CN102161206B - Robot balancer connection structure and assembling method thereof - Google Patents
Robot balancer connection structure and assembling method thereof Download PDFInfo
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- CN102161206B CN102161206B CN 201010611600 CN201010611600A CN102161206B CN 102161206 B CN102161206 B CN 102161206B CN 201010611600 CN201010611600 CN 201010611600 CN 201010611600 A CN201010611600 A CN 201010611600A CN 102161206 B CN102161206 B CN 102161206B
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- balancer
- large arm
- axle
- sliding bearing
- joint
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000009434 installation Methods 0.000 claims description 5
- 230000000670 limiting effect Effects 0.000 claims description 3
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 2
- 229910052802 copper Inorganic materials 0.000 claims description 2
- 239000010949 copper Substances 0.000 claims description 2
- 229910002804 graphite Inorganic materials 0.000 claims description 2
- 239000010439 graphite Substances 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005008 domestic process Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a robot balancer connection structure and a assembling method thereof, wherein the robot balancer connection structure comprises a large arm, a base, a balancer and a balancer shaft mounted in the balancer; one end of the balancer shaft extends out of the balancer and can axially move along the balancer; the large arm is movably mounted on the base by virtue of a large arm rotation shaft; the balancer is movably mounted on the base by virtue of a balancer rotation shaft; the large arm rotation shaft and the balancer rotation shaft are parallel to each other; the end part of the balancer shaft is fixed with a connection joint; a sliding bearing is arranged in the connection joint; the sliding bearing is vertical to the axis of the balancer shaft; and the large arm ismovably connected to the connection joint by the sliding bearing. The robot balancer connection structure provided by the invention is reliable and practical; and the assembling method can be used for directly detecting whether the phenomenon of suppressing exists during the mounting of the balancer shaft or not in the assembling procedure, therefore the interference wear phenomenon of the balancer rotation shaft can be avoided.
Description
Technical field
The invention belongs to the Industrial Robot Technology field, specially refer to robot balancer connection structure and assembly method thereof.
Background technology
Industrial robot can be for some dullness of oblige by doing, the frequent and long working that repeats in industrial production, or the operation under dangerous, the adverse circumstances, therefore is subject to the welcome of a lot of enterprises.In recent years, domestic increasing enterprise and universities and colleges all begin to develop cooperatively the development industrial robot, and country is also in the development that guides domestic robot industry by dropping into substantial contribution and the every preferential policy of appearance.
In the robot R﹠D process, the design of balancer is an important step very, and wherein the balancer rotating shaft is the factor that affects balancer most critical in service life.The balancer axle of robot all connects with large arm by oscillating bearing at present, and the rotation of certain angle can be arranged between large arm and the balancer axle.External process equipment precision is high, processing technology is advanced and mature, in use there is not the problem of oscillating bearing and balancer axle interference wear in therefore external robot, and being subject to domestic process equipment and the processing technology that comparatively falls behind, the problem of oscillating bearing outer ring and the wearing and tearing of balancer axle will appear in the robot of China's independent research manufacturing when using this kind draw bail.In addition, the rotational angle of oscillating bearing is difficult to the location, is difficult to detect the phenomenon whether the balancer axle exists the strength of spraining when balancer assembles, and therefore the balancer axle often occurs because of the strength phenomenon serious wear of spraining when reality is used, and affects service life.
Summary of the invention
The objective of the invention is to propose a kind of robot balancer connection structure and assembly method thereof, whether there is the strength phenomenon of spraining with the installation of finding in advance the balancer axle, and avoid improving the whole service life of balancer because the balancer axle rotates the wearing and tearing that cause oscillating bearing and balancer rotating shaft.
Robot balancer connection structure of the present invention comprises large arm, base, balancer and be installed on balancer axle in the balancer, one end of described balancer axle stretches out balancer also can be along the balancer axially-movable, described large arm is movably installed on the base by large arm rotating shaft, described balancer is movably installed on the base by the balancer rotating shaft, described large arm rotating shaft and balancer shaft parallel, key is that the end of described balancer axle is fixed with one and connects the joint, be provided with a sliding bearing in the described connection joint, described sliding bearing, the axis of balancer axle is orthogonal, described large arm be connected the joint and be flexibly connected by sliding bearing.
Oscillating bearing is comprised of inner ring and the outer ring by Internal Spherical Surface by spherical outside surface, and when large arm rotated, the inner ring of oscillating bearing can be made banking motion in the certain angle scope, so the outer ring is easy and the balancer axle interferes, and causes wearing and tearing.Sliding bearing is a copper sheathing of inlaying graphite, and itself is without relatively rotating, and sliding bearing is fixed to and connects on the joint, and the balancer axle only can move in a circle around the axis of sliding bearing, so sliding bearing and balancer axle can not interfere.
