Balancer and robot

Abstract

The invention discloses a balancer and a robot, and relates to the technical field of robotics.The balancer comprises a hydraulic cylinder and an energy storage assembly, the hydraulic cylinder comprises a main body and a rotating body, the rotating body and the main body are matched to form a first sub-cavity and a second sub-cavity, and the rotating body is used for rotating the first sub-cavity and the second sub-cavity when rotating; the volume of one of the first sub-chamber and the second sub-chamber can be reduced, and the volume of the other sub-chamber can be increased; the energy storage assembly comprises a first energy accumulator and a second energy accumulator, the first energy accumulator is connected with the first sub-chamber, and the second energy accumulator is connected with the second sub-chamber; when the rotating body rotates under the action of external force, the first energy accumulator is used for applying a first acting force to the rotating body through the first sub-cavity, and the second energy accumulator is used for applying a second acting force to the rotating body through the second sub-cavity, so that the rotating body is subjected to a third acting force opposite to the direction of the external force; the size and the installation occupied space of the balancer can be reduced, so that the limitation on the motion range of the large arm of the robot is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a balancer and a robot. Background Art

[0002] like Figure 1 As shown, the current robot balancer is mainly of the pulling cylinder type. The balance cylinder generally has a built-in spring, nitrogen or liquid nitrogen mixture, connected between the robot waist seat and the upper arm, providing thrust or pulling force. This force is generally balanced with the eccentric force generated by the robot's upper arm, the forearm behind the upper arm and other body structures and loads (not shown), balancing the invalid torque output caused by the eccentric force.

[0003] Since the balancing cylinder of the pull-cylinder balancer generally has a certain length, it occupies a considerable part of the space of the waist seat or the upper arm, resulting in a larger part size and increased cost. In addition, due to the existence of the balancing cylinder, the backward movement range of the upper arm will also be limited. In some occasions where compact size is required, the use of the balancing cylinder is greatly restricted. Summary of the invention

[0004] The main purpose of the present invention is to provide a balancer and a robot, aiming to reduce the size of the balancer and the space occupied by its installation, so as to avoid limiting the range of motion of the robot's upper arm.

[0005] To achieve the above object, the balancer proposed by the present invention comprises:

[0006] A hydraulic cylinder, comprising a main body and a rotating body, wherein the rotating body is rotatably arranged on the main body along the axial direction of the hydraulic cylinder, the rotating body cooperates with the main body to form a first sub-chamber and a second sub-chamber, and the rotating body is used to reduce the volume of one of the first sub-chamber and the second sub-chamber and increase the volume of the other when rotating; and

[0007] An energy storage assembly, comprising a first energy storage device and a second energy storage device, wherein the first energy storage device is connected to the first sub-chamber, and the second energy storage device is connected to the second sub-chamber;

[0008] When the rotating body rotates under the action of external force, the first accumulator is used to apply a first force to the rotating body through the first sub-chamber, and the second accumulator is used to apply a second force to the rotating body through the second sub-chamber, so that the rotating body is subjected to a third force in the opposite direction to the external force.

[0009] In one embodiment, the main body includes a cylinder body and a first partition member connected to the cylinder body, the rotating body includes a cylinder head and a second partition member connected to the cylinder head, the cylinder head is rotatably mounted on the cylinder body, the cylinder body and the cylinder head are combined to form a chamber, the first partition member and the second partition member are arranged in the chamber and cooperate with each other to separate the chamber into the first sub-chamber and the second sub-chamber.

[0010] In one embodiment, the first barrier is connected to the inner wall of the cylinder body and seals with the inner wall of the cylinder head, the second barrier is connected to the inner wall of the cylinder head and seals with the inner wall of the cylinder body, and the first barrier is seals with the second barrier.

[0011] In one embodiment, the balancer further includes a rotating shaft, which is disposed in the chamber and located at the rotation center of the cylinder head, and the cylinder head is rotatably connected to the rotating shaft.

[0012] In one embodiment, the first barrier member is disposed between the inner circumferential wall of the cylinder body and the rotating shaft, the second barrier member is disposed between the inner circumferential wall of the cylinder head and the rotating shaft, and one end of the second barrier member sealingly matched with the first barrier member is rotatably disposed on the rotating shaft.

[0013] In one embodiment, when the volumes of the first sub-chamber and the second sub-chamber are equal, the second barrier has a first position;

[0014] When the second barrier is in the first position, the second barrier can be rotated clockwise by no more than 120 degrees; and / or the second barrier can be rotated counterclockwise by no more than 120 degrees.

