Robot balancing device
By combining the parallel nitrogen spring cylinder components with a six-degree of freedom perpendicular multi-joint industrial robot, the problem of spring stiffness in the spring balance cylinder cannot be adjusted, and balance under different loads and positions is achieved, providing uniform output and interchangeable selection.
Patent Information
- Application Number
- CN202422168268.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-04
- Publication Date
- 2025-06-17
- Estimated Expiration
- 2034-09-04
AI Technical Summary
The spring stiffness of the existing six-degree-of-freedom vertical multi-articular industrial robot cannot be adjusted, making it difficult to achieve complete balance under different loads and positions.
The parallel nitrogen spring cylinder components are adopted, including nitrogen spring cylinder I, balance rod and nitrogen spring cylinder II. The space frame and connecting head are hinged to the upper arm to achieve gravity balance when the upper arm is swinging.
Complete balance under different loads and positions is achieved, and the parallel design of nitrogen spring cylinder components is uniform in output, and it is interchangeable with traditional spring balance cylinders, providing more options.
Smart Images
Figure CN222986981U_ABST
Abstract
Description
Technical Field
[0001] The present invention belongs to the technical field of six-degree-of-freedom vertical articulated industrial robots, and particularly relates to a robot balance device. Background Art
[0002] Six-degree-of-freedom vertical articulated industrial robots can replace humans to do some monotonous, frequent and repetitive work in industrial production, or work in dangerous and harsh environments. The six-degree-of-freedom vertical articulated industrial robot includes a base, a waist seat, a large arm, a shoulder joint, a small arm, a wrist and a end flange. At present, a spring balance cylinder is used to balance the rotational torque caused by the gravity load of the large arm. However, the spring stiffness of the spring balance cylinder cannot be adjusted and is only suitable for occasions with constant load. Therefore, it is difficult to achieve complete balance under different loads and different positions. Utility Model Content
[0003] Aiming at the above problems, the purpose of the present invention is to provide a robot balance device to solve the problem that the spring stiffness of the spring balance cylinder in the prior art cannot be adjusted, is only suitable for occasions with constant load, and it is difficult to achieve complete balance under different loads and different positions.
[0004] To achieve the above purpose, the present invention adopts the following technical solutions:
[0005] The present invention provides a robot balance device, including a nitrogen spring cylinder component, a connector and a space frame. The space frame is hinged on the waist seat of the six-degree-of-freedom vertical articulated industrial robot. The nitrogen spring cylinder component is arranged in the space frame, and the output end of the nitrogen spring cylinder component is connected with the connector. The connector is hinged to the lower end of the large arm of the six-degree-of-freedom vertical articulated industrial robot. The nitrogen spring cylinder component is used to balance the gravity when the large arm tilts.
[0006] The nitrogen spring cylinder component includes a nitrogen spring cylinder I, a balance rod and a nitrogen spring cylinder II which are arranged in parallel on the space frame in sequence. The output ends of the nitrogen spring cylinder I and the nitrogen spring cylinder II are both connected with a transfer plate. The rear end of the balance rod is fixedly connected with the transfer plate. The front end of the balance rod is slidably matched with the space frame. The connector is connected to the front end of the balance rod.
[0007] The space frame includes a front plate, a lower plate, an upper plate and a middle hinge groove. The front plate and the middle hinge groove are respectively arranged at the front and rear ends of the lower plate. The upper plate is arranged above the lower plate and is connected to the front plate and the middle hinge groove at both ends. A receiving cavity for placing the nitrogen spring cylinder component is formed between the upper plate and the lower plate;
[0008] Both sides of the middle hinge groove are hinged to the waist seat. The output ends of the nitrogen spring cylinder I and the nitrogen spring cylinder II, as well as the balance rod, are all in sliding fit with the middle hinge groove. The adapter plate is located outside the middle hinge groove.
[0009] Outer dust-proof bellows I and outer dust-proof bellows II are respectively sleeved outside the output ends of the nitrogen spring cylinder I and the nitrogen spring cylinder II. A middle dust-proof bellows is sleeved at the rear end of the balance rod. One ends of the outer dust-proof bellows I, the outer dust-proof bellows II, and the middle dust-proof bellows are all hermetically connected to the middle hinge groove, and the other ends are all hermetically connected to the adapter plate.
