Spring type balance cylinder and biaxial joint type selection method of industrial robot

Abstract

The invention relates to a spring type balance cylinder of an industrial robot and a biaxial joint type selection method. The model selection method for the spring type balance cylinder and the biaxial joint of the industrial robot comprises the steps that the normal start-stop torque rate eta 1 and the uniform motion load rate eta 2 of a motor in the biaxial joint are obtained according to T1, T2, Tf, T0max, T and i, and setting model selection constraint conditions of the motor and the speed reducer in the biaxial joint according to the model parameters of the motor and the speed reducer, the eta 1 and the eta 2. The invention has the advantages that the assembly difficulty is reduced, and the biaxial joint part is optimized.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to a type selection method of a spring balance cylinder and a two-axis joint of an industrial robot. Background technique [0002] Industrial robots are playing an increasingly important role in industrial production. The center of gravity of the boom in the industrial robot does not pass through the joint shaft, so that the gravity moment is generated. In the six-axis industrial robot, the two-axis joint bears the largest eccentric moment, so a balance device is often installed at the two-axis joint, so that when the boom rotates at a certain angle, due to the position change of the balance device, a balance force that does not pass through the joint axis is generated. In order to balance the eccentric moment of the two-axis joint. This method can effectively reduce the motor load and prolong the life of the reducer. The balancing devices on the market include counterweight type...

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Problems solved by technology

Retrieve related papers, such as "Tool Technology" 2014 Volume 48 No. 12, the parameters of the industrial robot spring balance cylinder are studied. After simplifying the robot model, the relevant parameters of the spring balance cylinder are unbalanced. The influence of torque is discussed separately. The main research content is the influence of different parameters on the balance torque provided by the balance cylinder. The relevant data are the unbalance torque at different angles in the static state of the boom, ignoring the influence of the motion state on the joints. The rated torque of the motor is less than the actual required torque, and the torque rate is too high

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