Gravity balance device of five-degree-of-freedom hybrid robot

Abstract

The invention discloses a gravity balance device of a five-degree-of-freedom hybrid robot, and the gravity balance device is arranged between the rear part of a rotary bracket of the five-degree-of-freedom hybrid robot and a robot pedestal for mounting the five-degree-of-freedom hybrid robot. The gravity balance device comprises two groups of balance mechanisms which are the same in structure, wherein one group of balance mechanisms is arranged between the rear part of the rotary bracket which penetrates through a first active length regulating device and the robot pedestal; and the other group of balance mechanisms is arranged between the rear part of the rotary bracket which penetrates through the second active length regulating device and the robot pedestal. The gravity balance device integrates characteristics of the five-degree-of-freedom hybrid robot very well, has the advantages of being simple in structure and convenient to realize, and can effectively realize gravity self-balance of the robot. The gravity balance device can completely or partly balance out influences, on motor static holding torque, of gravity of the robot, so that gravity self-balance of the robot is realized, and therefore, static and dynamic characteristics of the five-degree-of-freedom hybrid robot are favorably improved.

Description

technical field [0001] The invention relates to a five-degree-of-freedom hybrid robot. In particular, it relates to a gravity balance device of a five-degree-of-freedom hybrid robot. Background technique [0002] Patent ZL201510401279.9 discloses a five-degree-of-freedom hybrid robot with a multi-axis rotating bracket, which consists of a three-degree-of-freedom parallel mechanism and a two-degree-of-freedom rotor connected in series, wherein the parallel mechanism includes a frame, Three active adjustment devices that can be extended or shortened in the axial direction, a driven adjustment device, a moving platform and a multi-axis rotating bracket, have a large working space / equipment occupation ratio, good manufacturing and assembly technology, and kinematics Simple and other advantages. However, due to the influence of the robot's own gravity when the robot module is placed horizontally, the motor load in one of the active adjustment devices is much larger than that in...

AI Technical Summary

Problems solved by technology

However, due to the influence of the robot's own gravity when the robot module is placed horizontally, the motor load in one of the active adjustment devices is much larger than the motor load in the other two active adjustment devices, which seriously restricts the realization of the high-speed characteristics of the robot.

Images