CA2217224A1 - Industrial robot with mass balance - Google Patents
Industrial robot with mass balance Download PDFInfo
- Publication number
- CA2217224A1 CA2217224A1 CA002217224A CA2217224A CA2217224A1 CA 2217224 A1 CA2217224 A1 CA 2217224A1 CA 002217224 A CA002217224 A CA 002217224A CA 2217224 A CA2217224 A CA 2217224A CA 2217224 A1 CA2217224 A1 CA 2217224A1
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- CA
- Canada
- Prior art keywords
- rocker arm
- industrial robot
- accordance
- arm
- system plane
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Abandoned
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
- B25J9/047—Revolute coordinate type the pivoting axis of the first arm being offset to the vertical axis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
- B25J19/0012—Balancing devices using fluidic devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Testing Of Balance (AREA)
- Paper (AREA)
Abstract
The invention concerns a multiple axis industrial robot (1) with a frame (2), an arm (7), an extension arm (13) and a robot hand (18), these elements being mounted so as to articulate with one another and drive-operated. The arm (7) is over-mounted on one side of the frame (18, 14) and situated to one side of the system plane (21). The arm (7) is connected to a static hydraulic mass balance (23) located on the same side of the system plane as the arm. The extension arm is likewise over-mounted on one side of the arm (7) and located with the arm bearing head (32) of the frame (2) within the system plane (21).
Description
SPECIFICATION
Industrial Robot with Mass Balance The present invention pertains to a multiaxial industrial robot, which has at least one frame, one rocker arm, one extension arm and one robot hand, which are hinged to one another and are driven.
Such a robot has become known in the form of a robot construction kit from DE-s A-41 32 775. The frame axis and the center of the hand flange, as well as of the extension arm form a common system plane. The one-armed rocker arm and the extension arm each have a floating bearing on one side. The rocker arm is provided with a static hydraulic mass balance and is arranged together with this [mass balance] on one side of the system plane. The rocker arm drive is designed as a piezoelectric drive 0 without a gear. The piezoelectric drive sits together with the bearing on that side of the system plane, on which the rocker arm and the static hydraulic mass balance are also arranged. This arrangement has drawbacks in terms of drive technology and dynamics.
DE-A 40 01 885 shows another industrial robot. It is designed for limit loads ofmore than 25 kg and is largely optimized with regard to the masses moved and the mass moments of inertia. The rocker arm is mounted bilaterally in a forked stand and possesses a right-angle bend. The extension arm is hinged to the rocker arm on one side, and the motors mounted on the extension arm for the robot hand are positioned at a certain position to the frame axis. A compensator, which actively opposes the moments and forces which are burdening the rocker arm during the operation, acts on the rocker arm in the center between the bearings.
DE-A-34 47 701 shows an industrial robot with one-sided floating bearings for the rocker arm and the extension arm. A plurality of motors and of drive components, which are able to bring about a mass balance, among other things, are arranged on the rocker s arm housing.
Industrial robots for low loads of less than 25 kg, which have floating bearings for the rocker arm and the extension arm on one side, have also become known from practice. Because of the low limit load, a mass balance is not necessary. The forces and moments occurring can be absorbed in the bearing and drive of the rocker arm.
n Counterweights for the mass balance are present in particular cases.
The object of the present invention is to further h~ ve an industrial robot, which is especially suitable for limit loads of more than 25 kg, in terms of its statics and dynamics.
This object is accomplished by the present invention with the features in the S principal claim.
The industrial robot according to the present invention is opti~ ed in terms of the masses moved and the dynamics because of its shape. In this case, the one-sided arrangement and mounting of the rocker arm and the extension arm work together advantageously with a static hydraulic load balance. As a result, the masses moved can 20 be kept low and the components of the industrial robots can be optimized to a lightweight construction. The industrial robot still weighs only ca. 50-60% of the usual devices having the same limit load classification. This is beneficial to the dynamics, on the one hand, while the industrial robot according to the present invention is faster and more positionally accurate than prior-art designs. In addition, foundations and support structures are loaded considerably less. Furthermore, weaker drives and brakes can be used. Overall, the economic efficiency is also thereby improved because of a decrease in s the efforts and the production costs.
Additional advantageous variants of the present invention are given in the subclaims.
The present invention is shown as an example and schematically in the drawings.
