WO2005118231A1 - Dispositif d'equilibrage pourvu d'un element de guidage entre un premier et un second ressort de compression - Google Patents

Dispositif d'equilibrage pourvu d'un element de guidage entre un premier et un second ressort de compression Download PDF

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Publication number
WO2005118231A1
WO2005118231A1 PCT/SE2005/000846 SE2005000846W WO2005118231A1 WO 2005118231 A1 WO2005118231 A1 WO 2005118231A1 SE 2005000846 W SE2005000846 W SE 2005000846W WO 2005118231 A1 WO2005118231 A1 WO 2005118231A1
Authority
WO
WIPO (PCT)
Prior art keywords
guide element
compression spring
balancing device
robot
spring
Prior art date
Application number
PCT/SE2005/000846
Other languages
English (en)
Inventor
Igor Potucek
Christer LUNDSTRÖM
Original Assignee
Abb Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Abb Ab filed Critical Abb Ab
Publication of WO2005118231A1 publication Critical patent/WO2005118231A1/fr

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F3/00—Spring units consisting of several springs, e.g. for obtaining a desired spring characteristic
    • F16F3/02—Spring units consisting of several springs, e.g. for obtaining a desired spring characteristic with springs made of steel or of other material having low internal friction
    • F16F3/04—Spring units consisting of several springs, e.g. for obtaining a desired spring characteristic with springs made of steel or of other material having low internal friction composed only of wound springs
    • F16F3/06—Spring units consisting of several springs, e.g. for obtaining a desired spring characteristic with springs made of steel or of other material having low internal friction composed only of wound springs of which some are placed around others in such a way that they damp each other by mutual friction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0008—Balancing devices
    • B25J19/0016—Balancing devices using springs
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F1/00—Springs
    • F16F1/02—Springs made of steel or other material having low internal friction; Wound, torsion, leaf, cup, ring or the like springs, the material of the spring not being relevant
    • F16F1/04—Wound springs
    • F16F1/12—Attachments or mountings
    • F16F1/13—Attachments or mountings comprising inserts and spacers between the windings for changing the mechanical or physical characteristics of the spring