[0015] In one embodiment, the hydraulic cylinder is provided with a first connection port and a second connection port, the first connection port connects the first sub-chamber and the first accumulator, and the second connection port connects the second sub-chamber and the second accumulator.

[0016] In one embodiment, the balancer further includes a switch valve, wherein the switch valve connects the first accumulator and the second accumulator, and the switch valve is used to calibrate the volume change of the first sub-chamber and the second sub-chamber.

[0017] In one embodiment, the first accumulator is a gas pressure accumulator;

[0018] And / or, the second accumulator is a pneumatic accumulator.

[0019] The present invention also provides a robot, comprising:

[0020] waist seat;

[0021] A large arm rotatably disposed on the waist seat; and

[0022] As described above, the balancer, the hydraulic cylinder of the balancer is arranged between the waist seat and the boom along the rotation axis of the boom, the cylinder body of the hydraulic cylinder is connected to the boom, and the cylinder head of the hydraulic cylinder is connected to the waist seat; or, the cylinder head of the hydraulic cylinder is connected to the boom, and the cylinder body of the hydraulic cylinder is connected to the waist seat.

[0023] In one embodiment, the robot further includes a reducer, and the reducer and a cylinder of the balancer are arranged on both sides of the upper arm.

[0024] The technical solution of the present invention is to set a hydraulic cylinder composed of a main body and a rotating body, and form a first sub-chamber and a second sub-chamber through the cooperation of the rotating body and the main body. When the rotating body is rotated by an external force, the volume of the first sub-chamber and the second sub-chamber can be increased and decreased respectively, so as to realize the reaction force on the rotating body through the energy storage component connected to the chamber. When the balancer is assembled on the robot, the eccentric weight moment of the robot can be balanced by the resistance torque generated by the reaction force, and the hydraulic cylinder of the balancer can be assembled separately from the energy storage component. When the hydraulic cylinder is assembled between the robot's upper arm and the waist seat, the eccentric weight moment is balanced without affecting the forward and backward swing amplitude of the robot's upper arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0026] Figure 1 It is a structural schematic diagram of the existing cylinder pull type;

[0027] Figure 2 A schematic structural diagram of an embodiment of a balancer provided by the present invention;

[0028] Figure 3 for Figure 2 An angled cross-sectional view of the hydraulic cylinder;

[0029] Figure 4 for Figure 2 Another angle sectional view of the hydraulic cylinder;

[0030] Figure 5 This is a schematic structural diagram of an embodiment of a robot provided by the present invention.

[0031] Description of Figure Numbers:

[0032] 1000. Robot;

[0033] 100, balancer; 10, hydraulic cylinder; 101, chamber; 101a, first sub-chamber; 101b, second sub-chamber; 102, first connection port; 103, second connection port; 11, main body; 111, cylinder body; 1111, bottom wall; 1112, first inner peripheral wall; 112, first baffle; 12, rotating body; 121, cylinder head; 1211, second inner peripheral wall; 122, second baffle; 20, energy storage assembly; 21, first accumulator; 22, second accumulator; 30, rotating shaft; 40, switch valve;

[0034] 200, waist seat; 300, upper arm; 400, reducer.

[0035] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0038] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0039] Robot balancers are widely used on the main body of heavy-load robots to balance the gravity of the robot body and the load, which can significantly reduce the output torque of the motor and reducer.

[0040] like Figure 1 As shown, the current robot balancer is mainly of the pulling cylinder type. The balance cylinder generally has a built-in spring, nitrogen or liquid nitrogen mixture, and is connected between the robot waist seat 200 and the upper arm 300 to provide thrust or pulling force. This force is generally balanced with the eccentric force generated by the robot upper arm 300 and the forearm behind the upper arm 300 and other body structures and loads (not shown), thereby balancing the invalid torque output caused by the eccentric force.

[0041] Since the balancing cylinder of the pull-cylinder balancer generally has a certain length, it occupies a considerable part of the space of the waist seat 200 or the upper arm 300, resulting in a larger size of the parts and increased costs. In addition, due to the existence of the balancing cylinder, the backward movement range of the upper arm 300 will also be limited. In some occasions requiring compact size, the use of the balancing cylinder is greatly restricted.

[0042] The present invention provides a balancer 100 , which aims to reduce the size of the balancer 100 and the installation space occupied by the balancer 100 , so as to avoid limiting the motion range of the upper arm 300 of the robot 1000 .