[0010] The middle hinge groove includes a cross plate portion and two side plate portions respectively vertically arranged at both ends of the cross plate portion. Among them, nitrogen rod holes I, a rear middle hole, and nitrogen rod holes II are arranged in sequence on the cross plate portion. The nitrogen rod holes I and the nitrogen rod holes II are respectively used for the output ends of the nitrogen spring cylinder I and the nitrogen spring cylinder II to pass through, and the rear middle hole is used for the balance rod to pass through; hinge interface rings are provided on both side plate portions, and the hinge interface rings on both sides are respectively hinged to the waist seat through a waist seat casting hinge shaft I and a waist seat casting hinge shaft II.
[0011] A front middle hole is provided in the middle of the front plate, and a linear sliding lubricating bushing assembly is arranged in the front middle hole. The balance rod is in sliding fit with the linear sliding lubricating bushing assembly.
[0012] The rear end of the nitrogen spring cylinder component is covered with a sheet metal appearance cover, and the sheet metal appearance cover is connected to the space frame.
[0013] The advantages and beneficial effects of the present invention are as follows: A robot balance device provided by the present invention realizes the gravity balance during the swing of the large arm through two parallel nitrogen spring cylinders, and realizes complete balance under different loads and different positions. The two nitrogen spring cylinders in the nitrogen spring cylinder component are in parallel, and the force output is uniform. And the nitrogen spring cylinder component and the spring balance pressure cylinder can be interchanged, providing more choices for customers from the perspective of products. Description of the Drawings
[0014] Figure 1 It is an installation schematic diagram of a robot balance device of the present invention;
[0015] Figure 2 It is a partial structural schematic diagram of a six-degree-of-freedom vertical multi-joint industrial robot of the present invention;
[0016] Figure 3 It is an axonometric drawing of a robot balance device of the present invention;
[0017] Figure 4 It is an exploded view of a robot balance device of the present invention;
[0018] Figure 5 This is a sectional view of a robot balance device according to the present invention.
[0019] In the figure: 1 - six - degree - of - freedom vertical multi - joint industrial robot, 101 - base, 102 - waist seat, 10201 - waist seat casting hinge shaft I, 10202 - waist seat casting hinge shaft II, 103 - upper arm, 10301 - upper arm root hinge shaft, 104 - shoulder joint part, 105 - forearm, 106 - wrist, 107 - end flange, 2 - spring balance cylinder component, 3 - nitrogen spring cylinder component, 4 - connector, 5 - front plate, 501 - front middle hole, 6 - lower plate, 601 - front groove, 602 - rear groove, 7 - upper plate, 8 - middle hinge groove, 801 - cross - plate part, 802 - side - plate part, 804 - hinge interface ring, 805 - rear middle hole, 806 - nitrogen rod hole I, 807 - nitrogen rod hole II, 9 - sheet metal appearance cover, 10 - nitrogen spring cylinder I, 1001 - nitrogen spring cylinder body I, 1002 - nitrogen spring cylinder head I, 11 - nitrogen spring cylinder II, 1101 - nitrogen spring cylinder body II, 1102 - nitrogen spring cylinder head II, 12 - adapter plate, 13 - lubricating bushing I, 14 - lubricating bushing II, 15 - balance rod, 16 - outer dust - proof bellows I, 17 - outer dust - proof bellows II, 18 - middle dust - proof bellows, 19 - linear sliding lubricating bushing assembly, 20 - nut. Specific embodiments
[0020] In order to make the objectives, technical solutions and advantages of the present utility model clearer, the present utility model will be described in detail below with reference to the accompanying drawings and specific embodiments.
