CN104816317A - Balancing device and robot therewith - Google Patents
Balancing device and robot therewith Download PDFInfo
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- CN104816317A CN104816317A CN201510151298.0A CN201510151298A CN104816317A CN 104816317 A CN104816317 A CN 104816317A CN 201510151298 A CN201510151298 A CN 201510151298A CN 104816317 A CN104816317 A CN 104816317A
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- bascule
- spring members
- large arm
- robot
- compensating cylinder
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Abstract
The invention provides a balancing device and a robot therewith. The balancing device is used for the robot, and the robot comprises a big arm and a servo motor, wherein the servo motor is disposed in the big arm and used for driving the big arm to rotate. The balancing device comprises a balance cylinder, a balance cylinder shaft, a plurality of spring parts which are arranged in an overlapped manner, and a supporting part which is used for supporting two end parts of the spring parts. The balance cylinder shaft is arranged to leave from the balance cylinder or enter into the balance cylinder when the big arm rotates. The rigidity of the spring parts are arranged to be gradually increased when two end parts of the spring parts face the central part.
Description
Technical field
The present invention relates to bascule and possess the robot of this bascule.
Background technology
In the past, industrial robot comprised pedestal, bascule, large arm, forearm and wrist part.The servomotor driving large arm to rotate is provided with in described large arm.Bascule comprises compensating cylinder, the stacked multiple spring members be arranged in described compensating cylinder, for supporting spring base and the compensating cylinder axle of this spring members.This compensating cylinder axle is provided with oscillating bearing, and this oscillating bearing is connected with large arm by bascule rotating shaft.Compensating cylinder axle is set to leave or enter described compensating cylinder to compress or to discharge the spring members be arranged in described compensating cylinder at machine man-hour, can discharge in energy storage to described spring members or from described spring members thus, for offsetting the turning moment caused because of the gravity load of large arm.
But, when described servomotor starts and drives described large arm to rotate, pull out described compensating cylinder axle, compression spring part, therefore servomotor needs to overcome the spring force of spring members and starts, and in the case, servomotor needs to bear very large starting duty.In addition, in the past, bascule build was comparatively large, also had the leeway of improvement.
Summary of the invention
The object of the present invention is to provide and a kind ofly can reduce load when robot motor starts, small bascule and possess the robot of this bascule.
In order to achieve the above object, the invention provides a kind of bascule, for robot, described robot comprises large arm and to be arranged in described large arm and servomotor for driving described large arm to rotate, described bascule comprise compensating cylinder, compensating cylinder axle, stacked multiple spring members, for supporting the support unit at the both ends of described spring members, described compensating cylinder axle is set to leave or enter described compensating cylinder when described large arm is rotated, and described spring members is set to along with both ends that rigidity increases gradually towards pars intermedia.
In addition, in the bascule that the present invention relates to, preferably: described spring members is set to along with both ends that diameter increases gradually towards pars intermedia.
In addition, in the bascule that the present invention relates to, preferably: in described spring members, configure hollow part, this hollow part reduces towards its size of central portion gradually along with both ends.
In addition, in the bascule that the present invention relates to, preferably: in described spring members, configure hollow part, this hollow part reduces towards its size of central portion gradually along with both ends.
In addition, in the bascule that the present invention relates to, preferably: the length of described multiple spring members is different.
In addition, in the bascule that the present invention relates to, preferably: between an end and described support unit of described spring members, set predetermined interval.
In addition, in the bascule that the present invention relates to, preferably: the described spring members being set predetermined interval between an end and described support unit is fixed to by locking member on another spring members, the both ends supported portion part supporting of another spring members described.
In addition, in the bascule that the present invention relates to, preferably: in described support unit, be provided with draw-in groove, the both ends of described spring members are fixed in described draw-in groove.
In addition, the present invention is the robot comprising the bascule that above-mentioned any one is recorded.
According to the present invention, load when robot motor starts can be reduced, and the size of bascule can be reduced, reduce material usage.
Accompanying drawing explanation
Fig. 1 represents the overview possessing the robot of bascule that the present invention relates to;
Fig. 2 is the schematic diagram of the structure representing bascule;
Fig. 3 represents the helical spring schematic diagram being configured with hollow part;
Fig. 4 is the schematic diagram of another structure representing bascule.
