A balance cylinder structure for a high-load industrial robot

Abstract

This invention provides a balance cylinder structure for a high-load industrial robot, belonging to the field of balance cylinder technology. It solves the problem of poor stability in existing balance cylinders. In this high-load industrial robot balance cylinder structure, the middle spring is located between the large spring and the small spring. One end of the cylinder body is fixedly connected to a cylinder cover, and the other end is fixedly connected to a guide seat. One end of the guide shaft is connected to a pull plate, and the other end extends out of the guide seat. The pull plate has a first, second, and third step surface arranged in annular step shape from the outside to the inside. On the inner sidewall of one end of the cylinder body, a fourth and fifth step surface arranged in annular step shape from the outside to the inside are arranged in annular step shape. The two ends of the large spring act on the first and fourth step surfaces respectively, the two ends of the middle spring act on the second and fifth step surfaces respectively, and the two ends of the small spring act on the third and fifth step surfaces respectively. This high-load industrial robot balance cylinder structure has the advantage of good stability.

Description

Technical Field

[0001] This utility model belongs to the field of balance cylinder technology and relates to a balance cylinder structure for a high-load industrial robot. Background Technology

[0002] A robot balancing cylinder is a mechanical device that generates a counter-torque through physical reaction forces (such as elastic force, hydraulic pressure, or pneumatic pressure). It is a key auxiliary device in industrial robots used to counteract the load torque generated by gravity on the joints of the robotic arm.

[0003] Existing robot balancing cylinders, such as the compression spring balancing cylinder and robot disclosed in Chinese patent literature [Patent No.: 202122802849.9; Application Publication No.: CN216399701U], include a balancing cylinder shell, a piston disc stop, a piston disc, a compression spring assembly, a piston rod, a balancing cylinder stop, a parallel piston head, and a cylindrical bearing. The balancing cylinder shell includes two accommodating cavities, with a compression spring assembly fitted on each of the two piston rods and located within the two accommodating cavities. The piston disc stop is fixedly installed at one end of the piston rod, and the piston disc is fitted on the piston rod and limited by the piston disc stop. The balancing cylinder stop is fitted on the piston rod, and the compression spring assembly is located between the piston disc and the balancing cylinder stop. The parallel piston head is fixedly installed with the two piston rods, and a cylindrical bearing is installed on the parallel piston head. The two piston rods are slidably installed at one end of the balancing cylinder shell, and the piston rods and the balancing cylinder shell are sealed, making the two accommodating cavities two sealed cavities.

[0004] In this type of balance cylinder, one end of the piston rod passes through the balance cylinder baffle, and the other end is connected to the piston disc. The piston rod is fitted with a first compression spring, a second compression spring, and a third compression spring. One end of each of the first, second, and third compression springs acts on the balance cylinder baffle, and the other end acts on the piston disc. The balance cylinder baffle guides the piston rod. The elastic force of the compression springs acts directly on the balance cylinder baffle. There is a possibility that the balance cylinder baffle may deflect due to uneven force, causing the balance cylinder baffle to jam the piston rod, resulting in poor piston rod movement and reducing the stability of the balancing device. Summary of the Invention

[0005] The purpose of this invention is to address the aforementioned problems in the existing technology by proposing a balance cylinder structure for a high-load industrial robot, and to solve the technical problem of how to improve the stability of the balance cylinder structure.

[0006] The objective of this utility model can be achieved through the following technical solution: A balance cylinder structure for a large-load industrial robot, comprising a cylinder body and a guide shaft, a large spring, a medium spring, and a small spring located within the cylinder body. The medium spring is located between the large spring and the small spring. One end of the cylinder body is fixedly connected to a cylinder cover, and the other end is fixedly connected to a guide seat. One end of the guide shaft is connected to a pull plate, and the other end extends through the guide seat. The pull plate is provided with a first step surface, a second step surface, and a third step surface in an annular step shape from the outside to the inside. The characteristic feature is that a fourth step surface and a fifth step surface in an annular step shape are provided on the inner sidewall of one end of the cylinder body from the outside to the inside. The two ends of the large spring act on the first step surface and the fourth step surface, respectively. The two ends of the medium spring act on the second step surface and the fifth step surface, respectively. The two ends of the small spring act on the third step surface and the fifth step surface, respectively.