[0021] See Figure 1 As shown, the present invention provides a robot balance device for a six - degree - of - freedom vertical multi - joint industrial robot 1. The six - degree - of - freedom vertical multi - joint industrial robot 1 includes a base 101, a waist seat 102, an upper arm 103, a shoulder joint part 104, a forearm 105, a wrist 106 and an end flange 107. There are driving shafts between adjacent two of these seven components of the industrial robot, which are respectively the first axis between the base 101 and the waist seat 102, the second axis between the waist seat 102 and the upper arm 103, the third axis between the upper arm 103 and the shoulder joint part 104, the fourth axis between the shoulder joint part 104 and the forearm 105, the fifth axis between the forearm 105 and the wrist 106, and the sixth axis between the wrist 106 and the end flange 107. The above six axes are the defined axes in the robot control mathematical model.
[0022] See Figure 1As shown in the figure, the present invention provides a robot balance device, which includes a nitrogen spring cylinder component 3, a connecting head 4 and a space frame. The space frame is hinged to the waist seat 102 of a six-degree-of-freedom vertical multi-joint industrial robot 1. The nitrogen spring cylinder component 3 is arranged inside the space frame, and the output end of the nitrogen spring cylinder component 3 is connected to the connecting head 4. The connecting head 4 is hinged to the lower end of the boom 103 of the six-degree-of-freedom vertical multi-joint industrial robot 1. The nitrogen spring cylinder component 3 is used to balance the gravity when the boom 103 tilts.
[0023] See Figures 1 to 4 As shown in the figure, in an embodiment of the present invention, the nitrogen spring cylinder component 3 includes a nitrogen spring cylinder I 10, a balance rod 15 and a nitrogen spring cylinder II 11 that are sequentially arranged in parallel on the space frame. The output ends of the nitrogen spring cylinder I 10 and the nitrogen spring cylinder II 11 are both connected to a transfer plate 12. The rear end of the balance rod 15 is fixedly connected to the transfer plate 12 through a nut 20. The front end of the balance rod 15 is slidably matched with the space frame. The connecting head 4 is connected to the front end of the balance rod 15, and the connecting head 4 is hinged to the lower end of the boom 103 through a boom root hinge shaft 10301.
[0024] See Figure 5 As shown in the figure, in an embodiment of the present invention, an outer dust-proof bellows I 16 and an outer dust-proof bellows II 17 are respectively sleeved on the outer sides of the output ends of the nitrogen spring cylinder I 10 and the nitrogen spring cylinder II 11. A middle dust-proof bellows 18 is sleeved on the rear end of the balance rod 15. One ends of the outer dust-proof bellows I 16, the outer dust-proof bellows II 17 and the middle dust-proof bellows 18 are all hermetically connected to a middle hinge groove 8, and the other ends are all hermetically connected to the transfer plate 12. The interiors of the nitrogen spring cylinder I 10 and the nitrogen spring cylinder II 11 are connected through a pipeline to achieve parallel connection. Therefore, the forces exerted by the parallel-connected nitrogen spring cylinder I 10 and nitrogen spring cylinder II 11 are the same, that is, the pressure P1 of the nitrogen spring cylinder I 10 is the same as the pressure P2 of the nitrogen spring cylinder II 11. Specifically, the outer dust-proof bellows I 16, the outer dust-proof bellows II 17 and the middle dust-proof bellows 18 are all made of breathable and dust-proof materials.
[0025] See Figures 3 to 5As shown, in the embodiment of the present invention, the space frame includes a front plate 5, a lower plate 6, an upper plate 7 and a middle hinge groove 8. The front plate 5 and the middle hinge groove 8 are respectively arranged at the front and rear ends of the lower plate 6. The upper plate 7 is arranged above the lower plate 6 and is connected to the front plate 5 and the middle hinge groove 8 at both ends. An accommodation cavity for placing the nitrogen spring cylinder component 3 is formed between the upper plate 7 and the lower plate 6. The tails of the nitrogen spring cylinder body I 1001 of the nitrogen spring cylinder I 10 and the nitrogen spring cylinder body II 1101 of the nitrogen spring cylinder II 11 are fixedly connected to the front plate 5 by bolts. The front end of the balance rod 15 is slidably matched with the front plate 5. Both sides of the middle hinge groove 8 are hinged to the waist seat 102. The nitrogen spring cylinder head I 1002 of the nitrogen spring cylinder I 10, the nitrogen spring cylinder head II 1102 of the nitrogen spring cylinder II 11 and the balance rod 15 are all slidably matched with the middle hinge groove 8. The adapter plate 12 is located outside the middle hinge groove 8.
