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Industrial robot with weight balancing system

An industrial robot and gravity balance technology, which is applied in the direction of robots, manipulators, manufacturing tools, etc., can solve the problem of expensive mass balance system, achieve the effect of saving materials, saving costs, and simplifying manufacturing

Active Publication Date: 2011-04-27
KUKA ROBOTER
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] However, pressure-operated mass balance systems, such as gas gravity balance systems or hydropneumatic gravity balance systems, are relatively expensive because they have to comply with legal regulations such as the legal regulations on pressure equipment valid in Europe.

Method used

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  • Industrial robot with weight balancing system

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Embodiment Construction

[0022] figure 1 An industrial robot 1 is shown in side view with a robot arm 2 which is designed for relatively large loads, in particular loads greater than 90 kg.

[0023] In the present exemplary embodiment, the robot arm 2 comprises a stationary or movable support 3 and a turntable 5 mounted rotatably relative to the support 3 about a vertically extending axis 4 (also referred to as axis 1 ). Furthermore, in the present exemplary embodiment, the robot arm 2 of the industrial robot 1 also has a swing arm 6 , a boom 7 and a preferably multi-axis robot hand 8 . The rocker arm 6 is mounted at its lower end (for example in a rocker arm bearing head (not shown in detail)) so as to pivot about a horizontal axis 9 , also referred to as axis 2 , on the turntable 5 . Likewise, the boom 7 is also preferably mounted pivotably about a horizontal axis 10 on the upper end of the rocker arm 6 . Cantilever 7 preferably with its three axes (in figure 1 Not shown in detail in ) carries th...

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Abstract

The invention relates to an industrial robot (1) which has a robot arm (2) for balancing a relatively large load. The robot arm (2) possesses a plurality of axes (9, 10) and a weight balancing system (12) which is used for at least one axis (9) and is based on gas. Each pressurized component (12-15) of the weight balancing system (12) has a volume less than 1 liter and a maximum pressure less than 1000 bar.

Description

technical field [0001] The invention relates to an industrial robot with a gravity balance system. Background technique [0002] An industrial robot is generally considered to be an execution machine that is equipped with specific tools and can program multiple axes of motion, especially with regard to orientation, position and workflow, to automatically handle objects. The industrial robot comprises a control unit and a robot arm with several axes and optionally a lever moved by a drive controlled by the control unit. [0003] Industrial robots, in particular those carrying relatively large loads, can have at least one gravitational or mass balancing system for their axes, in particular for a second or horizontal axis of the kinematic chain, which The system has for example a helical spring. [0004] Patent document EP 0819041 B1 discloses a multi-axis industrial robot carrying a load of more than 25 kg, which has a stand, a rocker arm, a cantilever and a robot hand, whic...

Claims

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Application Information

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IPC IPC(8): B25J9/02B25J19/00
CPCB25J19/0012Y10T74/20305B25J19/0008Y10S901/27Y10S901/15
Inventor 阿尔伯特·拜耳京特·梅尔克
Owner KUKA ROBOTER
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