[0043] See also Figures 2 to 4 As shown, in one embodiment of the present invention, the balancer 100 includes a hydraulic cylinder 10 and an energy storage assembly 20, wherein the hydraulic cylinder 10 includes a main body 11 and a rotating body 12, wherein the rotating body 12 is rotatably arranged on the main body 11 along the axial direction of the hydraulic cylinder 10, wherein the rotating body 12 cooperates with the main body 11 to form a first sub-chamber 101a and a second sub-chamber 101b, wherein the rotating body 12 is used to reduce the volume of one of the first sub-chamber 101a and the second sub-chamber 101b and increase the volume of the other when rotating; the energy storage assembly 20 includes a first accumulator 21 and a second accumulator 22, wherein the first accumulator 21 is connected to the first sub-chamber 101a, and the second accumulator 22 is connected to the second sub-chamber 101b;

[0044] When the rotating body 12 rotates under the action of an external force, the first accumulator 21 is used to apply a first force to the rotating body 12 through the first sub-chamber 101a, and the second accumulator 22 is used to apply a second force to the rotating body 12 through the second sub-chamber 101b, so that the rotating body 12 is subjected to a third force in the opposite direction to the external force.

[0045] In the present invention, it can be understood that a closed chamber 101 may be provided in the hydraulic cylinder 10, the main body 11 may be an integrally closed cylinder body 111, the rotating body 12 may be a baffle member arranged in the chamber 101 and a rotating member rotatably installed on the hydraulic cylinder 10, the rotating member and the baffle member are eccentrically connected, the baffle member is sealed with the inner baffle wall of the chamber, and the chamber 101 is separated into a first sub-chamber 101a and a second sub-chamber 101b. When the rotating member rotates, the baffle member can make an eccentric movement in the chamber 101, thereby changing the division of the volume of the chamber 101, so that the volume of one of the first sub-chamber 101a and the second sub-chamber 101b becomes larger, and the volume of the other becomes smaller. Alternatively, a barrier assembly consisting of a first barrier 112 and a second barrier 122 may be provided in the chamber 101, the first barrier 112 may be sealed with the second barrier 122 to separate the chamber 101 into a first sub-chamber 101a and a second sub-chamber 101b, the hydraulic cylinder 10 may be provided with a cylinder body 111 and a cylinder head 121 rotatably mounted on the cylinder body 111, by providing the main body 11 with the cylinder body 111 and the first barrier 112, by providing the rotating body 12 with the cylinder head 121 and the second barrier 122, since the second barrier 122 is connected to the cylinder head 121, it may rotate in the chamber as the cylinder head 121 rotates, thereby increasing the volume of one of the first sub-chamber 101a and the second sub-chamber 101b and decreasing the volume of the other.

[0046] In the present invention, the first sub-chamber 101a and the second sub-chamber 101b exist in three states, namely, the state in which the volume of the first sub-chamber 101a increases and the volume of the second sub-chamber 101b decreases, the state in which the volume of the first sub-chamber 101a decreases and the state in which the volume of the second sub-chamber 101b increases, and the state in which the volumes of the first sub-chamber 101a and the second sub-chamber 101b are equal. When the volumes of the first sub-chamber 101a and the second sub-chamber 101b are equal, the first accumulator 2 The first force applied by the second accumulator 22 to the rotating body 12 is equal in magnitude and opposite in direction, and the two cancel each other out, so that the rotating body 12 does not apply a third force to the cylinder head 121; when the rotating body 12 rotates counterclockwise, the volume of the first sub-chamber 101a decreases and the volume of the second sub-chamber 101b increases, the hydraulic oil in the first sub-chamber 101a flows to the first accumulator 21, and the hydraulic oil in the second accumulator 22 flows to the first accumulator 21. Flows toward the second sub-chamber 101b. When the first accumulator 21 and the second accumulator 22 are pneumatic accumulators, the hydraulic oil flowing to the first accumulator 21 applies pressure to the chamber of the first accumulator 21. The chamber of the first accumulator 21 applies a reaction pressure to the first sub-chamber 101a through the hydraulic oil, thereby increasing the first force applied by the first accumulator 21 to the second baffle 122. The hydraulic oil flowing to the second accumulator 22 reduces the internal pressure of the chamber of the second accumulator 22, thereby reducing the second force applied by the second accumulator 22 to the second baffle 122. When the direction of the second force is opposite to the first force, the difference between the two is the third force. When the direction of the second force is the same as the first force, that is, the second force is negative, the sum of the two is the third force. When the balancer 100 is mounted on the arm 300 of the robot 1000, the resistance torque generated by the third force on the arm 300 can be used to balance the eccentric weight torque of the arm.

