CN204997694U - Industrial robot's counter weight device - Google Patents

Abstract

The utility model discloses a counterweight device of an industrial robot, which comprises a base, a column is arranged on the base, a first guide rail assembly and a second guide rail assembly are arranged on the column, and the first guide rail assembly is slidably arranged There is a connecting plate for installing the arm parts of the industrial robot, a counterweight is installed on the second guide rail assembly, a pulley assembly is arranged above the column, and a slide bar is provided on the slide assembly, and one end of the slide bar It is connected with the counterweight, and the other end is connected with the connecting plate. The base is also provided with a drive assembly and a transmission assembly, the transmission assembly is connected with the connection plate, and the drive assembly drives the transmission mechanism. Rotate to drive the connecting plate to slide on the first guide rail assembly. The device has the advantages of simple structure, easy operation, and can prevent the transmission mechanism from being deformed and damaged due to uneven stress.

Description

A counterweight device for an industrial robot

technical field

The utility model mainly relates to the technical field of robots, in particular to a counterweight device of an industrial robot.

Background technique

Horizontal multi-joint industrial robots are widely used in production sites to complete tasks such as welding, handling, palletizing, cutting, machine tool loading and unloading, and loading and unloading. Cost and other aspects are of great significance. In the horizontal multi-joint industrial robot, the screw is often used as the lifting system, which has three rotational degrees of freedom and Z's vertical and linear degrees of freedom. When working, the arm parts have to move up and down frequently at high speed, and the front part plus the load has a large total weight, and the up and down movement is driven by the screw, so that the screw and the servo motor are subjected to a large acceleration of gravity and friction. In this way, the screw is easy to wear, which will affect the accuracy of the up and down movement of the lifting system; and under the gravity of the front part and the load, the lifting system will bear a large bending moment, which will cause the screw to bend and deform, and then affect the stability of the whole machine sex.

Utility model content

The technical problem to be solved by the utility model is that: aiming at the technical problems existing in the prior art, the utility model provides a counterweight device of an industrial robot that has a simple structure and prevents the transmission mechanism from being deformed and damaged due to uneven force.

In order to solve the problems of the technologies described above, the technical solution proposed by the utility model is:

A counterweight device for an industrial robot, comprising a base, a column is provided on the base, a first guide rail assembly and a second guide rail assembly are provided on the column, and the first guide rail assembly is slidably provided for installing the industrial robot. The connecting plate of the arm part, a counterweight is installed on the second guide rail assembly, a pulley assembly is arranged above the column, and a slide bar is slid on the pulley assembly, and one end of the slide bar is connected to the counterweight block, the other end is connected with the connecting plate, the base is also provided with a driving assembly and a transmission assembly, the transmission assembly is connected with the connecting plate, and the driving assembly drives the transmission mechanism to rotate to drive the The connecting plate slides on the first rail assembly.

As a further improvement of the above technical solution:

The transmission mechanism is a ball screw pair, and the ball screw pair includes a lead screw, an upper end bearing part and a lower end bearing part, the upper end of the lead screw is arranged on the column through the rotation of the upper end bearing part, and the lead screw The lower end of the lower end is rotatably arranged on the column through the lower end bearing part.

The upper end bearing component includes a first bearing seat and two angular contact bearings, and the two angular contact bearings are arranged in the bearing seat in a state of facing each other.

The lower end bearing component includes a second bearing seat and two deep groove ball bearings, and the two deep groove ball bearings are installed in the second bearing seat.

The driving assembly includes a driving motor, and the output end of the driving motor is connected with the lead screw.

The first guide rail assembly includes a plurality of cylindrical guide rails, and the counterweight is provided with a through hole through which the cylindrical guide rails pass.

The second guide rail assembly includes a plurality of linear slide rails, a plurality of sliders are fixedly mounted on the connecting plate, and the plurality of sliders are correspondingly slidably arranged on the linear slide rails.

The connecting plate is U-shaped, and a plurality of sliders are distributed around the connecting plate.

The pulley assembly includes two synchronous wheels, and the two synchronous wheels are arranged at the same height position of the column.

Described slide bar is synchronous belt. .

Compared with the prior art, the utility model has the advantages of:

The counterweight device of the industrial robot of the utility model has a simple structure, and the counterweight is used to balance the weight of the front-end robot arm parts and the load, reduce the friction force of the transmission component and the torque of the drive component, and the drive component will not generate heat or alarm.

Description of drawings

Fig. 1 is a three-dimensional structure schematic diagram of the present utility model.

Fig. 2 is a top view structural diagram of the utility model.

Explanation of symbols in the figure: 1. Upright column; 2. Base; 3. Counterweight; 4. Connecting plate; 5. Timing belt; 6. Synchronizing wheel; 7. Ball screw pair; Bearing parts; 10. Linear slide rail; 11. Cylindrical guide rail; 12. Servo motor; 13. Motor seat; 14. Dustproof cover; 15. Screw synchronous assembly.

detailed description

The utility model will be further described below in conjunction with the accompanying drawings and specific embodiments of the description.

As shown in Fig. 1 and Fig. 2, the counterweight device of the industrial robot of the present embodiment includes a base 2, a column 1 is arranged on the base 2, a first guide rail assembly and a second guide rail assembly are arranged on the column 1, and the first guide rail A connecting plate 4 for installing the arm parts of the industrial robot is slidably arranged on the assembly, a counterweight 3 is installed on the second guide rail assembly, a pulley assembly is arranged above the column 1, and a slide bar is provided on the pulley assembly, and one end of the slide bar is connected to the The counterweight 3 is connected, and the other end is connected with the connection plate 4. The base 2 is also provided with a drive assembly and a transmission assembly. Swipe up. The counterweight device of the industrial robot of the utility model has a simple structure, and the counterweight 3 is used to balance the weight of the front-end robot arm parts and the load, reduce the friction force of the transmission component and the torque of the drive component, and the drive component will not generate heat or alarm. .