The balancer axle can have following two kinds with the fixed form that is connected the joint: 1: the end of described balancer axle be connected the joint and be welded and fixed, this kind mode is simple, firm, but the balancer axle need to be welded in advance with being connected the joint, therefore underaction, convenience in production and stock control; 2, be provided with the mutually perpendicular sliding bearing installation portion of axis and screwed hole in the described connection joint, the balancer axle of described balancer is fixed in the screwed hole of described connection joint, and this kind mode is assembled simply, flexibly.
Large arm is as follows with the fixed form that is connected the joint: the end of large arm is provided with and connects the joint installing hole, the sliding bearing in described connection joint stretches to and connects in the installing hole of joint, sliding bearing be connected the joint installing hole and connect by connecting axle, the fixture axial limiting of described connecting axle by the one end is in large arm.
For guaranteeing that the balancer axle the strength phenomenon of spraining can not occur, described large arm rotating shaft, balancer rotating shaft and connecting axle are parallel to each other.In the rotation process of large arm, the balancer axle only can be subject to the power of its axial direction like this, therefore the strength phenomenon of spraining can not occur.
The assembly method of above-mentioned robot balancer connection structure comprises the steps:
A: the balancer axle of balancer is installed in the screwed hole of connection joint;
B: large arm is movably installed on the base by large arm rotating shaft, balancer is movably installed on the base by the balancer rotating shaft;
C: adjust the angle of large arm and balancer, and the rotary balancer axle, make connecting axle pass successively the shaft hole and the sliding bearing that is connected the joint of large arm, and lock the fixture of connecting axle one end.
In theory, after the balancer axle was assembled on the balancer, its axis was vertical with the balancer rotating shaft; The balancer axle has guaranteed that the balancer axle is vertical with the axis of sliding bearing because connect the structural limitations in joint; Simultaneously large arm rotating shaft and balancer shaft parallel, parallel to each other between so large arm rotating shaft, balancer rotating shaft and the connecting axle three.But in actual production, always there are certain error in parts machining and assembling, might cause having parallelism error between sliding bearing and the balancer shaft axis, but because last installation step is to connect large arm and balancer axle by connecting axle, therefore all processing, rigging error can finally be reflected in this place's assembling process, if connecting axle can be installed smoothly, the parallelism error that then between provable sliding bearing and the balancer rotating shaft is can meet the demands, there is not the strength problem of spraining, otherwise just need to check or keep in repair parts, so just guarantee not to occur spraining in can actual motion afterwards the strength phenomenon, guaranteed the service life of balancer.
Robot balancer connection structure of the present invention is reliable, practical, and its assembly method can directly detect the balancer axle and whether have the strength phenomenon of spraining in assembling process, therefore can avoid the interference wear phenomenon of balancer rotating shaft.
Description of drawings
Fig. 1 is the structural representation of balancer in the robot balancer connection structure of the present invention.
Fig. 2 is the overall structure schematic diagram of robot balancer connection structure of the present invention.
Fig. 3 is the syndeton schematic diagram that connects joint and balancer axle in the robot balancer connection structure of the present invention.
Fig. 4 is the syndeton partial sectional view of large arm, sliding bearing and balancer axle in the robot balancer connection structure of the present invention.
Identify among the figure: 1, large arm 2, base 3, balancer 4, balancer axle 5, large arm rotating shaft
6, balancer rotating shaft 7, connection joint 8, sliding bearing 9, screwed hole 10, connection joint installing hole 11, connecting axle 12, the fixture 13 of connecting axle, balancer cylinder 14, guide pin bushing
15, spring 16, spring base 17, balancer lid 18, locking nut.
The specific embodiment
Describe the present invention in detail below in conjunction with specific embodiments and the drawings.
Embodiment 1:
As shown in Figure 1, balancer 3 comprises by balancer cylinder 13, balancer lid 17 cavity body structures that form, its inside is equipped with for the guide pin bushing 14 of spacing balancer axle 4 motions, be used for providing reaction force spring 15, be used for the spring base 16 of limit spring, wherein an end of balancer axle 4 is fixed by locking nut 18 and spring base, so that the axially-movable of balancer axle can drive spring 15 compression, the other end of balancer axle 4 be connected joint 7 connections.