Definitions

  • the present invention relates to an industrial robot with a balancing device composed of a helical spring, and to a method for and use of the robot.
  • Industrial robots usually comprise a robot foot, a stand and a robot arm.
  • the stand is rotatably arranged on the robot foot.
  • the robot arm is rotatably arranged in a joint on the stand.
  • the robot arm consists of arm parts rotatably 15 arranged in relation to each other.
  • the arm of the robot comprises, for example, a first and a second arm part and a wrist arranged with a tool attachment. In its initial position, which may also be a rest position, the arm is oriented with the first arm part approximately vertical.
  • the arm is rotated in relation to the stand while at the same time the arm parts rotate in relation to each other.
  • the total load on the robot consists of the handling weight applied to the wrist as well as the current dead weight of the robot.
  • the motor concerned rotates the robot arm whereby the gravitational force acting on the arm generates a torque.
  • the device is so constructed that, during the rotation from the rest position, it generates a torque, which acts to return the robot to its rest position/initial position and thus assists/- relieves the drive motor concerned during the lifting/- rotation back.
  • the expression rotation back to the rest position/initial position thus means a rotation that counteracts and hence compensates for the gravitational force.
  • This rotation is called balancing in the following.
  • the device according to the above is thus considered to be a balancing device.
  • a balancing device thus assists the motor in question in balancing the applied handling weight as well as the dead weight relevant to the robot when rotation occurs .
  • Balancing devices generally consist of weights, gas-hydraulic devices or resilient devices in the form of balancing cylinders composed of a compression spring, a tension spring, a torsion spring and/or of gas. Apart from the counterweights, the above-mentioned devices are expensive, heavy and sensitive structures. In addition, gas-hydraulic devices suffer from problems with tightness.
  • Patent document EP 0 947 296 shows a robot arranged with a gravitation-compensating resilient device.
  • the device com- prises a spring housing comprising at least two compression springs, a spring seat and a drawbar connected to the spring seat.
  • the compression springs have different diameters and are arranged so as to circumscribe each other.
  • the spring seat is moved inside the spring housing when the drawbar is pulled out and the springs are thus compressed.
  • the aim is to provide a balancing device of a comparatively small physical size but of comparatively large spring force.
  • the device has the advantage that it is easy to re- place used compression springs with new ones.
  • a balancing device makes it easier for the motor concerned to rotate the arm back to the above-mentioned initial position.
  • the motor should be capable of handling a residual torque, which constitutes the sum of the torque from the total load of the robot as well as the oppositely directed torque generated in the balancing device .
  • the torque generated by the balancing device and the strength of the drive motor concerned are thus jointly interdependent.
  • a balancing device for a robot comprises, for example, a helical spring unit or a coil spring unit.
  • the helical spring unit is either arranged to be withdrawn or com- pressed upon loading.
  • a helical spring included will be compressed when applying a load.
  • the probability of the spring being deflected to the side, that is, bending/breaking, is increased.
  • a balancing device When a robot is handling large weights in its wrist according to the above, a balancing device is forced to operate with large forces. This increases the likelihood of a balancing device, provided with a compression spring or a tension spring, being damaged during this operation. Abrasion effects will arise, for example, which reduce the service life of the balancing device. This results in undesired and expensive shutdowns in production and in undesired costs of spare parts.
  • an industrial robot comprising the characteristic features described in claim 1
  • a device for balancing an industrial robot comprising the characteristic features described in claim 10
  • a method for balancing an industrial robot comprising the characteristic features de- scribed in claim 11.
  • an industrial robot comprising a first robot part and a second robot part arranged movable in relation to each other, and a balancing device, acting therebetween, comprising a first attachment and a second attachment for articu- lated attachment to the respective robot part.
  • the balancing device comprises a spring unit designed to counteract the gravitational force upon relative rotation of the robot parts.
  • the spring unit comprises at least a first spring packet, a second spring packet and a guide element, which are arranged in the longitudinal direction one after the other along a common symmetry line.
  • the guide element is arranged between the first and second spring packets.
  • the balancing device comprises a compression spring unit.
  • the object of the invention is achieved by eliminating the need of comparatively long compression springs in balancing devices for robots according to the above. This results in the compression spring unit becoming smaller, and hence the surrounding spring housing included in the balancing device can be made smaller in size.
  • the balancing device according to the invention should be arranged between arm parts of the robot which are not directly connected to each other. Further, the inventive concept comprises equipping the robot with one or more balancing devices.