In this embodiment, the transmission mechanism is a ball screw pair 7, and the ball screw pair 7 includes a lead screw, an upper end bearing part 9 and a lower end bearing part 8, and the upper end of the lead screw is arranged on the column 1 through the upper end bearing part 9. The lower end of the bar is rotated on the column 1 through the lower end bearing part 8; wherein the upper end bearing part 9 includes the first bearing seat and two angular contact bearings, and the two angular contact bearings are arranged in the bearing seat in an opposite shape, so that the screw The upper end forms an axial fixed support. The lower end bearing component 8 includes a second bearing seat and two deep groove ball bearings, and the two deep groove ball bearings are installed in the second bearing seat to form an axial floating support for the lead screw.

In this embodiment, the driving assembly includes a driving motor, the output end of which is connected to the lead screw, wherein the driving motor is a servo motor 12, which is installed on the servo motor base 13, and the motor base 13 is installed on the column 1, and the position Adjustable, convenient for screw synchronous assembly 15 (screw synchronous belt and pulley) installation and tightening.

In this embodiment, the first guide rail assembly includes a plurality of cylindrical guide rails 11 , and the counterweight 3 is provided with through holes for the cylindrical guide rails 11 to pass through. The second guide rail assembly includes a plurality of linear slide rails 10 , and a plurality of sliders are fixedly installed on the connecting plate 4 , and the plurality of slider blocks are correspondingly slidably arranged on the linear slide rails 10 .

In this embodiment, the connecting plate 4 is U-shaped, and a plurality of sliders are distributed around the connecting plate 4 . The pulley assembly includes two synchronous pulleys 6, and the two synchronous pulleys 6 are arranged at the same height position of the column 1, wherein the slide bar is a synchronous belt 5.

In this embodiment, the column 1 is made of cold-formed hollow section steel, and the upper end bearing part 9 and the lower end bearing part 8 are used to fix the ball screw pair 7 on the column 1 by slotting at the front end, and the lower end of the ball screw pair 7 is used by a servo motor 12 drive, so as to drive the lead screw timing belt and pulley to rotate, thereby driving the lead screw to rotate, so that the connecting plate 4 connected with the lead screw slides on the linear slide rail 10; because the connecting plate 4 passes through the timing belt 5 and the other side The counterweight 3 is connected, so that the counterweight 3 and the connecting plate 4 move up and down relative to each other, that is, when the screw drives the connecting plate 4 to move upward, the counterweight 3 moves downward, otherwise it moves upward. Among them, four linear slide rails 10 are fixed on the column 1, two of which are provided on the bottom surface, and one is provided on each side, so as to ensure that the connecting plate 4 is more stable and works more reliably. The outside of the device is covered with a dustproof cover 14 to adapt to various working environments.

The above are only preferred implementations of the utility model, and the scope of protection of the utility model is not limited to the above-mentioned embodiments, and all technical solutions under the idea of the utility model all belong to the scope of protection of the utility model. It should be pointed out that for those of ordinary skill in the art, some improvements and modifications without departing from the principle of the utility model should be regarded as the protection scope of the utility model.

Claims (10)

1. A counterweight device for an industrial robot, characterized in that it comprises a base, a column is provided on the base, a first guide rail assembly and a second guide rail assembly are provided on the column, and sliding on the first guide rail assembly A connecting plate for installing the arm parts of the industrial robot is provided, a counterweight is installed on the second guide rail assembly, a pulley assembly is arranged above the column, and a slide bar is provided on the slide assembly, and the slide bar One end is connected to the counterweight, the other end is connected to the connecting plate, and the base is also provided with a drive assembly and a transmission assembly, the transmission assembly is connected to the connection plate, and the drive assembly drives the transmission The mechanism rotates to drive the connecting plate to slide on the first guide rail assembly. 2. The counterweight device of an industrial robot according to claim 1, wherein the transmission mechanism is a ball screw pair, and the ball screw pair includes a screw, an upper bearing part and a lower bearing part, and the The upper end of the lead screw is rotatably set on the column through the upper end bearing component, and the lower end of the lead screw is rotatably set on the column through the lower end bearing component. 3. The counterweight device of an industrial robot according to claim 2, wherein the upper end bearing component comprises a first bearing seat and two angular contact bearings, and the two angular contact bearings are oppositely arranged on the bearing seat. 4. The counterweight device of an industrial robot according to claim 3, wherein the lower end bearing part comprises a second bearing seat and two deep groove ball bearings, and the two deep groove ball bearings are mounted on the second inside the bearing housing. 5. The counterweight device of an industrial robot according to any one of claims 2 to 4, wherein the drive assembly includes a drive motor, and an output end of the drive motor is connected to the lead screw. 6. The counterweight device of an industrial robot according to any one of claims 1 to 4, wherein the first guide rail assembly includes a plurality of cylindrical guide rails, and the counterweight is provided with a Through hole through which the rail passes. 7. The counterweight device of an industrial robot according to any one of claims 1 to 4, wherein the second guide rail assembly includes a plurality of linear slide rails, and a plurality of slide rails are fixedly installed on the connecting plate block, and a plurality of slide blocks are correspondingly slidably arranged on the linear slide rail. 8 . The counterweight device of an industrial robot according to claim 7 , wherein the connecting plate is U-shaped, and a plurality of sliders are distributed around the connecting plate. 9. The counterweight device of an industrial robot according to any one of claims 1 to 4, wherein the pulley assembly includes two synchronous wheels, and the two synchronous wheels are arranged at the same height of the column. 10. The counterweight device of an industrial robot according to claim 9, wherein the sliding bar is a timing belt.