Label declaration
100 robots, 1 pedestal, 2 bascules, 3 large arm, 4 forearms, 5 wrist part, P0 datum level, A1 first axle, A2 second axle, A3 the 3rd axle, A4 the 4th axle, A5 the 5th axle, 31 servomotors, 21 compensating cylinders, 22 helical springs, 23 spring bases, 24 compensating cylinder axles, 25 bascule lids, 6 oscillating bearings, 7 bascule rotating shafts, 221, 222 helical springs, 29 through holes, 26 threaded portions, 27 nuts, 28a draw-in groove, 28b draw-in groove, 22a hollow part, 22b locking member, 30 connecting axles
Detailed description of the invention
Below, with reference to accompanying drawing, the specific embodiment of the present invention is described.
Fig. 1 is the overview representing the robot 100 possessing bascule that the present invention relates to.The robot 100 that the present invention relates to comprises pedestal 1, bascule 2, large arm 3, forearm 4 and wrist part 5.
In FIG, with datum level P0 for basis of reference defines three-dimensional system of coordinate XYZ.Wherein, XY plane is parallel with datum level P0, and Z axis is perpendicular to datum level P0.In FIG, pedestal 1 is fixed in datum level P0, and large arm 3 is vertical with datum level P0; Forearm 4 and wrist part 5 vertical with large arm 3, and be parallel to datum level P0.Here alleged " vertically ", " parallel " etc., do not require that its angulation is 90 degree or 0 degree, but allow certain tolerance or error.
Pedestal 1 is the base of industrial robot 100, for robot 100 is mounted on workplace, and supports the miscellaneous part of robot 100.Under normal circumstances, pedestal 1 can be made up of the material that metal, alloy etc. are firm, also can be made up of other various materials, as long as its performance such as rigidity, flexibility satisfies the demands.Pedestal can be formed by manufacturing process such as castings.The top of pedestal 1 and large arm 3 and bascule 2 are connected.The bottom of pedestal 1 is fixed on datum level P0 by modes such as mechanical links.It should be noted that, although most cases bottom base 1 is directly fixed on ground (now ground is datum level P0), is not limited to this, also can be fixed in other planes such as workbench.Such as, when needs by industrial robot 100 be inverted carry out suspension arrange time, pedestal 1 can be fixed on the lower surface of ceiling etc.
Its one end of large arm 3 is installed in pedestal 1 by large arm axle, relatively can rotate (the first rotary motion) around the first axle A1 perpendicular to datum level P0 relative to pedestal 1.As seen from Figure 1, this first rotation is positioned at XY plane.In addition, large arm 3 can also be rotated (the second rotary motion) around the second axle A2 (large arm axle) being parallel to datum level.As shown in Figure 1, this second rotation is positioned at XZ plane.The other end of large arm 3 is connected with forearm 4.As shown in Figure 1, large arm 3 can carry out relative rotation (the 3rd rotary motion) around the 3rd axle A3 with forearm 4.The servomotor 31 driving large arm 3 to rotate is provided with in large arm 3.
Forearm 4, in shaft-like, can, under the driving of servomotor, carry out rotating (the 4th rotary motion) around its 4th axle A4.As mentioned above, one end of forearm 4 is connected with large arm 3.In addition, the other end of forearm 4 is connected with wrist part 5.As shown in Figure 1, forearm 4 can carry out relative rotation (the 5th rotary motion) with wrist part 5 around the 5th axle A5 being parallel to datum level P0.
Except the above-mentioned first to the 5th rotary motion, the industrial robot 100 of the present embodiment also comprises the 6th rotary motion.Described 6th rotary motion refers to the motion that the execution unit (not shown) be connected with the end of wrist part 5 rotates around its axle center.Thus, the rotary motion total of all parts of the industrial robot 100 of the present embodiment has six rotating shafts, and therefore this industrial robot 100 is also referred to as six-joint robot.