[0026] Specifically, the lower side of the front plate 5 is snapped into the front groove 601 of the lower plate 6, and the lower side of the middle hinge groove 8 is snapped into the rear groove 602 of the lower plate 6. The front plate 5 and the middle hinge groove 8 are locked by bolts on the lower side of the lower plate 6, and the front plate 5 and the middle hinge groove 8 are locked by bolts on the upper side of the upper plate 7, forming a space frame structure with tensile stress stability.
[0027] Specifically, referring to Figure 2 、 Figure 4 As shown, the middle hinge groove 8 includes a cross plate portion 801 and two side plate portions 802 respectively vertically arranged at both ends of the cross plate portion 801. The cross plate portion 801 is provided with a nitrogen rod hole I 806, a rear middle hole 805 and a nitrogen rod hole II 807 arranged in sequence. The nitrogen rod hole I 806 and the nitrogen rod hole II 807 are respectively used for the output ends of the nitrogen spring cylinder I 10 and the nitrogen spring cylinder II 11 to pass through, and the rear middle hole 805 is used for the balance rod 15 to pass through. The nitrogen spring cylinder head I 1002, the nitrogen spring cylinder head II 1102 and the balance rod 15 are respectively connected to the adapter plate 12 after passing through the nitrogen rod hole I 806, the nitrogen rod hole II 807 and the rear middle hole 805. Hinge interface rings 804 are provided on both side plate portions 802. Lubricating bushings I 13 and lubricating bushings II 14 are respectively arranged in the hinge interface rings 804 on both sides. The lubricating bushings I 13 and lubricating bushings II 14 are respectively hinged to the waist seat 102 through the waist seat casting hinge shaft I 10201 and the waist seat casting hinge shaft II 10202.
[0028] Further, referring to Figure 4 、 Figure 5 As shown, a front middle hole 501 is provided in the middle of the front plate 5. A linear sliding lubricating bushing assembly 19 is arranged in the front middle hole 501. The balance rod 15 is slidably matched with the linear sliding lubricating bushing assembly 19.
[0029] Furthermore, a sheet metal appearance cover 9 is provided at the rear end cover of the nitrogen spring cylinder component 3, and the sheet metal appearance cover 9 is connected to the rear end of the space frame. The sheet metal appearance cover 9 is in the shape of a straw hat, and the internal space of the sheet metal appearance cover 9 satisfies the movement stroke of the nitrogen spring cylinder head I 1002 and the nitrogen spring cylinder head II 1102.
[0030] See Figure 1 As shown, the boom 103 is in a state near vertical, and the nitrogen spring cylinder I 10 and the nitrogen spring cylinder II 11 in the nitrogen spring cylinder component 3 are in a natural extended state. When the boom 103 swings forward from the equilibrium position, the hinge positions of the boom root hinge shaft 10301 with the waist seat casting hinge shaft I 10201 and the waist seat casting hinge shaft II 10202 will be pulled apart. Since the nitrogen spring cylinder I 10 and the nitrogen spring cylinder II 11 are in parallel, they will be compressed simultaneously to store energy, and thus a part of the rotational torque of the subsequent gravity swing of the boom 103 will be balanced by the nitrogen spring cylinder I 10 and the nitrogen spring cylinder II 11. The parallel nitrogen spring cylinder bodies are relatively higher than the nitrogen spring cylinder head positions, and the linear movement of the nitrogen spring cylinder bodies can be continuously lubricated by the sealed lubricating oil. The internal high-pressure nitrogen of the parallel nitrogen spring cylinder I 10 and the nitrogen spring cylinder II 11 is interconnected, the output force is uniform, and it is only necessary to fill the double nitrogen balance bar cylinder body with high-pressure nitrogen (15 MPa) once.
