Hydropneumatic Weight Equalization System for Industrial Robots
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Solution Overview
Problem
Mass equalization systems in industrial robots, particularly those with large payloads, are expensive due to compliance with regulations like the Pressure Equipment Directive, and existing gas or hydropneumatic systems are costly and require extensive testing and documentation.
Innovation Solution
A compact hydropneumatic weight equalization system with pressurized components having volumes less than 1 liter and maximum pressures below 1000 bar, allowing for a more economical design that avoids costly testing and documentation requirements by ensuring compliance with safety margins and reducing the need for additional components like accumulator safety valves.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a gas or hydropneumatic weight equalization system is used in industrial robots with large payloads, then the robot can compensate for dynamic and static loads effectively, but the system becomes expensive due to compliance requirements with the Pressure Equipment Directive
Solution Approach 1:
The patent applies parameter changes by carefully selecting and controlling the volume (less than 1 liter) and maximum pressure (less than 1000 bar) parameters of the pressurized components. By designing the system to operate within these specific parameter ranges, the patent ensures compliance with pressure container directives while avoiding the need for expensive testing and documentation required for larger, high-pressure systems. This parameter optimization allows the weight equalization system to function effectively without incurring excessive compliance costs.
2Force
If larger pressurized components are used in the weight equalization system, then the system can provide sufficient counterforce for large payloads, but the system requires extensive testing, documentation, and safety components like accumulator safety valves
Solution Approach 1:
The patent resolves this contradiction by changing the size and pressure parameters of the pressurized components to volumes less than 1 liter and maximum pressures less than 1000 bar. These parameter changes enable the system to generate sufficient counterforce for large payloads (greater than 80 kg) while simultaneously avoiding the extensive testing, documentation, and additional safety components that would be required for larger, high-pressure systems.
Solution Approach 2:
The patent employs a compact hydropneumatic system design that replicates the essential functionality of larger weight equalization systems in a miniaturized form. By copying the core principles of hydropneumatic weight compensation while scaling down the component sizes, the patent achieves the necessary counterforce capability without triggering the regulatory requirements associated with larger pressure vessels.
3Device complexity
If the weight equalization system is designed to be compact with small pressurized components, then cable routing is simplified and material usage is reduced, but the system must operate reliably at high pressures below 1000 bar
Solution Approach 1:
The patent addresses this contradiction by optimizing the pressure parameter to remain below 1000 bar while maintaining compact component volumes of less than 1 liter. This parameter selection achieves a critical balance: it reduces the size of pressurized components for simpler cable routing and reduced material usage, while simultaneously maintaining sufficient safety margins to ensure reliable pressure containment without requiring additional safety components.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The compact design results in cost savings, simplified cable routing, and reduced material usage, enabling a more economical industrial robot with improved configuration and reduced operational burdens, while maintaining safety and compliance with pressure container directives.
Implementation Method 1
The hydraulic mass equalization system has a hydraulic cylinder and a pressure accumulator connected to the hydraulic cylinder. In the pressure accumulator is a gas bubble pre-tensioned under high pressure, which presses on an oil cushion and produces the counterforces to compensate for the loads on the rocker.
Data Source
AI summary
The invention relates to an industrial robot (1) having a robot arm (2) with a plurality of axes (9, 10) designed for a high payload and having a weight equalization system (12) based on gas for at least one of the axes (9), whose pressurized components (13-15) each have a volume of less than 1 liter and a maximum pressure of less than 1000 bar.