Balancing cylinder replacement structure of robot

Abstract

The utility model provides a kind of robot's balance cylinder replacement structure, belong to robot technical field.It solves the technical problem that existing robot is difficult to give consideration to the replacement of balance cylinder convenient and applicable flexibility.This robot includes the rotating seat for connecting large arm, the rotating seat includes the seat body of disc and the balance cylinder support seat of U-shaped and open upward, balance cylinder replacement structure includes the guide groove in the upper side of the seat body and the cylindrical pin fixedly connected to the bottom of balance cylinder support seat, the guide groove has at least two and is arranged in strip parallel, the cylindrical pin has at least two and protrudes downward, the lower end of the cylindrical pin is respectively inserted in different guide groove, the balance cylinder support seat is fixedly connected with the seat body by several bolts from top to bottom through the balance cylinder support seat.The utility model guarantees that balance cylinder replacement operation is convenient while giving consideration to the flexibility of replacement.

Description

Technical Field

[0001] This utility model belongs to the field of robot technology and relates to a replacement structure for a robot's balance cylinder. Background Technology

[0002] As a crucial component of high-load robots, balancing cylinders are primarily used to balance the load torque at the joints of the robotic arm, reducing the joint's power requirements. This allows for the use of smaller motors, resulting in a more compact, energy-efficient, and cost-effective robot. Furthermore, load balancing can improve the system's dynamic performance, achieving better accuracy and responsiveness. Common balancing cylinders include spring-loaded, hydraulic, and pneumatic types. The balancing cylinder is hinged to a rotating base at the bottom of the robot, with one end hinged to the robot's main arm to achieve the balancing effect. The rotating base serves as the foundation platform supporting the balancing cylinder and housing the drive motor.

[0003] Patent application CN201910586756.1 discloses a heavy-duty four-axis palletizing robot with a spring-balanced cylinder device. The robot includes a base with a rotating axle rotatably connected to its top. A spring-balanced cylinder is bolted to the top of the rotating axle, and a two-axis boom is bolted to the top of the spring-balanced cylinder. The spring-balanced cylinder balances the tension or pressure on the robotic arm, making it less prone to breakage or damage, minimizing unbalanced forces, and effectively protecting the robot.

[0004] The spring-loaded balance cylinder in the aforementioned robot is easy to disassemble, but the robot can only be used with a single type of balance cylinder and cannot be used interchangeably with other types, resulting in poor application flexibility. Therefore, those skilled in the art typically consider the following: 1. Setting up an installation station symmetrically on the other side of the main arm on the primary axis base, allowing for the installation of corresponding types of balance cylinders on different sides of the main arm as needed, enabling switching between the two types; 2. Designing primary axis bases of different shapes for complete replacement. Summary of the Invention

[0005] This invention addresses the aforementioned problems in existing technologies by providing a replacement structure for a robot's balance cylinder. The technical problem this invention aims to solve is to improve the applicability and flexibility of the robot's balance cylinder while ensuring convenient replacement.

[0006] The objective of this utility model can be achieved through the following technical solutions:

[0007] A replacement structure for a robot's balance cylinder, the robot including a rotating base for connecting the upper arm, characterized in that the rotating base includes a disc-shaped base body and a U-shaped balance cylinder support base with its opening facing upwards, the replacement structure for the balance cylinder includes guide grooves located on the upper side of the base body and cylindrical pins fixed to the bottom surface of the balance cylinder support base, the guide grooves having at least two and arranged in parallel strips, the cylindrical pins having at least two and protruding downwards, the lower ends of the cylindrical pins being respectively inserted into different guide grooves, the balance cylinder support base being fixed to the base body by a plurality of bolts passing through the balance cylinder support base from top to bottom.

[0008] The robot's rotating base can rotate horizontally, causing the robot's upper arm and above components to turn and adjust their position. The rotating base also houses the motors that drive its own rotation and the upper arm's movement. The base consists of a disc-shaped body and a U-shaped balance cylinder support. A downward-protruding cylindrical pin is located on the bottom surface of the balance cylinder support, which is inserted into parallel guide grooves on the upper side of the body. The balance cylinder support is fixed to the body by downward-through bolts. Thus, the balance cylinder mounting base and the body are separate structures, functioning as the base when connected. When replacing the balance cylinder, the entire balance cylinder support can be directly removed. Then, fix the other balance cylinder along with the balance cylinder support to the base body, so that different types of balance cylinders can be flexibly replaced. During the installation process, the balance cylinder support can be slid along the upper side of the base body. When the cylindrical pins fall into the guide groove, the balance cylinder support will move down and stick to the base body, indicating that it is in vertical position. At this time, the balance cylinder support will not rotate horizontally due to the restriction of the cylindrical pins. Then push the balance cylinder support along the guide groove to make a small adjustment and slide it so that the mounting hole for the bolt to pass through and the screw hole on the base body can be easily aligned. Finally, install the bolts and tighten them to complete the replacement. This ensures that the replacement operation is convenient and takes into account the flexibility of the balance cylinder replacement.