  • the balancing device comprises a drawbar on which the guide element is slidably arranged for movement in the longitudinal direction along the above-mentioned symmetry axis.
  • the guide element is rotatably journalled on the drawbar.
  • the bearing should be formed so as to prevent rotation of the guide element about the symmetry axis A.
  • the drawbar is included in a telescopic unit.
  • the guide element should comprise a first part consisting of a sliding bushing. Upon movement in a sliding bearing, no sound effects 1 arise and the bearing thus contributes to a silent operation of the balancing device.
  • the guide element should comprise a second part consisting of a contact plate.
  • the contact plate comprises a first and a second contact surface.
  • the balancing device comprises a spring housing and a guide element slidably arranged for movement in the longitudinal direction along the above-mentioned symmetry axis.
  • the guide element is slidably arranged for sliding along the inner envelope surface of the spring housing.
  • At least one contact surface comprises members designed to centre a first end of a helical spring packet.
  • the balancing device provides a more silent running by centring the ends of the spring packet, hence preventing them from moving either against each other or against the inner wall of a surrounding spring housing.
  • these members on the guide element are shaped, for example, as level differences, flanges, or loose elements. They achieve a centring of the respective helical spring end, which counteracts relative movement between said spring end and the guide element.
  • the invention suggests a device for balancing an industrial robot comprising a compression spring unit (15) .
  • the compression spring unit comprises at least a first compression spring packet, a second compression spring packet and a guide element, which are arranged in the longitudinal direction one after the other along a common symmetry line, the guide element being arranged between the first and second compression spring packets .
  • the invention suggests a device for balancing an industrial robot comprising a first robot part and a second robot part arranged to be movable in relation to each other, and a balancing device acting therebetween comprising a first attachment and a second attachment for articulated attachment to the respective robot part.
  • the balancing device comprises a helical spring unit configured to counteract the gravitational force upon relative rotation of the robot parts.
  • the helical spring unit is brought to comprise at least a first helical spring packet, a second helical spring packet and a guide element, which are all arranged in the longitudinal direction one after the other along a common symmetry line.
  • the guide element is brought to be arranged between a first end of the first helical spring packet and a second end of the second helical spring packet, whereby the guide elements are brought to make contact with and guide the ends of the respective helical spring packet upon relative rotation of the robot parts .
  • the guide elements are brought to guide one end of at least one spring packet upon compression of the helical spring packet. Further, the inventive concept comprises bringing the guide element to guide one end of at least one spring packet upon rotation of the helical spring packet.
  • At least two spring packets and a guide element located therebetween should be arranged in the longitudinal direction one after the other along a common symmetry line.
  • the definition defines that the longitudinal axis of the respective spring packet should coincide with the common symmetry line.
  • the symmetry line of the guide element which may also be a longitudinal axis or a rotational axis, should coincide with the common symmetry line.
  • the common symmetry line is defined as a straight line but the inventive concept also comprises a curved symmetry line.
  • lubricating grease should be applied to the compression springs included in a balancing device, in order to reduce the risk of abrasion damage due to friction and to eliminate disagreeable sound experience if a compression spring should get into contact with either the envelope surface of the spring housing or another spring.
  • Figure 1 is a balancing device according to the present invention with the drawbar being retracted
  • Figure 2 is a balancing device according to Figure 1 with the drawbar being extended
  • Figures 3a-g are alternative embodiments of a guide element according to the invention.
  • Figure 4 is an alternative embodiment of the invention comprising a telescopic unit
  • Figure 5 is a balancing device according to Figure 4 with the drawbar being extended
  • Figure 6 is an industrial robot with a balancing device according to the invention
  • Figure 7 is an alternative industrial robot provided with a balancing device according to the invention
  • Figure 8 is an axial cross section through the balancing device of Figure 7,
  • Figure 9 is a guide element according to the present invention arranged on a piston rod in a balancing device according to Figures 7 and 8.
  • An industrial robot 1 ( Figure 6) comprises a robot foot 2, a stand 3 rotatably arranged on the robot foot 2, and a robot arm 5 connected in a joint 4 on the stand 3, the robot arm comprising a first and a second arm part 6 and 7, respectively.
  • the robot arm 5 is rotated about a horizontal axis of rotation B in the joint 4.
  • a balancing device 8 is mounted on the robot 1 ( Figure 1) .
  • the balancing device 8 comprises at its first end 9 a first attachment 10 to be articulately attached to the stand 3 and at its second end 11 a second attachment 12 to be articulately attached to the first arm part 6.