[0031] The above is only the implementation mode of the present invention and is not used to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims
1. A robot balancing device, characterized in that: The invention comprises a nitrogen spring cylinder component (3), a connecting head (4) and a space frame, wherein the space frame is hinged on a waist seat (102) of a six-degree-of-freedom vertical multi-joint industrial robot (1), the nitrogen spring cylinder component (3) is arranged in the space frame, and the output end of the nitrogen spring cylinder component (3) is connected to the connecting head (4), the connecting head (4) is hinged to the lower end of a large arm (103) of the six-degree-of-freedom vertical multi-joint industrial robot (1), and the nitrogen spring cylinder component (3) is used to balance the gravity when the large arm (103) is tilted.
2. The robot balancing device according to claim 1, characterized in that: The nitrogen spring cylinder component (3) comprises a nitrogen spring cylinder I (10), a balance rod (15) and a nitrogen spring cylinder II (11) which are sequentially arranged in parallel on the space frame, wherein the output ends of the nitrogen spring cylinder I (10) and the nitrogen spring cylinder II (11) are both connected to the adapter plate (12), the rear end of the balance rod (15) is fixedly connected to the adapter plate (12), the front end of the balance rod (15) is slidably matched with the space frame, and the connector (4) is connected to the front end of the balance rod (15).
3. The robot balancing device according to claim 2, characterized in that: The space frame comprises a front plate (5), a lower plate (6), an upper plate (7) and a middle hinge groove (8), wherein the front plate (5) and the middle hinge groove (8) are respectively arranged at the front and rear ends of the lower plate (6), the upper plate (7) is arranged above the lower plate (6), and the two ends are respectively connected to the front plate (5) and the middle hinge groove (8), and a receiving cavity for placing the nitrogen spring cylinder component (3) is formed between the upper plate (7) and the lower plate (6); Both sides of the middle hinge groove (8) are hinged to the waist seat (102), the output ends of the nitrogen spring cylinder I (10) and the nitrogen spring cylinder II (11) and the balance rod (15) are all slidably matched with the middle hinge groove (8), and the adapter plate (12) is located on the outside of the middle hinge groove (8).
4. The robot balancing device according to claim 3, characterized in that: The outer sides of the output ends of the nitrogen spring cylinder I (10) and the nitrogen spring cylinder II (11) are respectively provided with an outer dustproof bellows I (16) and an outer dustproof bellows II (17), and the rear end of the balance bar (15) is provided with a middle dustproof bellows (18). One ends of the outer dustproof bellows I (16), the outer dustproof bellows II (17) and the middle dustproof bellows (18) are all sealedly connected to the middle hinge groove (8), and the other ends are all sealedly connected to the adapter plate (12).
5. The robot balancing device according to claim 3, characterized in that: The middle hinge groove (8) comprises a transverse plate portion (801) and two side plate portions (802) respectively arranged perpendicularly at both ends of the transverse plate portion (801), wherein the transverse plate portion (801) is provided with a nitrogen rod hole I (806), a rear middle hole (805) and a nitrogen rod hole II (807) arranged in sequence, the nitrogen rod hole I (806) and the nitrogen rod hole II (807) are respectively used for the output ends of the nitrogen spring cylinder I (10) and the nitrogen spring cylinder II (11) to pass through, and the rear middle hole (805) is used for the balance rod (15) to pass through; the two side plate portions (802) are both provided with hinge connection rings (804), and the hinge connection rings (804) on both sides are respectively hinged to the waist seat (102) through the waist seat casting hinge axis I (10201) and the waist seat casting hinge axis II (10202).
6. The robot balancing device according to claim 3, characterized in that: A front center hole (501) is provided in the middle of the front plate (5), a linear sliding lubricating bushing assembly (19) is provided in the front center hole (501), and the balance rod (15) is slidably matched with the linear sliding lubricating bushing assembly (19).
7. The robot balancing device according to claim 1, characterized in that: The rear end cover of the nitrogen spring cylinder component (3) is provided with a sheet metal appearance cover (9), and the sheet metal appearance cover (9) is connected to the space frame.