[0009] In the aforementioned robot's balance cylinder replacement structure, the upper side of the base has a positioning groove, the guide groove is located on the bottom surface of the positioning groove, the bottom of the balance cylinder support is located within the positioning groove, and a gap is left between the bottom of the balance cylinder support and the inner wall of the positioning groove. This allows the balance cylinder support to be roughly positioned during pre-assembly by abutting against the inner wall of the positioning groove, facilitating more accurate placement of the cylindrical pin near the guide groove for quick insertion and adjustment, improving operational convenience. The gap setting also provides tolerance for the dimensional tolerances of the balance cylinder support.

[0010] In the aforementioned robot's balance cylinder replacement structure, the bottom surface of the balance cylinder support is rectangular. The two vertical edges of the bottom surface of the balance cylinder support are parallel to the two vertical inner walls of the opposing positioning groove. The guide groove is parallel to one of the two vertical inner walls of the positioning groove along its length. This restricted positioning groove provides a general installation direction, reducing the cycle of incorrect installation and debugging. Furthermore, after the balance cylinder support is placed in the positioning groove, it can slide along the inner wall perpendicular to the length direction of the positioning groove and the guide groove to adjust its position. This facilitates the insertion of the cylindrical pin into the guide groove for positioning. Afterward, the position of the balance cylinder support can be finely adjusted before bolts are installed for fixation.

[0011] In the aforementioned robot's balance cylinder replacement structure, the edge of the base has an outwardly protruding support portion in the shape of a right-angled plate. The positioning groove is located on the upper side of the support portion, and the two vertical inner sidewalls of the positioning groove are parallel to the two right-angled sides of the support portion. This allows the right-angled sides of the support portion to provide directional markings from the outside, facilitating quick identification of the installation direction and angle by the operator, improving operational convenience. Furthermore, it increases the installation space for the balance cylinder support seat, ensuring that balance cylinder support seats of different types and sizes do not interfere with surrounding components.

[0012] In the aforementioned robot's balance cylinder replacement structure, the positioning groove is open, extending through the two right-angled sides of the support. This facilitates the balance cylinder support seat's sliding into the positioning groove from the outside, while ensuring that the positioning groove retains only two mutually perpendicular inner sidewalls, providing a unified reference for the balance cylinder support seat's sliding and reducing interference. Furthermore, it allows operators to directly observe the fit and fixation of the balance cylinder support seat and the bottom surface of the positioning groove from the side after installation.

[0013] In the aforementioned robot's balance cylinder replacement structure, several guide grooves are arranged in a straight line offset from the center of the positioning groove. This ensures that when the balance cylinder support is installed backwards, a large gap exists between the cylindrical pin and the guide groove, making short-distance adjustments impossible and thus preventing operators from accidentally installing it backwards.

[0014] In the aforementioned robot's balance cylinder replacement structure, the joint between the two perpendicular inner sidewalls of the positioning groove has an inner chamfered surface, and the bottom surface of the balance cylinder support base has a chamfered corner opposite to the inner chamfered surface. This further indicates the correct installation direction of the balance cylinder support base through the inner chamfered surface, allowing operators to quickly determine the installation direction, making the operation convenient and efficient.

[0015] In the aforementioned robot's balance cylinder replacement structure, the balance cylinder support has a vertically penetrating identification and observation hole and several vertically penetrating mounting holes. The identification and observation hole is waist-shaped, with its width greater than the radial dimension of the mounting holes. The bottom surface of the positioning groove has several threaded holes, and bolts pass through the mounting holes and are screwed into them. The identification and observation hole and at least one of the mounting holes are located symmetrically around the center of the positioning groove. Thus, when the balance cylinder support is installed in the opposite direction, the operator can see the threaded holes below that will be fitted with the bolts through the larger identification and observation hole, facilitating the determination of whether the installation direction is correct and ensuring convenient and accurate operation.

