Hybrid-driven industrial robot balance cylinder system and method

Abstract

The invention discloses a hybrid-driven industrial robot balance cylinder system and method. The system comprises a robot body, a balance cylinder execution device and a control device, wherein the robot body is used for achieving the work of grabbing, placing and carrying objects or holding tools; the balance cylinder execution device is used for balancing torque generated by gravity on two shafts of a robot and reducing joint driving torque change caused by the gravity, and is mounted on the robot body; and the control device is used for calculating the load borne by the balance cylinder execution device, assists fine adjustment and is connected with the balance cylinder execution device. According to the technical scheme, hydraulic cylinders serve as balance cylinders, motion of a servo motor is controlled to achieve motion, in the whole transmission mechanism, a speed reducing mechanism is used for first-time torque increasing, a worm and gear structure is used for second-stage torque increasing, the two hydraulic oil cylinders are matched to serve as third-stage torque increasing, the advantage of high-power mass ratio of a hydraulic driving mode is fully exerted, the structure is simple, mounting and dismounting are convenient, and motion control is more accurate through torque feedback on the servo motor.

Description

technical field [0001] The invention relates to the field of manufacturing of industrial robots, in particular to a hybrid-driven industrial robot balance cylinder system and method. Background technique [0002] Industrial robots are generally divided into three types: large, medium, and small according to the load size. Generally, large-scale industrial robots need a balance device. The balance cylinder is mainly used to balance the torque generated by gravity on the two axes of the robot, and reduce the change of joint drive torque caused by gravity. , to make the robot movement more stable. At present, industrial robots use various methods such as spring balance cylinders, hydraulic balance cylinders, and pneumatic balance cylinders, each with its own advantages and disadvantages. [0003] Some data show that the gravity balance mechanism is the simplest, but it is only suitable for occasions where the load remains constant. If a counterweight is used, the mass and inert...

AI Technical Summary

Problems solved by technology

[0005] The present invention mainly solves the technical problem that the original technical scheme has low adjustment accuracy and is difficult to achieve complete balance, and provides a hybrid-driven industrial robot balance cylinder system and method, which is realized by using a hydraulic cylinder as a balance cylinder and controlling the movement of a servo motor In the whole transmission mechanism, the speed reduction mechanism is used as the first torque increase, the worm gear structure is used as the second torque increase, and the cooperation of the two hydraulic cylinders is used as the third torque increase to fully utilize the hydraulic drive. The method has the advantages of high power-to-mass ratio, simple structure, convenient installation and disassembly, and at the same time greatly reduces pipeline wear and tear, improves safety and reliability, and makes motion control more precise through torque feedback on the servo motor

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