Industrial Robot Balancer Device Attachment Mechanism
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Solution Overview
Problem
Existing balancer devices for industrial robots, particularly gas spring types, face difficulties in attachment due to the need to overcome the repulsive force of the compressible gas, making it challenging to achieve the desired compressed state without external force application, and require separate gas injection devices for maintenance, which is cumbersome.
Innovation Solution
A balancer device with a coupling member that supports the cylinder and piston rod pivotably, using bolts to fasten the coupling member and balancer support parts, allowing the piston rod to be easily pushed into the cylinder by a predetermined amount, eliminating the need for external force against the gas repulsive force, and enabling easy attachment and maintenance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a gas spring type balancer is attached with the piston rod pushed into the cylinder by a predetermined amount, then the repulsive force corresponds to the change in posture of the arm, but it is difficult to push in the piston rod by a predetermined amount against the gas force of the compressible gas
Solution Approach 1:
The attachment structure is divided into a coupling member and a balancer support part, allowing the piston rod to be attached to the coupling member while the coupling member connects to the balancer support part. This segmentation enables the piston rod to be positioned without directly pushing against the gas force during assembly.
Solution Approach 2:
The coupling member acts as an intermediary between the piston rod and the balancer support part. It provides a mechanism to transmit the repulsive force while allowing the piston rod to be attached in a relaxed state, eliminating the need to overcome gas pressure during installation.
2Ease of manufacture
If a through hole or opening part is provided in the cylinder for coil spring type balancer, then the coil spring can be compressed and held, but it cannot be applied to a gas spring type balancer wherein a compressible gas has to be sealed in
Solution Approach 1:
The coupling member provides a universal attachment mechanism that works for both coil spring type and gas spring type balancers. It achieves the compression effect needed for coil springs while maintaining the sealed structure required for gas springs, making the attachment structure universally applicable to both types.
3Manufacturing precision
If the piston rod is pushed into the cylinder by a predetermined amount against the gas force, then the balancer is attached in the correct state, but external force application is required and maintenance becomes cumbersome
Solution Approach 1:
The coupling member enables the piston rod to attach to the balancer support part in a self-service manner without requiring external force application. The structure automatically positions the piston rod at the correct distance, eliminating the need for complex maintenance operations and external tools.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Facilitates easy attachment and operation of the balancer device by eliminating the need to overcome the gas repulsive force during installation and simplifies maintenance by allowing the balancer to be attached in its natural length state, reducing the risk of damage and improving handling efficiency.
Implementation Method 1
a fastening part fastening a first end face formed at the coupling member and a second end face formed at the balancer support part or the balancer end part to push the piston rod inside the cylinder by a fastening force
Implementation Method 2
a balancer which has a cylinder and a piston rod, and applies to the piston rod a repulsive force from inside the cylinder
Data Source
AI summary
An industrial robot including a base part, an arm part, and a balancer device connected pivatably to the base part and the arm part to apply a repulsive force resisting a load acting on a pivot shaft due to gravity. The balancer device includes a balancer having a cylinder and a piston rod, end parts of the cylinder and the piston rod being pivatably connected with respect to the arm part and the base part, respectively, a coupling member attached to a support part of the base to support pivotably a balancer end part with respect to the support part, and a fastening part fastening a first end face formed at the coupling member and a second end face formed at the balancer end part to push the piston rod inside the cylinder by a fastening force.