[0007] In this balance cylinder structure, one end of the large, medium, and small springs acts on the pull plate, while the other end acts directly on the cylinder body. This means the other end does not act on the guide seat, preventing the guide seat from loosening or deviating from its set position, ensuring smooth movement of the guide shaft, and thus improving the stability of the balance cylinder structure. The first, second, third, fourth, and fifth step surfaces limit the positions of the large, medium, and small springs, preventing them from deviating and further improving the stability of the balance cylinder structure. Only the fourth and fifth step surfaces are provided on the inner wall of one end of the cylinder body to prevent excessive protrusion at that end, ensuring sufficient strength and thus enhancing the stability of the balance cylinder structure.

[0008] In the aforementioned structure of a high-load industrial robot balancing cylinder, the outer wall of one end of the cylinder is annularly stepped, and the stepped shape of the outer wall of one end of the cylinder is aligned with that of the inner wall of the same end. This structure ensures that the outer and inner walls of one end of the cylinder are matched, making the thickness and strength of one end of the cylinder as uniform as possible, thereby improving the stability of the balancing cylinder structure.

[0009] In the aforementioned structure of a high-load industrial robot balancing cylinder, the guide seat is annular, with its outer diameter greater than that of its inner end. The outer end of the guide seat is fixedly connected to the cylinder body via fasteners, and the inner end of the guide seat extends inward to the middle of the guide shaft. This structure ensures a strong connection between the guide seat and the cylinder body while also guaranteeing the guiding effect of the guide seat on the guide shaft, thereby improving the stability of the balancing cylinder structure.

[0010] In the aforementioned structure of a high-load industrial robot balancing cylinder, the balancing cylinder structure further includes a locking block. The pull plate has a connecting hole, and the wall of the connecting hole has an annular retaining edge. A flat needle roller bearing is abutted against the retaining edge. The locking block is embedded in the connecting hole and abuts against the flat needle roller bearing. The other end of the guide shaft passes through the connecting hole and abuts against the locking block. Fasteners are inserted into the locking block and the guide shaft to connect the guide shaft to the pull plate. This structure facilitates the connection between the guide shaft and the pull plate, and the flat needle roller bearing ensures smooth relative rotation between the locking block and the pull plate.

[0011] In the aforementioned structure of a high-load industrial robot balancing cylinder, the pull plate is disc-shaped, with a first weight-reducing groove in the center of one side of the pull plate, shaped like a round bowl. The guide shaft passes through the first weight-reducing groove, and the other side of the pull plate has a second weight-reducing groove in the shape of an annulus. The locking block is located at the center of the space enclosed by the second weight-reducing groove. This structure ensures sufficient strength for the pull plate while reducing the amount of material used, thus lowering costs.

[0012] In the aforementioned structure of a high-load industrial robot balancing cylinder, the cylinder cover has a through hole at its center, the locking block is located at the center of the through hole, and a sealing cover is fixedly connected to the cylinder cover, sealing the through hole. With this structure, the locking block can be removed by removing the sealing cover, allowing the pull plate and guide shaft to separate. The cylinder body and cylinder cover are then disassembled and reassembled using bolts. This method of disassembling the balancing cylinder structure away from the robot arm facilitates subsequent maintenance and repair, improves operator efficiency, and reduces time costs.

[0013] Compared with the prior art, the balance cylinder structure for a large-load industrial robot provided by this utility model has the following advantages:

[0014] 1. In this balance cylinder structure, one end of the large, medium, and small springs acts on the pull plate, while the other end acts directly on the cylinder body. That is, the other end does not act on the guide seat, so that the guide seat will not loosen and deviate from the set position, ensuring smooth movement of the guide shaft, thereby improving the stability of the balance cylinder structure.

[0015] 2. The inner wall of one end of the cylinder body of this balance cylinder structure is only provided with the fourth and fifth step surfaces to avoid the cylinder body from protruding too much. At the same time, the outer wall of one end of the cylinder body is in the shape of annular steps, so that the outer wall and inner wall of one end of the cylinder body match, making the thickness and strength of one end of the cylinder body uniform, thereby improving the stability of the balance cylinder structure. Attached Figure Description

[0016] Figure 1 This is a cross-sectional view of the overall structure of the balance cylinder.

