Spring for heavy manipulator

Abstract

The utility model discloses a spring for a heavy manipulator, which relates to the technical field of nitrogen springs and comprises a support rod, a hinge seat is arranged on the support rod, a nitrogen spring is arranged on the hinge seat, a pressure relief valve is arranged on the annular side of the lower portion of the nitrogen spring, and a connecting bent pipe is arranged on the other side of the lower portion of the nitrogen spring. A one-way valve is arranged at the connecting position of the connecting bent pipe and the nitrogen spring. Through the arrangement of the nitrogen spring, the piston rod, the hinge plate, the hinge seat and the supporting rod, when the large arm rotates up and down, the large arm can be elastically supported through the nitrogen spring, the situation that the large arm shakes due to a gear clearance during rotation is avoided, and then the situation that the large arm rotates unstably due to the driving gear clearance is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of nitrogen springs, in particular to a spring for a heavy-duty manipulator. Background Art

[0002] A robot arm is an automated device that mimics certain movements of a human hand and arm, used to grasp, move objects, or operate tools according to a fixed program. Its unique feature is that it can be programmed to perform a variety of tasks, combining the advantages of both human and robotic devices in terms of structure and performance.

[0003] When the arm of an existing heavy-duty manipulator rotates up and down under the action of a drive device, the arm and the vertical arm are driven and connected by a gear structure. There is a gap between the gears, and the rotation of the arm is unstable due to the gear gap. Utility Model Content

[0004] The technical problem to be solved by the present invention is to overcome the existing defects and provide a spring for a heavy-duty manipulator. By arranging the nitrogen spring, piston rod, hinge plate, hinge seat and support rod, the arm can be elastically supported by the nitrogen spring when the arm rotates up and down, thereby avoiding shaking due to gear clearance when the arm rotates, and further avoiding unstable rotation of the arm due to the driving gear clearance, which can effectively solve the problems in the background technology.

[0005] To achieve the above-mentioned purpose, the present utility model provides the following technical solutions: a spring for a heavy-duty manipulator, comprising a support rod, a hinged seat provided on the support rod, a nitrogen spring provided on the hinged seat, a pressure relief valve provided on the lower ring side of the nitrogen spring, a connecting elbow provided on the other side of the lower part of the nitrogen spring, a one-way valve provided at the connection position between the connecting elbow and the nitrogen spring, a nitrogen tank provided on the upper end of the connecting elbow, a piston rod provided on the inside of the nitrogen spring, and a hinged plate connected to the upper end of the piston rod.

[0006] Furthermore, a large arm is provided on the upper side of the hinge plate, and a vertical arm is provided on one end of the support rod away from the hinge seat.

[0007] Furthermore, the vertical arm and the upper arm are connected via a driving gear structure, and the hinge plate and the upper arm are welded.

[0008] Furthermore, the support rod is welded to the vertical arm, and the support rod is rotatably connected to the hinge seat.

[0009] Furthermore, the nitrogen tank is connected to the nitrogen spring housing via bolts, and the nitrogen spring is connected to the connecting elbow via threads.

[0010] Furthermore, the one-way valve is connected to the nitrogen spring via threads.

[0011] Compared with the prior art, the beneficial effects of the present invention are:

[0012] 1. The utility model provides a nitrogen spring, a piston rod, a hinge plate, a hinge seat and a support rod, so that when the boom rotates up and down, the boom can be elastically supported by the nitrogen spring, thereby avoiding shaking due to gear clearance when the boom rotates, and thus avoiding unstable rotation of the boom due to the driving gear clearance.

[0013] 2. The utility model provides a nitrogen tank, a connecting elbow and a one-way valve, so that after the nitrogen spring is subjected to large load pressure relief protection, the nitrogen tank can fill high-pressure nitrogen into the nitrogen spring through the connecting elbow and the one-way valve, so that the high-pressure nitrogen is maintained in the nitrogen spring, thereby ensuring the buffering effect of the nitrogen spring. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural diagram of the utility model;

[0015] Figure 2 This is a schematic diagram of the right side structure of the nitrogen spring in the present utility model;

[0016] Figure 3 It is an enlarged structural diagram of the connecting elbow and the one-way valve in the utility model.

[0017] In the figure: 1. Vertical arm; 2. Upper arm; 3. Nitrogen spring; 4. Nitrogen tank; 5. Piston rod; 6. Support rod; 7. Hinge plate; 8. Hinge seat; 9. Connecting elbow; 10. Pressure relief valve; 11. One-way valve. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0019] See also Figure 1-3 This embodiment provides a technical solution: a spring for a heavy-duty manipulator, comprising a support rod 6, a hinge seat 8 being provided on the support rod 6, a nitrogen spring 3 being provided on the hinge seat 8, a pressure relief valve 10 being provided on the lower ring side of the nitrogen spring 3, a connecting elbow 9 being provided on the other side of the lower part of the nitrogen spring 3, a one-way valve 11 being provided at the connection position between the connecting elbow 9 and the nitrogen spring 3, a nitrogen tank 4 being provided at the upper end of the connecting elbow 9, a piston rod 5 being provided inside the nitrogen spring 3, and a hinge plate 7 being connected to the upper end of the piston rod 5.