For the inside (not shown) that above-mentioned first rotary motion provides the servomotor of power to be arranged at pedestal 1.For above-mentioned second rotary motion provides the servomotor 31 of power to be arranged near the second axle A2 (explained later).For above-mentioned 3rd rotary motion provides the servomotor of power to be arranged at (not shown) near the 3rd axle A3.For the above-mentioned 4th and the 5th rotary motion provides the servomotor 41 of power to be arranged at one end of forearm 4, its power by power transmissions such as decelerators to wrist body and forearm transmission.
Bascule 2 comprises compensating cylinder 21, the stacked multiple helical springs 22 (, illustrating two here) be arranged in compensating cylinder 21, for supporting the spring base 23 of this helical spring 22, compensating cylinder axle 24 and bascule lid 25.Bascule 2 is installed on pedestal 1 by connecting axle 30.Described compensating cylinder axle 24 is provided with oscillating bearing 6, and this oscillating bearing 6 is connected with large arm 3 by bascule rotating shaft 7.Compensating cylinder axle 24 is set to leave or enter compensating cylinder 21 when robot 100 works to compress or to discharge the helical spring 22 be arranged in compensating cylinder 21, can discharge in energy storage to helical spring 22 or from spring members 22 thus, for offsetting the turning moment caused because of the gravity load of large arm 3.Specifically, as shown in Figure 1, large arm 3 is in upright state, now be called initial position, when servomotor 31 starts and drives large arm 3 to rotate from initial position, by the oscillating bearing 6 that is connected with compensating cylinder axle 24 and bascule rotating shaft 7, compensating cylinder axle 24 is pulled out from compensating cylinder 21, helical spring 22 is compressed, applied and the rightabout turning moment of large arm 3 rotation direction by helical spring 22 pairs of large arm 3, offset the turning moment caused because of the gravity load of the rotation change generation of large arm 3 thus.
In addition to the parts mentioned above, industrial robot 100 at least also comprises: electric power supply system and motion control system.Described electric power supply system can provide electric power needed for its work to each servomotor.By scientifically planning layout power transmission line, meet the need for electricity of each servomotor.In addition, described motion control system can control the action of each moving component.The program that described motion control system can preset according to user, controls the action of each moving component.
Then, the structure of bascule 2 is described in detail with reference to accompanying drawing 2.Fig. 2 is the schematic diagram of the structure representing bascule.As shown in Figure 2, this bascule 2 comprises stacked two helical springs 221,222 as spring members.This helical spring 221,222 is configured to one end and is supported on bascule lid 25, and the other end is supported on spring base 23.The central portion of spring base 23 is provided with the through hole 29 for the top through compensating cylinder axle 24, the top of compensating cylinder axle 24 is provided with threaded portion 26, screwed togather by threaded portion 26 and nut 27, the top of compensating cylinder axle 24 is fixed on spring base 23.Spring base 23 is provided with draw-in groove 28a, one end of helical spring 222 is fixed in draw-in groove 28a, the size of draw-in groove 28a is a bit larger tham the diameter of helical spring 222, similarly, the position corresponding with draw-in groove 28a on bascule lid 25 is also provided with draw-in groove 28b, the size of draw-in groove 28b is identical with the size of draw-in groove 28a, and the other end of helical spring 222 is fixed in draw-in groove 28b.One end of helical spring 221 is supported by the end surfaces outside the draw-in groove 28b on bascule lid 25, and the other end of helical spring 221 is supported by the end surfaces outside the draw-in groove 28a on spring base 23.
In the bascule 2 that the present invention relates to, helical spring 221,222 is set to along with both ends increase gradually towards its rigidity of central portion.Here, as shown in Figure 2, helical spring 221,222 is set to along with both ends increase gradually towards its diameter of central portion, and therefore its coefficient of elasticity increases gradually.In the past, when servomotor 31 starts and drives large arm 3 to rotate, pull-out compensating cylinder axle 24, compression helical spring 22, therefore servomotor 31 overcomes the spring force of helical spring 22 and starts, and in the case, servomotor 31 needs to bear very large starting duty.But, in the present embodiment, as mentioned above, owing to helical spring 221,222 being set to along with both ends increase gradually towards its diameter of central portion, therefore compared with being constant helical spring with diameter, the spring force produced when compression starts is little, thus the starting duty born when servomotor 31 starts is little.Afterwards, along with large arm 3 rotational angle increases, the turning moment that its gravity load produces also increases thereupon, but also increases due to helical spring decrement thereupon, spring constant increases gradually, and the spring force therefore produced is enough to the turning moment can offsetting large arm 3 generation.In addition, starting duty when servomotor 31 starts is little, is therefore also conducive to the miniaturization of motor.In addition, due to must be less by the diameter design at helical spring both ends, therefore whole helical spring length also can design less, thus bascule can be made miniaturized, and can reduce material usage.