Such as Fig. 2,3, shown in 4, the robot balancer connection structure of the present embodiment comprises large arm 1, base 2, balancer 3 and be installed on balancer axle 4 in the balancer, one end of balancer axle 4 stretches out balancer 3 also can be along balancer 3 axially-movables, large arm 1 is movably installed on the base 2 by large arm rotating shaft 5, balancer 3 is movably installed on the base 2 by balancer rotating shaft 6, large arm rotating shaft 5 is parallel with balancer rotating shaft 6, the end of balancer axle 4 is fixed with one and connects joint 7, connection is provided with the mutually perpendicular sliding bearing 8 of axis and screwed hole 9 in the joint 7, and the balancer axle 4 of described balancer is fixed in the screwed hole 9; The end of large arm 1 is provided with and connects joint installing hole 10, the sliding bearing 8 that connects joint 7 is mounted to and connects in the joint installing hole 10, sliding bearing 8 be connected joint installing hole 10 and connect by a connecting axle 11, connecting axle 11 is orthogonal with the axis of balancer axle 4, fixture 12 axial limitings of connecting axle 11 by the one end are in large arm 1, and fixture 12 is ring flanges of connecting axle 11.
The assembly method of above-mentioned robot balancer connection structure comprises the steps:
A: be installed in the screwed hole 9 that connects on the joint 7 the balancer axle 4 of balancer also fixing;
B: large arm 1 is movably installed on the base 2 by large arm rotating shaft 5, balancer 3 is movably installed on the base 2 by balancer rotating shaft 6;
C: make large arm 1 be in vertical state, and then the angle of adjustment balancer 3, and rotary balancer axle 4, make connecting axle 11 pass successively the connection joint installing hole 10 and the sliding bearing 8 that is connected joint 7 of large arm, and with the fixture 12 of screw lock connecting axle 11 1 ends.
In theory, after balancer axle 4 was assembled on the balancer 3, its axis was vertical with balancer rotating shaft 6; Balancer axle 4 has guaranteed that balancer axle 4 is vertical with the axis of sliding bearing 8 because connect the structural limitations in joint 7; Simultaneously large arm rotating shaft 5 is parallel with balancer rotating shaft 6, and is parallel to each other between so large arm rotating shaft 5, balancer rotating shaft 6 and connecting axle 11 threes.In actual production, always there are certain error in parts machining and assembling, might cause having parallelism error between sliding bearing 8 and balancer rotating shaft 6 axis, but because last installation step is to connect large arm 1 and balancer axle 4 by connecting axle 11, therefore all processing, rigging error can finally be reflected in this place's assembling process, if connecting axle 11 can be installed smoothly, then the parallelism error between provable sliding bearing 8 and the balancer rotating shaft 6 can meet the demands, there is not the strength problem of spraining, otherwise just need to check or keep in repair parts, so just guarantee not to occur spraining in can actual motion afterwards the strength phenomenon, guaranteed the service life of balancer 3.
Claims (6)
1. robot balancer connection structure, comprise large arm, base, balancer and be installed on the interior balancer axle of balancer, one end of described balancer axle stretches out balancer also can be along the balancer axially-movable, described large arm is movably installed on the base by large arm rotating shaft, described balancer is movably installed on the base by the balancer rotating shaft, described large arm rotating shaft and balancer shaft parallel, the end that it is characterized in that described balancer axle is fixed with a connection joint, is provided with a sliding bearing in the described connection joint; The axis of described sliding bearing, balancer axle is orthogonal, described large arm be connected the joint and be flexibly connected by sliding bearing; The end of described large arm is provided with and connects the joint installing hole, the sliding bearing in described connection joint stretches to and connects in the installing hole of joint, sliding bearing be connected the joint installing hole and connect by connecting axle, the fixture axial limiting of described connecting axle by the one end is in large arm; Described sliding bearing is a copper sheathing of inlaying graphite, and itself is without relatively rotating, and sliding bearing is fixed to and connects on the joint, and the balancer axle only can move in a circle around the axis of sliding bearing, so sliding bearing and balancer axle can not interfere.
2. robot balancer connection structure according to claim 1, the end that it is characterized in that described balancer axle be connected the joint and be welded and fixed.
3. robot balancer connection structure according to claim 1 is characterized in that being provided with in the described connection joint the mutually perpendicular sliding bearing installation portion of axis and screwed hole, and the balancer axle of described balancer is fixed in the screwed hole of described connection joint.
4. according to claim 1 and 2 or 3 described robot balancer connection structures, it is characterized in that described large arm rotating shaft, balancer rotating shaft and connecting axle are parallel to each other.
5. the assembly method of robot balancer connection structure according to claim 4 is characterized in that comprising the steps:
A: the balancer axle of balancer is installed in the screwed hole of connection joint;
B: large arm is movably installed on the base by large arm rotating shaft, balancer is movably installed on the base by the balancer rotating shaft;
C: adjust the angle of large arm and balancer, and the rotary balancer axle, make connecting axle pass successively the shaft hole and the sliding bearing that is connected the joint of large arm, and lock the fixture of connecting axle one end.