[0020] like Figure 1-3 As shown, the piston rod 5 can elastically support the downward movement of the boom 2 under the action of high-pressure nitrogen, thereby preventing the boom 2 from shaking due to gear clearance and ensuring stable operation of the boom 2. The pressure relief valve 10 relieves pressure in time when the inner side of the nitrogen spring 3 is subjected to greater pressure, thereby protecting the nitrogen spring 3. After the pressure is relieved, the air pressure inside the nitrogen spring 3 is reduced, and the high-pressure gas inside the nitrogen tank 4 can be filled into the nitrogen spring 3 through the connecting elbow 9 and the one-way valve 11, thereby allowing the nitrogen spring 3 to return to a normal state, thereby protecting the boom 2.

[0021] A large arm 2 is provided on the upper side of the hinge plate 7 , and a vertical arm 1 is provided at one end of the support rod 6 away from the hinge seat 8 .

[0022] like Figure 1-3 As shown, the hinge plate 7 can be connected to the upper end of the piston rod 5 and the arm 2 for rotation.

[0023] The vertical arm 1 and the upper arm 2 are connected via a driving gear structure, and the hinge plate 7 is welded to the upper arm 2 .

[0024] The support rod 6 is welded to the vertical arm 1 , and the support rod 6 is rotatably connected to the hinge seat 8 .

[0025] The nitrogen tank 4 is connected to the outer shell of the nitrogen spring 3 by bolts, and the nitrogen spring 3 is connected to the connecting elbow 9 by threads.

[0026] like Figure 1-3 As shown, the nitrogen tank 4 can provide a nitrogen source for the nitrogen spring 3. When the air pressure inside the nitrogen spring 3 is lower than a set value, the nitrogen in the nitrogen tank 4 can be filled into the inside of the nitrogen spring 3, so that the nitrogen spring 3 can operate stably.

[0027] The one-way valve 11 is connected to the nitrogen spring 3 through threads.

[0028] The working principle of a heavy-duty manipulator spring provided by the utility model is as follows: Figure 1-Figure 3 As shown, when in use, the boom 2 and the vertical arm 1 are connected by a nitrogen spring 3. When the mechanical clamping device at the end of the boom 2 rotates downward after clamping the cargo load, the nitrogen spring 3 can elastically support the boom 2 to avoid the gear gap at the connection position between the boom 2 and the vertical arm 1 causing the boom 2 to shake when rotating, thereby ensuring the operating stability of the boom 2. After the nitrogen spring 3 is subjected to large load pressure relief protection, the nitrogen tank 4 can fill high-pressure nitrogen into the nitrogen spring 3 through the connecting elbow 9 and the one-way valve 11, so that the nitrogen spring 3 can quickly restore its state. When the gas pressure between the inner side of the nitrogen spring 3 and the nitrogen tank 4 is the same, nitrogen will no longer enter the nitrogen spring 3, thereby ensuring that the nitrogen spring 3 can elastically protect the boom 2.

[0029] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the description and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A spring for a heavy-duty manipulator, comprising a support rod (6), characterized in that: The support rod (6) is provided with an articulated seat (8), a nitrogen spring (3) is provided on the articulated seat (8), a pressure relief valve (10) is provided on the lower ring side of the nitrogen spring (3), a connecting elbow (9) is provided on the other side of the lower part of the nitrogen spring (3), a one-way valve (11) is provided at the connection position between the connecting elbow (9) and the nitrogen spring (3), a nitrogen tank (4) is provided at the upper end of the connecting elbow (9), a piston rod (5) is provided inside the nitrogen spring (3), and the upper end of the piston rod (5) is connected to the articulated plate (7).

2. A heavy-duty manipulator spring according to claim 1, characterized in that: A large arm (2) is provided on the upper side of the hinge plate (7), and a vertical arm (1) is provided at one end of the support rod (6) away from the hinge seat (8).

3. A heavy-duty manipulator spring according to claim 2, characterized in that: The vertical arm (1) and the large arm (2) are connected via a driving gear structure, and the hinge plate (7) and the large arm (2) are welded.

4. A heavy-duty manipulator spring according to claim 2, characterized in that: The support rod (6) is welded to the vertical arm (1), and the support rod (6) is rotatably connected to the hinge seat (8).

5. The heavy-duty manipulator spring according to claim 1, characterized in that: The nitrogen tank (4) is connected to the housing of the nitrogen spring (3) via bolts, and the nitrogen spring (3) is connected to the connecting elbow (9) via threads.

6. The heavy-duty manipulator spring according to claim 1, characterized in that: The one-way valve (11) is connected to the nitrogen spring (3) via threads.

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