[0047] The balancer 100 of the present invention can be applied to the connection between the upper arm 300 and the waist seat 200 of the robot 1000. In actual application, the hydraulic cylinder 10 of the present invention can be set along the rotation center of the upper arm 300, the rotating body 12 of the hydraulic cylinder 10 can be connected to the upper arm 300, and the main body 11 of the hydraulic cylinder 10 can be connected to the waist seat 200. When the upper arm 300 of the robot 1000 is rotated under force, the rotating body 12 will be driven to rotate relative to the main body 11, so that when the volume of the first sub-chamber 101a and the second sub-chamber 101b changes, a reaction force is generated on the rotating body 12 through the first accumulator 21 and the second accumulator 22. The resistance torque generated by the reaction force can achieve the balancing of the eccentric weight torque of the upper arm 300 and the forearm connected to the upper arm 300, heavy objects, etc. Furthermore, since the energy storage assembly 20 of the present invention is not disposed on the hydraulic cylinder 10, and the hydraulic cylinder 10 is disposed along the rotation axis of the boom 300, during the actual swinging process of the boom 300, it will not interfere with the balancer 100, thereby affecting the motion range of the boom 300. The assembly structure of the balancer 100 and the boom 300 is more compact.

[0048] The technical solution of the present invention is to set a hydraulic cylinder 10 composed of a main body 11 and a rotating body 12, and the rotating body 12 cooperates with the main body 11 to form a first sub-chamber 101a and a second sub-chamber 101b. When the rotating body 12 is rotated by an external force, the volumes of the first sub-chamber 101a and the second sub-chamber 101b can be increased and decreased respectively, so that the reaction force on the rotating body 12 is realized by the energy storage component 20 connected to the chamber 101. When the balancer 100 is assembled on the robot 1000, the eccentric moment of the robot 1000 can be balanced by the resistance moment generated by the reaction force, and the hydraulic cylinder 10 of the balancer 100 can be assembled separately from the energy storage component 20. When the hydraulic cylinder 10 is assembled between the upper arm 300 and the waist seat 200 of the robot 1000, the eccentric moment is balanced without affecting the forward and backward swing amplitude of the upper arm 300 of the robot 1000.

[0049] When the hydraulic cylinder is configured as a cylinder body 111, a cylinder head 121, a first barrier 112 and a second barrier 122, optionally, the main body 11 includes a cylinder body 111 and a first barrier 112 connected to the cylinder body 111, the rotating body 12 includes a cylinder head 121 and a second barrier 122 connected to the cylinder head, the cylinder head 121 is rotatably mounted on the cylinder body 111, the cylinder body 111 and the cylinder head 121 enclose a chamber 101, the first barrier 112 and the second barrier 122 are arranged in the chamber 101 and cooperate with each other to separate the chamber 101 into the first sub-chamber 101a and the second sub-chamber 101b.

[0050] In the present invention, the first barrier 112 and the second barrier 122 can be arranged in the hydraulic cylinder 10 along the axial direction of the hydraulic cylinder 10, the first barrier 112 can be configured as a first blade, and the second barrier 122 can be configured as a second blade. When the first barrier 112 and the second barrier 122 cooperate to separate the chamber 101 into the first sub-chamber 101a and the second sub-chamber 101b, the first sub-chamber 101a and the second sub-chamber 101b are arranged at intervals along the radial direction of the hydraulic cylinder 10. Since the second barrier 122 is connected to the cylinder cover 121, when the cylinder cover 121 rotates, the second barrier 122 can be driven to rotate in the chamber 101. When the second barrier 122 rotates, the angle between the second barrier 122 and the first barrier 112 changes, thereby changing the volume of the sub-chamber formed by the first barrier 112, the second barrier 122 and the inner peripheral wall of the hydraulic cylinder 10. Since the volume of the chamber 101 is constant, when the volume of the first sub-chamber 101a increases, the volume of the second sub-chamber 101b decreases accordingly, and vice versa. When the volume of the first sub-chamber 101a decreases, the hydraulic oil in the first sub-chamber 101a is pushed out to the first accumulator 21, exerting a force on the first accumulator 21, so that the first accumulator 21 exerts a reverse force on the first sub-chamber 101a through the hydraulic oil, and the first sub-chamber 101a acts on the cylinder head 121 through the second baffle 122, so that the cylinder head 121 is subjected to a force opposite to its rotation direction. In this way, the volumes of the first sub-chamber 101a and the second sub-chamber 101b can be changed, so that the third force is exerted on the cylinder head 121 through the energy storage assembly 20.