Further, one end of helical spring 222 is fixed in draw-in groove 28a, and the other end of helical spring 222 is fixed in draw-in groove 28b.Therefore, it is possible to prevent helical spring 222 center from misplacing, even if thus helical spring 221,222 stretches continually, also can not misplace and interfere between, helical spring 221,222 closely can be configured, therefore, it is possible to reduce the diameter of bascule 2, make bascule 2 miniaturized.
In addition, helical spring diameter and pitch can take the circumstances into consideration to design according to concrete conditions such as robot purposes.
Here, be illustrated for stacked two helical springs, but helical spring number is not limited thereto, also can be more than three and three.
In the present embodiment, as mentioned above, helical spring 221,222 is set to along with both ends increase gradually towards its diameter of central portion, but the present invention is not limited thereto, also can be set to configure hollow part in helical spring, this hollow part reduces towards its size of central portion gradually along with both ends.Fig. 3 represents the helical spring schematic diagram being configured with hollow part.As shown in Figure 3, be configured with hollow part 22a in helical spring 22, the size of hollow part 22a reduces towards central portion gradually along with both ends.Owing to arranging hollow part as above, therefore helical spring rigidity reduces towards central portion gradually along with both ends, therefore similarly can obtain above-mentioned technique effect.In figure 3, hollow part 22a is circular, but the present invention is not limited thereto, and also can be oval.In addition, in figure 3, it is constant for showing helical spring diameter, but also can be set as that helical spring diameter reduces towards central portion gradually along with both ends.
In addition, in the above-described embodiment, as mentioned above, be set as the same length of two helical springs 221,222, but the present invention is not limited thereto, also can be set as that the length of two helical springs 221,222 is different.Fig. 4 is the schematic diagram of another structure representing bascule.As shown in Figure 4, the length being shorter in length than helical spring 222 of helical spring 221, predetermined interval t is set between an end and spring base 23 of helical spring 221, in order to ensure the stability of this end of helical spring 221, the rectangular locking member 22b formed by steel disc is set between helical spring 221 and helical spring 222, such as, by this locking member 22b, two helical springs 221,222 is formed as one by welding etc.Thus, helical spring 221,222 as a whole its rigidity increases towards central portion gradually along with both ends, and therefore this bascule equally also can obtain above-mentioned technique effect.In addition, the size of predetermined space t can take the circumstances into consideration setting according to the requirement of design, and locking member 22b is also not limited to aforesaid way, as long as can ensure any parts of the stability of the end of helical spring 221.In addition, in the diagram, it is constant for showing helical spring diameter, but similarly also can be set as that helical spring diameter increases towards central portion gradually along with both ends.And, figure 4 illustrates and set predetermined interval t between an end and spring base 23 of helical spring 221, also can set predetermined interval t between the other end of helical spring 221 and bascule lid 25, can not also be helical spring 221 but set predetermined interval t between an end in the both ends of helical spring 222 and its support unit (spring base 23 or bascule lid 25).
Should think that this time disclosed embodiment is all only in all respects illustrate and do not have restricted.Scope of the present invention by claims but not above-mentioned explanation represent, and comprise all changes in the meaning and scope that are equal to claims.
Claims (9)
1. a bascule, for robot, described robot comprises large arm and to be arranged in described large arm and servomotor for driving described large arm to rotate, described bascule comprise compensating cylinder, compensating cylinder axle, stacked multiple spring members, for supporting the support unit at the both ends of described spring members, described compensating cylinder axle is set to leave or enter described compensating cylinder when described large arm is rotated, and described spring members is set to along with both ends that rigidity increases gradually towards pars intermedia.