[0017] Figure 2 This is the structure of the balance cylinder. Figure 1 A magnified view of region A in the middle.

[0018] Figure 3 This is the structure of the balance cylinder. Figure 1 A magnified view of region B in the middle.

[0019] Figure 4 This is the structure of the balance cylinder. Figure 1 A magnified view of region C in the middle.

[0020] In the diagram, 1. Cylinder block; 11. Fourth step surface; 12. Fifth step surface; 2. Guide shaft; 3. Large spring; 4. Medium spring; 5. Small spring; 6. Cylinder head; 61. Through hole; 7. Guide seat; 8. Pull plate; 81. First step surface; 82. Second step surface; 83. Third step surface; 84. Connecting hole; 85. Stop edge; 86. First weight reduction groove; 87. Second weight reduction groove; 9. Locking block; 10. Sealing cover; 13. Flat needle roller bearing. Detailed Implementation

[0021] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0022] like Figure 1 As shown, the balance cylinder structure of this heavy-duty industrial robot includes a cylinder body 1, a guide shaft 2, a large spring 3, a medium spring 4, a small spring 5, a cylinder cover 6, a guide seat 7, a pull plate 8, a locking block 9, and a sealing cover 10. The guide shaft 2, large spring 3, medium spring 4, small spring 5, pull plate 8, guide seat 7, and locking block 9 are all located in the cylinder body 1, and the medium spring 4 is located between the large spring 3 and the small spring 5.

[0023] One end of the cylinder block 1 is fixedly connected to the cylinder head 6, and the other end is fixedly connected to the guide seat 7. One end of the guide shaft 2 is connected to the pull plate 8, and the other end passes through the guide seat 7.

[0024] Specifically, the cylinder head 6 has a through hole 61 at its center, and a sealing cap 10 is fixedly connected to the cylinder head 6 to block the through hole 61. The guide seat 7 is annular, and the outer diameter of the outer end of the guide seat 7 is larger than the outer diameter of the inner end of the guide seat 7. The outer end of the guide seat 7 is fixedly connected to the cylinder body 1 by fasteners such as bolts, and the inner end of the guide seat 7 extends inward to the middle of the guide shaft 2. Figure 4As shown, the pull plate 8 has a connecting hole 84, and the wall of the connecting hole 84 has an annular retaining edge 85. A flat needle roller bearing 13 is attached to the retaining edge 85. The locking block 9 is embedded in the connecting hole 84 and abuts against the flat needle roller bearing 13. The other end of the guide shaft 2 passes through the connecting hole 84 and abuts against the locking block 9. The guide shaft 2 is connected to the pull plate 8 by fasteners such as bolts passing through the locking block 9 and the guide shaft 2. The locking block 9 is located at the center of the through hole 61.

[0025] The pull plate 8 is disc-shaped. At the center of one side of the pull plate 8, there is a first weight-reducing groove 86 in the shape of a round bowl. The guide shaft 2 passes through the first weight-reducing groove 86. At the other side of the pull plate 8, there is a second weight-reducing groove 87 in the shape of a ring. The locking block 9 is located at the center of the space enclosed by the second weight-reducing groove 87.

[0026] like Figure 2 , Figure 3 As shown, the pull plate 8 has a first step surface 81, a second step surface 82, and a third step surface 83 arranged in annular step shape from the outside to the inside. The inner wall of one end of the cylinder 1 has a fourth step surface 11 and a fifth step surface 12 arranged in annular step shape from the outside to the inside. The two ends of the large spring 3 act on the first step surface 81 and the fourth step surface 11 respectively, the two ends of the medium spring 4 act on the second step surface 82 and the fifth step surface 12 respectively, and the two ends of the small spring 5 act on the third step surface 83 and the fifth step surface 12 respectively. The outer wall of one end of the cylinder 1 is annular step-shaped, and the outer wall of one end of the cylinder 1 faces the same direction as the step shape of the inner wall of one end of the cylinder 1.