6. the assembly method of robot balancer connection structure according to claim 5 is characterized in that making large arm be in vertical state in the described C step, and then adjusts the angle of balancer and connecting axle is installed.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010611600 CN102161206B (en) | 2010-12-29 | 2010-12-29 | Robot balancer connection structure and assembling method thereof |
| PCT/CN2011/082858 WO2012088975A1 (en) | 2010-12-29 | 2011-11-24 | Robot balancing device connecting structure and assembling method for same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010611600 CN102161206B (en) | 2010-12-29 | 2010-12-29 | Robot balancer connection structure and assembling method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102161206A CN102161206A (en) | 2011-08-24 |
| CN102161206B true CN102161206B (en) | 2013-03-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201010611600 Active CN102161206B (en) | 2010-12-29 | 2010-12-29 | Robot balancer connection structure and assembling method thereof |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN102161206B (en) |
| WO (1) | WO2012088975A1 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102161206B (en) * | 2010-12-29 | 2013-03-06 | 奇瑞汽车股份有限公司 | Robot balancer connection structure and assembling method thereof |
| CN104526716B (en) * | 2014-12-17 | 2016-07-06 | 上海交通大学 | A kind of industrial robot energy-storage economical type gravity balance device |
| JP6725580B2 (en) | 2018-04-24 | 2020-07-22 | ファナック株式会社 | Gravity balancer for robot and robot |
| DE102019205560B4 (en) | 2019-04-17 | 2022-02-03 | Fanuc Corporation | Robotic Gravity Balancers and Robots |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4738576A (en) * | 1983-04-06 | 1988-04-19 | Mantec Gesellschaft fur Automatisierungs-und Handhabungssysteme mbH | Robot joint |
| US4753128A (en) * | 1987-03-09 | 1988-06-28 | Gmf Robotics Corporation | Robot with spring pivot balancing mechanism |
| CN2270586Y (en) * | 1996-05-17 | 1997-12-17 | 桂林电子工业学院建筑钢筋机械连接工程研究所 | Reinforcing steel connecting thread machining equipment |
| CN101190769A (en) * | 2006-12-01 | 2008-06-04 | 上海比亚迪有限公司 | Heavy load balance mechanism |
| CN201566156U (en) * | 2009-12-25 | 2010-09-01 | 江苏扬力集团有限公司 | Connector of press balancer and sliding block |
| CN101863037A (en) * | 2010-06-02 | 2010-10-20 | 奇瑞汽车股份有限公司 | Balancer of welding robot and constructing method thereof |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4592697A (en) * | 1983-04-26 | 1986-06-03 | Kabushiki Kaisha Kobe Seiko Sho | Gravity balancing device for rocking arm |
| JPH11277479A (en) * | 1998-03-31 | 1999-10-12 | Fanuc Ltd | Spring balancer device |
| JP4281195B2 (en) * | 2000-02-16 | 2009-06-17 | 株式会社安川電機 | Gravity balancer for industrial robot and industrial robot |
| ITTO20020987A1 (en) * | 2002-11-14 | 2004-05-15 | Comau Spa | INDUSTRIAL ROBOT |
| CN102161206B (en) * | 2010-12-29 | 2013-03-06 | 奇瑞汽车股份有限公司 | Robot balancer connection structure and assembling method thereof |
-
2010
- 2010-12-29 CN CN 201010611600 patent/CN102161206B/en active Active
-
2011
- 2011-11-24 WO PCT/CN2011/082858 patent/WO2012088975A1/en active Application Filing
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4738576A (en) * | 1983-04-06 | 1988-04-19 | Mantec Gesellschaft fur Automatisierungs-und Handhabungssysteme mbH | Robot joint |
| US4753128A (en) * | 1987-03-09 | 1988-06-28 | Gmf Robotics Corporation | Robot with spring pivot balancing mechanism |
| CN2270586Y (en) * | 1996-05-17 | 1997-12-17 | 桂林电子工业学院建筑钢筋机械连接工程研究所 | Reinforcing steel connecting thread machining equipment |
| CN101190769A (en) * | 2006-12-01 | 2008-06-04 | 上海比亚迪有限公司 | Heavy load balance mechanism |
| CN201566156U (en) * | 2009-12-25 | 2010-09-01 | 江苏扬力集团有限公司 | Connector of press balancer and sliding block |
| CN101863037A (en) * | 2010-06-02 | 2010-10-20 | 奇瑞汽车股份有限公司 | Balancer of welding robot and constructing method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102161206A (en) | 2011-08-24 |
| WO2012088975A1 (en) | 2012-07-05 |
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