Sectional view A-A Pig. 1

In Fig.. 1 and 2, the pivot arm 5 of a joint robot is shown, which is rotatably mounted on both sides arranged bearing blocks on a base frame 1. For mass balance, a helical spring 10 is fastened on both sides on the upper end of the swivel arm 5 by means of a receiving element 11 on the flange 12. The other end

the helical spring 10 is connected via a spring tensioning device 9 with the eye 7 located on an Anlenk lever 6 by means of bolts 8. The articulated levers 6 are each mounted rotatably on the inside of the bearing blocks 2 about the axis of the pivot arm 5.

Bxzenterbolzen 3 are mounted on the bearing blocks 2, which are connected via a hat with the articulation levers 6 in operative connection, whereby it is possible by turning the Sxzenterbolzen 3 the. Anlenkhebel 6 and thus located in the eye 7 bearing point of the schraubenfönaigen spring 10 to deflect the bearing axis of the pivot arm 5. By means of clamping screws 4, the lever 6 are fixed to the bearing blocks 2. This device allows a simple way to adjust the preloaded tension spring system infinitely optimally for each applied handling mass.

Claims (1)

Brfindungsanspruch. Apparatus for mass balance in swing arms on articulated robots whose Schwenkanne move around swivel joints and are provided with springs for mass balance, characterized in that in the base frame bearing on bearing blocks (2) of the pivot arm (5), about the Schwenkarmachse rotatably adjustable Anlenkhebei (6) clamped are arranged on which an eye (7) and a bolt (8), the Peder (10) is articulated, wherein in the Anlenkhebei (6) in each case one in the bearing blocks (2) mounted übcäenterbolzen (3) engages · For this purpose 2 31att drawings