[0051] Optionally, the first barrier 112 is connected to the inner wall of the cylinder body 111 and sealed with the inner wall of the cylinder head 121 , the second barrier 122 is connected to the inner wall of the cylinder head 121 and sealed with the inner wall of the cylinder body 111 , and the first barrier 112 and the second barrier 122 are sealed.

[0052] Among them, the inner wall of the cylinder body 111 may include a bottom wall 1111 and a first inner circumferential wall 1112, the inner wall of the cylinder head 121 may include a top wall and a second inner circumferential wall 1211, the first inner circumferential wall 1112 and the second inner circumferential wall 1211 cooperate to form the inner circumferential wall of the hydraulic cylinder 10, when the first baffle 112 is connected to the inner wall of the cylinder body 111, it can be connected and fixed to the bottom wall 1111 and sealed with the first inner circumferential wall 1112, or it can be connected and fixed to the first inner circumferential wall 1112 and sealed with the bottom wall 1111, or it can be connected and fixed to the bottom wall 1111 and the first inner circumferential wall 1112 at the same time, when the first baffle 112 is sealed and matched with the inner wall of the cylinder head 121, the first baffle 112 is sealed and matched with the top wall and the second inner circumferential wall 1211 of the cylinder head 121 at the same time. When the second barrier 122 is connected to the inner wall of the cylinder head 121 , it can also be connected to part of the inner wall of the cylinder head 121 and seal with part of the inner wall. When the second barrier 122 is seal-fitted to the inner wall of the cylinder body 111 , the second barrier 122 is seal-fitted to the entire inner wall of the cylinder body 111 .

[0053] In this way, when the first baffle 112 and the second baffle 122 are sealed, the first sub-chamber 101a and the second sub-chamber 101b will not communicate, and the hydraulic oil in the first sub-chamber 101a will not flow into the second sub-chamber 101b, but will only flow to the first accumulator 21, and vice versa for the hydraulic oil in the second sub-chamber 101b. In this way, the sealing of the two sub-chambers can be maintained, and the effect of the accumulator on the sub-chambers can be guaranteed.

[0054] See also Figure 3 , Figure 4 As shown, the balancer 100 further includes a rotating shaft 30 , which is disposed in the chamber 101 and located at the rotation center of the cylinder head 121 , and the cylinder head 121 is rotatably connected to the rotating shaft 30 .

[0055] The rotating shaft 30 can be fixed on the bottom wall of the cylinder body 111, and the top wall of the cylinder head 121 can be provided with a bearing seat. The cylinder head 121 is rotatably connected to the rotating shaft 30 through the bearing seat. The top wall of the cylinder head 121 can be connected and supported with the cylinder body 111 through the rotating shaft 30, thereby increasing the connection stability between the cylinder head 121 and the cylinder body 111. In addition, a rotating bearing can be provided at the opening of one end of the cylinder body 111 facing the cylinder head 121, and the open end of the cylinder head 121 facing the cylinder body 111 can be rotatably mounted on the rotating bearing. In this way, the connection between the cylinder head 121 and the cylinder body 111 can be strengthened, and the rotation stability of the cylinder head 121 can be improved.

[0056] In the above embodiment, when the rotating shaft 30 is disposed in the chamber 101, in order to enable the second barrier member 122 to achieve sealing cooperation with the first barrier member 112 when rotating with the cylinder cover 121, continue to refer to Figure 3 , Figure 4In one embodiment, the first barrier member 112 is disposed between the inner circumferential wall of the cylinder body 111 and the rotating shaft 30, the second barrier member 122 is disposed between the inner circumferential wall of the cylinder head 121 and the rotating shaft 30, and one end of the second barrier member 122 that is sealed with the first barrier member 112 is rotatably disposed on the rotating shaft 30.

[0057] Among them, the second barrier 122 can be provided with a sleeve structure at one end which is sealed with the first barrier 112, and the sleeve structure is sleeved and installed on the rotating shaft 30. The end of the first barrier 112 close to the rotating shaft 30 can be sealed with the outer surface of the sleeve structure. When the second barrier 122 rotates around the rotating shaft 30, the end of the first barrier 112 close to the rotating shaft 30 is sealed with the outer surface of the sleeve structure, so that the first barrier 112 and the second barrier 122 can maintain a sealed fit.

[0058] Alternatively, the end of the second barrier 122 close to the rotating shaft 30 can be set as an arc-shaped end, which is directly sealed and engaged with the outer surface of the rotating shaft 30 through the arc-shaped end, and the end of the first barrier 112 close to the rotating shaft 30 can be directly sealed and connected to the rotating shaft 30. In this way, when the second barrier 122 rotates around the rotating shaft 30, the second barrier 122 can also be used to maintain a sealed fit with the first barrier 112, and there is no specific limitation.