  • the balancing device 8 comprises a first spring seat 13 and a second spring seat 14 between which the compression spring unit 15 is arranged ( Figure 2) .
  • the first spring seat 13 comprises a spring housing 16 which is arranged with a first end wall 17, a cylindrical envelope surface 18 and a second end wall 19 provided with an opening 20.
  • An attachment in the form of a first attachment lug 21 is arranged on the outside of the first end wall 17.
  • the second spring seat 14 comprises a piston 22 which is secured to the first end 23a of a drawbar 24.
  • the drawbar 24 together with the piston is displaceably arranged in the longitudinal direction inside the spring housing 16.
  • the drawbar 24 extends from the piston 22, through part of the spring housing 16 and out through the opening 20 in the second end ii wall 19 of the spring housing.
  • the drawbar 24 is provided with a second attachment 12 in the form of a second attachment lug 21a.
  • the balancing device of Figure 1 comprises a compression spring unit 15 which comprises a first compression spring packet 25, a second compression spring packet 26 and a guide element 27 arranged between said compression spring packets.
  • the first 25 and second 26 compression spring packets and a guide element 27 are arranged one after the other along, and with the respective longitudinal axis coinciding with, a common symmetry axis A.
  • the symmetry axis is a rectilinear axis of symmetry and rotation.
  • the first compression spring packet 25 has a first end 31 and a second end 32 and comprises two helical springs 25a and 25b, which are coaxially arranged.
  • the second helical spring packet 26 has a first end 33 and a second end 34 and comprises two helical springs 26a and 26b, which are coaxially arranged.
  • the first 25 and second 26 compression spring packets are arranged inside the spring housing 16 between the piston 22 and the second end wall 19 of the spring housing 16.
  • the guide element is arranged between the two spring packets and makes contact with the first end 31 of the first com- pression spring packet and the second end 34 of the second compression spring packet.
  • the drawbar 24 is pulled out of the spring housing 16, the spring packets 25 and 26 being compressed thus generating a spring force that tends to push out the compression spring and hence pull the drawbar 24 back into the spring housing 16.
  • the generated spring force is thus utilized for balancing.
  • the guide element 27 brings about guiding of the ends 31 and 34 of the respective compression spring packet.
  • the first attachment lug 21 is secured to the end wall 17 and the second attachment lug 21a is rotatably journalled in the drawbar 24.
  • the first attachment lug 21 is arranged to be rotatably journalled in the end wall 17 and the second attachment lug 21a is rotatably journalled in the drawbar 24.
  • an embodiment according to Figure 2 is formed, where the second attachment lug 21a is secured to the drawbar (not shown) .
  • the guide element 27 comprises a first part 28a shaped as a sliding bushing and a second part 28b shaped as a disc comprising a first 29 and a second 30 contact surface for receiving one end of a spring packet (Figures 3a-g) .
  • the disc-shaped part is arranged symmetrically with respect to the shape of the bushing in the longitudinal direction.
  • the disc-shaped part is displaced in the longitudinal direction from the symmetry position of the bushing.
  • the disc-shaped part is shaped with centring members
  • FIG. 3d shows an alternative embodiment of the guide element with a second part 28b shaped as a disc of a comparatively large thickness.
  • the guide element 27 is provided with centring members in the form of flanges 37.
  • two guide elements are arranged next to each other, which permits relative motion between the guide elements .
  • the centring members are arranged in the form of loose elements 38 in the form of rings 42 with an L-shaped cross section. Compression springs 43 are symbolically illustrated to show how they secure two alternatively shaped rings 42a and 42b.
  • Figure 3f shows a cross section of part of a balancing device.
  • a guide element 27 is slidably journalled for sliding against the inner envelope surface 18a of a spring housing 16.
  • a drawbar 24 is arranged according to the above and the embodiment exhibits a gap 44 in the radial direction between the drawbar 24 and the guide element 27.
  • Figure 3g is an alternative of the embodiment according to Figure 3c, with the level differences 36 arranged in the reverse order, as viewed in the radial direction.
  • the drawbar 24 forms part of a telescopic unit 40.
  • a guide tube 39 is secured to the inside of the first end wall 17.
  • the guide tube 39 extends inside the spring housing 16 from the first end wall 17 and almost up to the second end wall 19.
  • the guide tube 39 has a length that is smaller than that of the spring housing 16 along the symmetry axis A.
  • the guide tube 39 has an outer diameter that is somewhat smaller than the inner diameter of the tubular drawbar 24 (see Figure 5) .
  • Figure 7 is an alternative industrial robot la provided with a balancing device 8 according to the invention, connected to the stand 3a at two joints 45 and 46 arranged on the outer envelope surface 18b of the balancing device for rotation of the balancing device about an axis of rotation C.
  • a drawbar 24 included in the balancing device 8 comprises a third attachment lug 47, which is articulately connected to the arm part 6a at a joint 48 (see Figure 8) .
  • the attachment lug 47 is rotatably journalled on the drawbar 24 (not shown) .