[0016] In the aforementioned robot's balance cylinder replacement structure, the guide grooves are all located between two adjacent screw holes. This arrangement of guide grooves within the space between the screw holes makes the structure compact. Furthermore, the closer proximity of the screw holes to the cylindrical pin helps reduce the positional difference caused by the slight deflection of the balance cylinder support around the cylindrical pin during installation, ensuring smooth bolt installation.

[0017] In the aforementioned robot's balance cylinder replacement structure, the guide groove has an flared opening, and the lower edge of the cylindrical pin is chamfered. This provides guidance when the cylindrical pin slides into the guide groove, making the sliding smooth and convenient.

[0018] Compared with the prior art, the advantages of this utility model are as follows:

[0019] The robot's balance cylinder replacement structure features a rotary base designed as a separate structure for the balance cylinder mounting base and the base body. When replacing different types of balance cylinders, the entire balance cylinder support base can be directly replaced and then fixed using a unified connection method. Furthermore, the installation and replacement process is convenient, taking into account both the flexibility and ease of balance cylinder replacement. Attached Figure Description

[0020] Figure 1 This is a three-dimensional structural diagram of this embodiment.

[0021] Figure 2 This is a schematic diagram of the three-dimensional exploded structure of this embodiment.

[0022] Figure 3 yes Figure 2 Enlarged view of part A in the image.

[0023] Figure 4 This is a three-dimensional exploded structure diagram from another perspective of this embodiment.

[0024] Figure 5 yes Figure 4 Enlarged view of part B in the image.

[0025] Figure 6 This is a top view of the structure of this embodiment.

[0026] Figure 7 yes Figure 6 A schematic diagram of the CC cross-sectional structure.

[0027] Figure 8 yes Figure 7 Enlarged view of part D in the image.

[0028] In the diagram, 10 is the rotating seat; 1 is the seat body; 11 is the guide groove; 12 is the positioning groove; 121 is the inner chamfered surface; 13 is the support part; 14 is the screw hole; 2 is the balance cylinder support seat; 21 is the identification observation hole; 22 is the mounting hole; 3 is the cylindrical pin; and 4 is the bolt. Detailed Implementation

[0029] 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.

[0030] like Figure 1 As shown, the robot includes a rotating base 10 for connecting the upper arm. The rotating base 10 includes a disc-shaped base body 1 and a U-shaped, open-ended balance cylinder support base 2. The two arms of the balance cylinder support base 2 are used to install the balance cylinder. The upper side of the base body 1 has a positioning groove 12. The bottom of the balance cylinder support base 2 is located in the positioning groove 12. The balance cylinder support base 2 is fixedly connected to the base body 1 by six bolts 4 that pass through the balance cylinder support base 2 from top to bottom.

[0031] like Figure 2 , Figure 3 As shown, the upper side of the base 1 has two parallel, strip-shaped guide grooves 11. The guide grooves 11 are located on the bottom surface of the positioning recess 12, and each guide groove 11 is located between two adjacent screw holes 14. The edges of the guide grooves 11 are flared. The bottom surface of the positioning recess 12 has several screw holes 14. The edge of the base 1 has an outwardly protruding support portion 13 in the shape of a right-angled plate. The positioning recess 12 is located on the upper side of the support portion 13, and the two vertical inner sidewalls of the positioning recess 12 are parallel to the two right-angled sides of the support portion 13. The positioning recess 12 extends through the two right-angled sides of the support portion 13 in an open shape. The two guide grooves 11 are arranged along a straight line offset from the center of the positioning recess 12. The joint of the two perpendicular inner sidewalls of the positioning recess 12 has an inner chamfered surface 121. The guide grooves 11 are parallel to one vertical inner sidewall of the positioning recess 12 along their length.

[0032] like Figure 4 , Figure 5As shown, at least two downward-protruding cylindrical pins 3 are fixed to the bottom surface of the balance cylinder support 2. The lower edges of the cylindrical pins 3 are chamfered. The bottom surface of the balance cylinder support 2 is rectangular. The two vertical edges of the bottom surface of the balance cylinder support 2 are parallel to the two vertical inner walls of the opposite positioning groove 12. One corner of the bottom surface of the balance cylinder support 2 opposite to the inner chamfered surface 121 is chamfered. The balance cylinder support 2 has a vertically penetrating identification observation hole 21 and several vertically penetrating mounting holes 22. The identification observation hole 21 is waist-shaped, and its width is greater than the radial dimension of the mounting holes 22.