[0059] Optionally, the first accumulator 21 is a pneumatic accumulator. With such a configuration, when the volume of the first sub-chamber 101a is reduced and the hydraulic oil inside it flows to the first accumulator 21, the gas in the first accumulator 21 can be compressed. When the gas in the first accumulator 21 is compressed, the pressure in the first accumulator 21 is increased, so that the pressure is reacted to the first sub-chamber 101a through the hydraulic oil to generate thrust to the second baffle 122 as the inner wall of the first sub-chamber 101a, so that the second baffle 122 can generate a force on the cylinder head 121 in the opposite direction to the driving cylinder head 121 to rotate. When the balancer 100 of the present invention is applied to the arm of the robot 1000, the eccentric moment can be balanced.

[0060] In addition, the second accumulator 22 can also be set as a pneumatic accumulator. In this way, when the volume of the second sub-chamber 101b changes, it can also generate a force on the cylinder head 121 in the opposite direction to the driving cylinder head 121 to rotate. When the balancer 100 of the present invention is applied to the robot 1000, the eccentric torque can be balanced.

[0061] See also Figure 2 As shown, the balancer 100 further includes a switch valve 40, wherein the switch valve 40 connects the first accumulator 21 and the second accumulator 22, and the switch valve 40 is used to calibrate the volume change of the first sub-chamber 101a and the second sub-chamber 101b.

[0062] Among them, the switch valve 40 can be provided with a pointer and an indicating scale, and the switch valve 40 can be connected to the air pressure chamber of the first accumulator 21 and the air pressure chamber of the second accumulator 22 respectively. When the volumes of the first sub-chamber 101a and the second sub-chamber 101b are equal, the pointer of the switch valve 40 can be set to be located in the middle of the indicating scale. When the volume of one of the first sub-chamber 101a and the second sub-chamber 101b increases and the volume of the other decreases, so that the volume of the air pressure chamber of the first accumulator 21 and the air pressure chamber of the second accumulator 22 increases and the volume of the other decreases, the pointer can move toward the air pressure chamber with increased volume on the indicating scale, so that the movement state of the second barrier 122 can be intuitively obtained.

[0063] See also Figure 3 As shown, when the volumes of the first sub-chamber 101a and the second sub-chamber 101b are equal, the second barrier 122 has a first position;

[0064] When the second barrier 122 is in the first position, the second barrier 122 can rotate clockwise by no more than 120 degrees; and / or the second barrier 122 can rotate counterclockwise by no more than 120 degrees.

[0065] Such arrangement enables the second baffle 122 to rotate at a larger angle in the chamber 101. When the hydraulic cylinder 10 of the balancer 100 is assembled between the upper arm 300 and the waist seat 200 of the robot 1000, the hydraulic cylinder 10 is arranged along the swing axis of the upper arm 300, and when the second baffle 122 is in the first position and the upper arm 300 of the robot 1000 is in a vertical state, the amplitude of the swing of the upper arm 300 forward and backward can be large, and since only the hydraulic cylinder 10 is located between the upper arm 300 and the waist seat 200 during assembly of the balancer 100 of the present invention, it will not interfere with the forward and backward swing of the upper arm 300, so the upper arm 300 can swing forward and backward with a large amplitude.

[0066] When the second barrier member 122 has a larger rotation angle, in order to prevent the second barrier member 122 from rotating beyond the position where the accumulator and the sub-chamber are connected, refer to Figure 3 , Figure 4 As shown, optionally, the hydraulic cylinder 10 is provided with a first connection port 102 and a second connection port 103 , wherein the first connection port 102 connects the first sub-chamber 101a with the first accumulator 21 , and the second connection port 103 connects the second sub-chamber 101b with the second accumulator 22 .

[0067] Among them, the first connection port 102 and the second connection port 103 can be respectively arranged close to the two sides of the first barrier member 112, so that when the second barrier member 122 rotates toward the first barrier member 112, it can have a larger rotation angle while preventing the second barrier member 122 from rotating excessively, causing the first connection port 102 to be connected with the second connection port 103.

[0068] Of course, in other embodiments, in order to prevent the second barrier 122 from rotating excessively and causing the first connection port 102 to communicate with the second connection port 103, a first stopper and a second stopper may be provided on the peripheral wall of the hydraulic cylinder 10. The first stopper may be located on a side of the first connection port 102 away from the first barrier 112, and the second stopper may be located on a side of the second connection port 103 away from the first barrier 112. In this way, when the second barrier 122 rotates to abut against the first stopper, the second barrier 122 can be prevented from crossing the first connection port 102. When the second barrier 122 rotates to abut against the second stopper, the second barrier 122 can be prevented from crossing the second connection port 103, thereby preventing the first connection port 102 from communicating with the second connection port 103.