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Robotics (AREA)

Abstract

L'invention concerne un robot industriel (1) comprenant une première partie (3) et une seconde partie (5) disposées de façon à être amovibles l'une par rapport à l'autre, et un dispositif (8) d'équilibrage, agissant entre celles-ci, comprenant au moins une première fixation (12, 45, 46) et une seconde fixation (14, 47) permettant une fixation articulée aux parties correspondantes (3), (7,6) du robot, ledit dispositif (8) d'équilibrage comprenant une unité (15) à ressorts de compression destinée à contrebalancer la force gravitationnelle lors de la rotation relative des parties (3), (7, 6) du robot.
PCT/SE2005/000846 2004-06-02 2005-06-02 Dispositif d'equilibrage pourvu d'un element de guidage entre un premier et un second ressort de compression WO2005118231A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE0401443-7 2004-06-02
SE0401443A SE0401443D0 (sv) 2004-06-02 2004-06-02 Industrirobot

Publications (1)

Publication Number Publication Date
WO2005118231A1 true WO2005118231A1 (fr) 2005-12-15

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WO (1) WO2005118231A1 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103043331A (zh) * 2012-04-19 2013-04-17 胜狮货柜管理(上海)有限公司 一种可折叠集装箱的平衡装置
CN107575517A (zh) * 2017-09-08 2018-01-12 中航飞机起落架有限责任公司 一种轴向排列组合弹簧式自回中双向弹性减振杆机构
DE102014004566B4 (de) * 2013-03-29 2018-02-15 Fanuc Corporation Industrieroboter mit balanciereinrichtung
US11161256B2 (en) 2018-04-24 2021-11-02 Fanuc Corporation Robot gravity balancer and robot
US20220018416A1 (en) * 2018-11-28 2022-01-20 Sony Group Corporation Elastic unit
DE102019205560B4 (de) 2019-04-17 2022-02-03 Fanuc Corporation Roboterschwerkraftausgleicher und Roboter

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5715135A (en) * 1980-06-27 1982-01-26 Shin Meiwa Ind Co Ltd Compressed spring device
DE19801229C1 (de) * 1998-01-15 1998-12-17 Univ Magdeburg Tech Vorrichtung zur Reduzierung statischer Momente an Einrichtungen der Handhabungstechnik
JPH11262889A (ja) * 1998-03-17 1999-09-28 Mitsubishi Heavy Ind Ltd 産業用多関節ロボット
WO2001041978A1 (fr) * 1999-12-09 2001-06-14 Abb Ab Robot industriel a systeme d'equilibrage
US20010022112A1 (en) * 2000-02-17 2001-09-20 Albert Bayer Device for compensating the weight of a robot arm

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5715135A (en) * 1980-06-27 1982-01-26 Shin Meiwa Ind Co Ltd Compressed spring device
DE19801229C1 (de) * 1998-01-15 1998-12-17 Univ Magdeburg Tech Vorrichtung zur Reduzierung statischer Momente an Einrichtungen der Handhabungstechnik
JPH11262889A (ja) * 1998-03-17 1999-09-28 Mitsubishi Heavy Ind Ltd 産業用多関節ロボット
WO2001041978A1 (fr) * 1999-12-09 2001-06-14 Abb Ab Robot industriel a systeme d'equilibrage
US20010022112A1 (en) * 2000-02-17 2001-09-20 Albert Bayer Device for compensating the weight of a robot arm

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
DATABASE WPI Week 199952, Derwent World Patents Index; Class D17, AN 1999-604200, XP002990958 *
PATENT ABSTRACTS OF JAPAN vol. 006, no. 076 (M - 128) 13 May 1982 (1982-05-13) *

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103043331A (zh) * 2012-04-19 2013-04-17 胜狮货柜管理(上海)有限公司 一种可折叠集装箱的平衡装置
DE102014004566B4 (de) * 2013-03-29 2018-02-15 Fanuc Corporation Industrieroboter mit balanciereinrichtung
CN107575517A (zh) * 2017-09-08 2018-01-12 中航飞机起落架有限责任公司 一种轴向排列组合弹簧式自回中双向弹性减振杆机构
US11161256B2 (en) 2018-04-24 2021-11-02 Fanuc Corporation Robot gravity balancer and robot
US20220018416A1 (en) * 2018-11-28 2022-01-20 Sony Group Corporation Elastic unit
DE102019205560B4 (de) 2019-04-17 2022-02-03 Fanuc Corporation Roboterschwerkraftausgleicher und Roboter

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