[0033] like Figure 6-8 As shown, the lower ends of the two cylindrical pins 3 are respectively inserted into the two guide grooves 11. A gap is left between the bottom of the balance cylinder support 2 and the inner wall of the positioning groove 12. The bolt 4 passes through the mounting hole 22 and is screwed into the screw hole 14. The identification observation hole 21 and at least one mounting hole 22 are located symmetrically around the center of the positioning groove 12. The gap between the edge of the bottom of the balance cylinder support 2 near the upper arm and the inner wall of the positioning groove 12 is smaller than the distance between the cylindrical pin 3 near the upper arm and the inner wall of the guide groove 11.

[0034] When replacing, first loosen the bolt 4 to remove the entire balance cylinder support 2 along with the balance cylinder. Then, lift the balance cylinder support 2 containing different types of balance cylinders onto the base 1, aligning the bottom edge of the balance cylinder support 2 with the inner wall of the positioning groove 12 perpendicular to the guide groove 11 and sliding along it. This ensures that the lower ends of the two cylindrical pins 3 fall into the strip-shaped guide groove 11. Then, control the balance cylinder support 2 to make slight adjustments along the length of the guide groove 11 so that the mounting hole 22 is aligned with the screw hole 14. Finally, insert the bolt 4 to complete the replacement.

[0035] 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 replace them, without departing from the spirit of this utility model or exceeding the scope defined by the appended claims.

Claims

1. A replacement structure for a robot's balance cylinder, the robot comprising a rotating base (10) for connecting a large arm, characterized in that, The rotating seat (10) includes a disc-shaped seat body (1) and a U-shaped, open-facing balance cylinder support seat (2). The balance cylinder replacement structure includes a guide groove (11) on the upper side of the seat body (1) and a cylindrical pin (3) fixed to the bottom surface of the balance cylinder support seat (2). The guide groove (11) has at least two and is arranged in parallel strips. The cylindrical pin (3) has at least two and protrudes downward. The lower ends of the cylindrical pins (3) are respectively inserted into different guide grooves (11). The balance cylinder support seat (2) is fixed to the seat body (1) by a number of bolts (4) that pass through the balance cylinder support seat (2) from top to bottom.

2. The robot balance cylinder replacement structure according to claim 1, characterized in that, The upper side of the seat (1) has a positioning groove (12), the guide groove (11) is located on the bottom surface of the positioning groove (12), the bottom of the balance cylinder support seat (2) is located in the positioning groove (12), and there is a gap between the outer periphery of the bottom of the balance cylinder support seat (2) and the inner wall of the positioning groove (12).

3. The robot balance cylinder replacement structure according to claim 2, characterized in that, The bottom surface of the balance cylinder support (2) is rectangular. The two vertical edges of the bottom surface of the balance cylinder support (2) are parallel to the two vertical inner walls of the opposite positioning sink (12). The guide groove (11) is parallel to one of the two vertical inner walls of the positioning sink (12) along its length.

4. The robot balance cylinder replacement structure according to claim 3, characterized in that, The seat (1) has an outwardly protruding support part (13) in the shape of a right angle plate at its edge. The positioning groove (12) is located on the upper side of the support part (13). The two vertical inner walls of the positioning groove (12) are parallel to the two right angle sides of the support part (13).

5. The robot balance cylinder replacement structure according to claim 4, characterized in that, The positioning groove (12) is open, extending through the two right-angled sides of the support (13).

6. The robot balance cylinder replacement structure according to claim 3, characterized in that, Several of the guide grooves (11) are arranged in a straight line that is offset from the center of the positioning groove (12).

7. The robot balance cylinder replacement structure according to claim 3, characterized in that, The two perpendicular inner sidewalls of the positioning sink (12) have an inner chamfered surface (121) at their joint, and the bottom surface of the balance cylinder support (2) is chamfered at one corner opposite to the inner chamfered surface (121).

8. The robot balance cylinder replacement structure according to claim 2, characterized in that, The balance cylinder support base (2) has an identification observation hole (21) that runs vertically through the base and several mounting holes (22) that run vertically through the base. The identification observation hole (21) is waist-shaped and its width is greater than the radial dimension of the mounting hole (22). The bottom surface of the positioning groove (12) has several screw holes (14). The bolt (4) passes through the mounting hole (22) and is screwed into the screw hole (14). The identification observation hole (21) and at least one of the mounting holes (22) are located symmetrically around the center of the positioning groove (12).

9. The robot balance cylinder replacement structure according to claim 8, characterized in that, The guide grooves (11) are all located between two adjacent screw holes (14).

10. The robot's balance cylinder replacement structure according to claim 1, 2, or 3, characterized in that, The guide groove (11) is flared at the opening, and the lower edge of the cylindrical pin (3) is chamfered.

Images