[0069] In addition, when the balancer 100 of the present invention is assembled between the upper arm 300 and the waist seat 200 of the robot 1000, and the cylinder body 111 of the balancer 100 is connected to the waist seat 200, and the cylinder head 121 of the balancer 100 is connected to the upper arm 300, the first connection port 102 and the second connection port 103 can be set on the cylinder body 111, so that the first connection port 102 and the second connection port 103 of the hydraulic cylinder 10 will not change position with the movement of the upper arm 300, thereby facilitating the hydraulic cylinder 10 to connect to the energy storage assembly 20.

[0070] See also Figure 5 As shown, the present invention also proposes a robot 1000, which includes a waist seat 200, a large arm 300 and a balancer 100. The specific structure of the balancer 100 refers to the above embodiment. Since the robot 1000 adopts all the technical solutions of all the above embodiments, it at least has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be repeated here. Among them, the large arm 300 is rotatably arranged on the waist seat 200, and the hydraulic cylinder 10 of the balancer 100 is arranged between the waist seat 200 and the large arm 300 along the rotation axis of the large arm 300. The cylinder head 121 of the hydraulic cylinder 10 is connected to the large arm 300, and the cylinder body 111 of the hydraulic cylinder 10 is connected to the waist seat 200.

[0071] With such arrangement, when the upper arm 300 is rotated by an external force, the upper arm 300 can drive the cylinder cover 121 to rotate, and the cylinder body 111 is relatively fixed to the waist seat 200, so that the cylinder cover 121 rotates relative to the cylinder body 111, thereby driving the second baffle 122 to move in the chamber 101, so that the volume of one of the first sub-chamber 101a and the second sub-chamber 101b is reduced, and the volume of the other is increased, so that the energy storage component 20 generates a reaction force on the second baffle 122 in the opposite direction of its rotation through the volume change of the first sub-chamber 101a and the second sub-chamber 101b, thereby balancing the eccentric gravity moment generated by the upper arm 300 itself.

[0072] Alternatively, the cylinder body 111 of the hydraulic cylinder 10 is connected to the boom 300, and the cylinder head 121 of the hydraulic cylinder 10 is connected to the waist seat 200. In this way, during the swinging of the boom 300, the cylinder head 121 can also rotate relative to the cylinder body 111, so that the energy storage assembly 20 works to balance the eccentric moment generated by the boom 300 itself, and the specific details are not limited.

[0073] In addition, the balancer 100 of the present invention also includes a swing flange. When the cylinder head 121 of the hydraulic cylinder 10 is assembled and connected to the boom 300, the swing flange can be provided on the cylinder head 121, and the cylinder head 121 is assembled and connected to the boom 300 through the swing flange. When the cylinder body 111 of the hydraulic cylinder 10 is assembled and connected to the boom 300, the swing flange can be provided on the cylinder body 111, and the cylinder body 111 is assembled and connected to the boom 300 through the swing flange. No specific limitation is made.

[0074] When the balancer 100 is actually applied to the robot 1000, when the volumes of the first sub-chamber 101a and the second sub-chamber 101b are equal, the first accumulator 21 and the second accumulator 22 do not generate force on the second barrier 122. In this state, the arm 300 can be set to a vertical state. Optionally, the arm 300 has a vertical state, and when the arm 300 is in the vertical state, the second barrier 122 of the balancer 100 is in a first position. The first position can be a position where the second barrier 122 makes the volumes of the first sub-chamber 101a and the second sub-chamber 101b equal, that is, a position where the angle between the second barrier 122 and the first barrier 112 is 180 degrees. With such arrangement, when the upper arm 300 swings forward or backward from a vertical state, the volume of one of the first sub-chamber 101a and the second sub-chamber 101b can be increased, while the volume of the other can be decreased, so that the energy storage assembly 20 can generate a force on the second baffle 122, thereby generating a reaction force on the upper arm 300 in the opposite direction of its rotation, and the effect of balancing the eccentric weight moment can be achieved by generating a reverse resistance torque through the reaction force.

[0075] See also Figure 5As shown, optionally, the robot 1000 further includes a reducer 400, and the reducer 400 and the cylinder 111 of the balancer 100 are arranged on both sides of the arm 300. Such arrangement enables the robot 1000 arm 300 to simultaneously realize the assembly of the balancer 100 and the reducer 400, while reducing the interference of the balancer 100 and the reducer 400 on the motion stroke of the robot 1000 arm 300, thereby improving the motion range of the arm 300.