[0027] The specific embodiments described herein are merely illustrative examples illustrating the spirit of this utility model. Those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of this utility model or exceeding the scope defined by the appended claims.

[0028] Although this document frequently uses terms such as cylinder body 1, fourth step surface 11, fifth step surface 12, guide shaft 2, large spring 3, medium spring 4, small spring 5, cylinder head 6, through hole 61, guide seat 7, pull plate 8, first step surface 81, second step surface 82, third step surface 83, connecting hole 84, retaining edge 85, first weight reduction groove 86, second weight reduction groove 87, guide seat 7, locking block 9, sealing cover 10, and flat needle roller bearing 13, the possibility of using other terms is not excluded. The use of these terms is merely for the convenience of describing and explaining the essence of this utility model; interpreting them as any kind of additional limitation would contradict the spirit of this utility model.

Claims

1. A balance cylinder structure for a heavy-duty industrial robot, comprising a cylinder body (1) and a guide shaft (2), a large spring (3), a medium spring (4), and a small spring (5) located within the cylinder body (1), wherein the medium spring (4) is located between the large spring (3) and the small spring (5), a cylinder cover (6) is fixedly connected to one end of the cylinder body (1), and a guide seat (7) is fixedly connected to the other end, a pull plate (8) is connected to one end of the guide shaft (2), and the other end extends out of the guide seat (7), wherein the pull plate (8) is provided with a first step surface (81), a second step surface (82), and a third step surface (83) in an annular step shape from the outside to the inside, characterized in that, The inner wall of one end of the cylinder (1) is provided with a fourth step surface (11) and a fifth step surface (12) in the shape of an annular step from the outside to the inside. The two ends of the large spring (3) act on the first step surface (81) and the fourth step surface (11) respectively. The two ends of the middle spring (4) act on the second step surface (82) and the fifth step surface (12) respectively. The two ends of the small spring (5) act on the third step surface (83) and the fifth step surface (12) respectively.

2. A counterbalance cylinder structure for a heavy duty industrial robot according to claim 1, characterized in that The outer side wall of one end of the cylinder (1) is in the shape of an annular step, and the outer side wall of one end of the cylinder (1) and the inner side wall of one end of the cylinder (1) are aligned in the same direction.

3. A counterbalance cylinder structure for a heavy duty industrial robot according to claim 1 or 2, characterized in that The guide seat (7) is annular. The outer diameter of the outer end of the guide seat (7) is larger than the outer diameter of the inner end of the guide seat (7). The outer end of the guide seat (7) is fixedly connected to the cylinder (1) by fasteners. The inner end of the guide seat (7) extends inward to the middle of the guide shaft (2).

4. A counterbalance cylinder structure for a heavy duty industrial robot according to claim 1 or 2, characterized in that The balance cylinder structure also includes a locking block (9). The pull plate (8) has a connecting hole (84). The wall of the connecting hole (84) has an annular retaining edge (85). A flat needle roller bearing (13) is attached to the retaining edge (85). The locking block (9) is embedded in the connecting hole (84) and abuts against the flat needle roller bearing (13). The other end of the guide shaft (2) passes through the connecting hole (84) and abuts against the locking block (9). The guide shaft (2) is connected to the pull plate (8) by fasteners passing through the locking block (9) and the guide shaft (2).

5. A counterbalance cylinder structure for a heavy duty industrial robot according to claim 4, characterized in that The pull plate (8) is disc-shaped. A first weight-reducing groove (86) in the shape of a round bowl is located at the center of one side of the pull plate (8). The guide shaft (2) passes through the first weight-reducing groove (86). A second weight-reducing groove (87) in the shape of a ring is located on the other side of the pull plate (8). The locking block (9) is located at the center of the space enclosed by the second weight-reducing groove (87).

6. A counterbalance cylinder structure for a heavy duty industrial robot according to claim 4, characterized in that The cylinder head (6) has a through hole (61) at its center, the locking block (9) is located at the center of the through hole (61), and a sealing cap (10) is fixedly connected to the cylinder head (6), the sealing cap (10) sealing the through hole (61).

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