Fluidic Load Balancer for Multi-Axis Robot
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Solution Overview
Problem
Multi-axis robots face challenges with peak loads and energy requirements due to the increased holding torques and mass inertia in their drive axes, which can lead to suboptimal operating behavior and higher costs for load balancing arrangements.
Innovation Solution
A fluidic load compensation arrangement is introduced for multi-axis robots, where a slave cylinder is fluidly coupled to a master cylinder without its own pressure accumulator, allowing for targeted load compensation with reduced additional load on the drive motor, thereby minimizing energy requirements and mass inertia.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a traditional load balancing arrangement with separate pressure accumulators for each hydraulic cylinder is used, then load compensation capability is improved, but device complexity and cost increase
Solution Approach 1:
The patent merges two separate pressure accumulators into a single shared pressure accumulator that serves both the first and second hydraulic cylinders. This single accumulator is fluidically connected to both cylinders through a common fluid distribution system, allowing one accumulator to provide pressure compensation for multiple actuators simultaneously, thereby reducing component count and system complexity while maintaining load compensation functionality
Solution Approach 2:
The single pressure accumulator is designed to perform multiple functions by serving both hydraulic cylinders through fluidic connections. It simultaneously compensates for load variations in different axes of the robot, providing universal pressure regulation and energy storage across multiple actuation points without requiring separate accumulators for each cylinder
2Reliability
If hydraulic cylinders with separate pressure accumulators are used for each axis, then load compensation is improved, but mass inertia increases
Solution Approach 1:
The patent combines multiple pressure accumulators into a single shared unit that serves multiple hydraulic cylinders. This consolidation reduces the total mass of the pressure storage system while maintaining the load compensation function across different robot axes, thereby reducing mass inertia without sacrificing reliability
3Use of energy by moving object
If multiple pressure accumulators are provided for each hydraulic cylinder, then energy storage capacity is improved, but device complexity and cost increase
Solution Approach 1:
The patent merges multiple pressure accumulators into a single larger or equivalently sized accumulator that serves multiple hydraulic cylinders. This single accumulator provides sufficient energy storage capacity for all connected cylinders through its fluidic connections, eliminating the need for multiple separate accumulators and their associated mounting, piping, and control systems
Data Source
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AI summary
The disclosure relates to a robot and a fluidic load balancing arrangement for a robot (110), which has at least three articulated coupling elements (14, 16, 18), wherein the load balancing arrangement is provided with a first hydraulic cylinder (162) attached to two mutually movable coupling elements (14, 16), wherein a first end of the first hydraulic cylinder (162) is connected to a first coupling element (14) and a second end to a second coupling element (16), and with a second hydraulic cylinder (182) attached to two mutually movable coupling elements (16, 18), wherein a first end of the second hydraulic cylinder (182) is connected to the second coupling element (16) and a second end to a third coupling element (18), wherein the first hydraulic cylinder (162) is the master cylinder (200) and the second hydraulic cylinder (182) is the slave cylinder. (202) is designed,wherein the first master cylinder (200) is coupled to a pressure accumulator (178) for storing fluidic energy, and wherein the master cylinder (200) and the slave cylinder (202) are fluidically coupled to each other.