[0076] The reducer includes but is not limited to a gear reducer, a worm gear reducer, a belt reducer, a chain reducer and the like. The output end of the reducer 400 is connected to the rotating shaft of the arm 300. The reducer 400 can be externally connected to a driver, and the driver works to drive the arm 300 to rotate, so as to realize the movement of the arm 300. The setting of the reducer 400 can reduce the output speed of the driver to the arm 300, increase the output torque to the arm 300, effectively improve the dynamic response characteristics of the robot 1000, reduce the instantaneous load and impact, thereby not only improving the performance and efficiency of the robot 1000, but also helping to realize complex motion control, so that the robot 1000 can better complete its designed functions.

[0077] The above description is only an exemplary embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the technical concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A balancer, characterized in that: include: A hydraulic cylinder, comprising a main body and a rotating body, wherein the rotating body is rotatably arranged on the main body along the axial direction of the hydraulic cylinder, the rotating body cooperates with the main body to form a first sub-chamber and a second sub-chamber, and the rotating body is used to reduce the volume of one of the first sub-chamber and the second sub-chamber and increase the volume of the other when rotating; as well as An energy storage assembly, comprising a first energy storage device and a second energy storage device, wherein the first energy storage device is connected to the first sub-chamber, and the second energy storage device is connected to the second sub-chamber; When the rotating body rotates under the action of external force, the first accumulator is used to apply a first force to the rotating body through the first sub-chamber, and the second accumulator is used to apply a second force to the rotating body through the second sub-chamber, so that the rotating body is subjected to a third force in the opposite direction to the external force.

2. The balancer according to claim 1, characterized in that: The main body includes a cylinder body and a first partition member connected to the cylinder body, the rotating body includes a cylinder cover and a second partition member connected to the cylinder cover, the cylinder cover is rotatably mounted on the cylinder body, the cylinder body and the cylinder cover are combined to form a chamber, the first partition member and the second partition member are arranged in the chamber and cooperate with each other to separate the chamber into the first sub-chamber and the second sub-chamber.

3. The balancer according to claim 2, characterized in that: The first barrier is connected to the inner wall of the cylinder body and seals with the inner wall of the cylinder head. The second barrier is connected to the inner wall of the cylinder head and seals with the inner wall of the cylinder body. The first barrier is seals with the second barrier.

4. The balancer according to claim 3, characterized in that: The balancer further comprises a rotating shaft, which is arranged in the chamber and located at the rotation center of the cylinder head, and the cylinder head is rotatably connected to the rotating shaft.

5. The balancer according to claim 4, characterized in that: The first barrier is disposed between the inner circumferential wall of the cylinder body and the rotating shaft, the second barrier is disposed between the inner circumferential wall of the cylinder head and the rotating shaft, and one end of the second barrier that seals with the first barrier is rotatably disposed on the rotating shaft.

6. The balancer according to claim 2, characterized in that: When the volumes of the first sub-chamber and the second sub-chamber are equal, the second barrier has a first position; When the second barrier is in the first position, the second barrier can be rotated clockwise by no more than 120 degrees; and / or the second barrier can be rotated counterclockwise by no more than 120 degrees.

7. The balancer according to claim 2, characterized in that: The hydraulic cylinder is provided with a first connection port and a second connection port, wherein the first connection port connects the first sub-chamber and the first accumulator, and the second connection port connects the second sub-chamber and the second accumulator.

8. The balancer according to claim 1, characterized in that: The balancer further includes a switch valve, which connects the first accumulator and the second accumulator, and is used to calibrate the volume change of the first sub-chamber and the second sub-chamber.

9. The balancer according to any one of claims 1 to 8, characterized in that: The first accumulator is a gas pressure accumulator; And / or, the second accumulator is a pneumatic accumulator.

10. A robot, characterized in that: include: waist seat; A large arm rotatably disposed on the waist seat; as well as According to any one of claims 1 to 9, the hydraulic cylinder of the balancer is arranged between the waist seat and the boom along the rotation axis of the boom, the cylinder body of the hydraulic cylinder is connected to the boom, and the cylinder head of the hydraulic cylinder is connected to the waist seat; or, the cylinder head of the hydraulic cylinder is connected to the boom, and the cylinder body of the hydraulic cylinder is connected to the waist seat.

11. The robot according to claim 10, characterized in that: The robot further comprises a reducer, and the reducer and the cylinder body of the balancer are arranged on both sides of the large arm.

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