2. bascule as claimed in claim 1, wherein,
Described spring members is set to along with both ends that diameter increases gradually towards pars intermedia.
3. bascule as claimed in claim 1, wherein,
In described spring members, configure hollow part, this hollow part reduces towards its size of central portion gradually along with both ends.
4. bascule as claimed in claim 2, wherein,
In described spring members, configure hollow part, this hollow part reduces towards its size of central portion gradually along with both ends.
5. the bascule according to any one of Claims 1-4, wherein,
The length of described multiple spring members is different.
6. bascule as claimed in claim 5, wherein,
Predetermined interval is set between an end and described support unit of described spring members.
7. bascule as claimed in claim 6, wherein,
The described spring members being set predetermined interval between an end and described support unit is fixed to by locking member on another spring members, the both ends supported portion part supporting of another spring members described.
8. the bascule according to any one of Claims 1-4, wherein,
In described support unit, be provided with draw-in groove, the both ends of described spring members are fixed in described draw-in groove.
9. a robot, comprises the bascule according to any one of claim 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510151298.0A CN104816317A (en) | 2015-04-01 | 2015-04-01 | Balancing device and robot therewith |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510151298.0A CN104816317A (en) | 2015-04-01 | 2015-04-01 | Balancing device and robot therewith |
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| Publication Number | Publication Date |
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| CN104816317A true CN104816317A (en) | 2015-08-05 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510151298.0A Pending CN104816317A (en) | 2015-04-01 | 2015-04-01 | Balancing device and robot therewith |
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| CN (1) | CN104816317A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107962555A (en) * | 2017-12-26 | 2018-04-27 | 聊城大学 | A kind of heavy duty transfer robot |
| CN108098754A (en) * | 2017-12-26 | 2018-06-01 | 聊城大学 | A kind of method for realizing heavily loaded transfer robot balance |
| CN110091316A (en) * | 2019-05-30 | 2019-08-06 | 广东伯朗特智能装备股份有限公司 | Heavy load multi-joint industrial robot |
| CN111347400A (en) * | 2020-04-10 | 2020-06-30 | 伯朗特机器人股份有限公司 | Heavy-load universal multi-joint robot with spring balance cylinder device |
| CN113400346A (en) * | 2021-05-11 | 2021-09-17 | 安徽涌诚机械有限公司 | Large-scale high accuracy industrial robot balance cylinder |
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| FR2938618A1 (en) * | 2008-11-20 | 2010-05-21 | Peugeot Citroen Automobiles Sa | Torsion spring e.g. spiral spring, has envelope spring unit serving as envelope in which internal spring units are placed, where internal spring units are realized in thickness coefficient material |
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| CN203171650U (en) * | 2013-03-26 | 2013-09-04 | 华中科技大学 | Big arm balance cylinder device for industrial robot |
| CN103802133A (en) * | 2012-11-08 | 2014-05-21 | 沈阳新松机器人自动化股份有限公司 | Adjustable balance cylinder |
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| DE69911095T2 (en) * | 1998-03-31 | 2004-03-25 | Fanuc Ltd. | Spring balancer |
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| JP2007064389A (en) * | 2005-08-31 | 2007-03-15 | Mizuno Technics Kk | Coil spring made of fiber-reinforced resin, and its manufacturing method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107962555A (en) * | 2017-12-26 | 2018-04-27 | 聊城大学 | A kind of heavy duty transfer robot |
| CN108098754A (en) * | 2017-12-26 | 2018-06-01 | 聊城大学 | A kind of method for realizing heavily loaded transfer robot balance |
| CN110091316A (en) * | 2019-05-30 | 2019-08-06 | 广东伯朗特智能装备股份有限公司 | Heavy load multi-joint industrial robot |
| CN111347400A (en) * | 2020-04-10 | 2020-06-30 | 伯朗特机器人股份有限公司 | Heavy-load universal multi-joint robot with spring balance cylinder device |
| CN113400346A (en) * | 2021-05-11 | 2021-09-17 | 安徽涌诚机械有限公司 | Large-scale high accuracy industrial robot balance cylinder |
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