In detail:
~ Figure 1 shows an overall view and a lateral view of an industrial robot with the rocker arm and extension arm bearing on one side as well as with a mass balance, Figure 2 shows an enlarged view of the rocker arm bearing and mass balance of Figure 1, ~ Figure 3 shows a top view of the industrial robot according to arrow III of Figure 1 and with folded-down rocker arm, and Figure 4 shows a partially broken-up rear view of the robot of Figure 1.
Figure 1 shows a lateral view of a multiaxial industrial robot (1), which is designed for limit loads of 25 kg and more. It [industrial robot] consists of a stationary or 20 movable frame (2), which has a movable platform (3) on top, which platform rotates about a preferably vertical frame axis (5). As Figure 4 illustrates, a bearing (4), which is preferably integrated into a highly reduced gear or is attached to a gear in another suitable manner, is arranged between the platform (3) and the frame (2). A motor (6) for the rotary drive of the platform (3) sits on the platform (3) preferably centrally to the frame axis (5).
The industrial robot (1) also has a rocker arm (7), an extension arm (13), and as preferably multiaxial robot hand (18). The rocker arm (7) is pivotably mounted about a preferably horizontal axis (10) on the lower end on a bearing head (32) of the rocker arm on the platform (3). The rocker arm (7) is located on the front edge of the platform, and the rocker arm axis (10) is arranged at a distance in front of the frame axis (5) 0 On the upper end of the rocker arm (7), the extension arm (13) is again pivotably mounted about a likewise preferably horizontal axis (16). On one side, this [extension arm] carries the robot hand (18) with its preferably three axes. The main hand axis, which runs in the extended position along the extension arm (13), is designated with the reference number (20). It is the axis of rotation of the hand flange (19) of the robot hand (18) and extends through the center of the flange.
Figure 3 shows a top view of the industrial robot (1) of Figure 1, whereby the rocker arm (7) is, however, pivoted downwards in an essentially horizontal position and the extension arm (13) is extended vertically downwards through the plane of projection.
The industrial robot (1) has a so-called system plane (21), which is defined by the frame axis (5) and the center of the hand flange (19) or the hand axis (20).
As Figure 3 illustrates, the bearing head (32) of the rocker arm and the extension arm (13) are arranged together in the area of the system plane (21). The arrangement is preferably centrally symmetrical to the system plane (21). The rocker arm (7) is arranged at a distance laterally next to the system plane (21), here, e.g., on the right side.
The rocker arm (7) and the extension arm (13) are both mounted on one side and are provided with a floating bearing (8, 14). The bearing (8, 14) and the associated gears s (9, 15) are located right next to the system plane (21) on the same side as the rocker arm (7). The associated motors (11, 17) are arranged on the opposite side of the system plane (21), here on the left side.
In this variant, it is recommended to arrange the motors (22) of the robot hand (18) in the area of the system plane (21), preferably centrally to the system plane (21).
o They [motors] can thus be positioned next to one another in a series along the system plane (21).
The dynamic and static loads acting on the rocker arm (7) due to the limit load, the extension arm (13), etc. during the operation are largely compensated by a static hydraulic mass balance (23). This [static hydraulic mass balance] is arranged on the same l5 side of the system plane (21) as the rocker arm (7). It comprises a hydraulic cylinder (24), which is connected to an accumulator (26). A blowhole (not shown) prestressed under high pressure, which presses on the oil pad and generates the opposing forces for compensating the rocker arm loads, is located in the accumulator (26).
The piston (25) of the cylinder (24) is rotatably linked to the rocker arm (7) via a 20 bearing lug (29). For its part, the cylinder (24) is mounted on the rear edge of the platform (3) on the rear end by means of a pivot bearing (28). The accumulator (26) is fastened to the cylinder (24) and is connected in line with same, and a safety block (27) that provides the necessary safety functions, e.g., oil or gas discharge in case of overload is attached.
The piston (25) follows the pivoting movements of the rocker arm (7) about its axis (10). When the rocker arm (7) is pivoted downwards, it moves outward and pumps s hydraulic oil into the accumulator (26), which [oil] colllpresses the blowhole. The springy reaction force of the blowhole reacts to the piston (24) and compensates the forces and moments acting on the rocker arm (7) from outside in case of correspondingly balanced prestressing of the blowhole. When the rocker arm (7) is raised, the mass balance (23) acts in a supportive manner.
o As is evident from Figure 3 and the enlarged view of Figure 2, the mass balance (23) or the cylinder (24) is arranged, so that its axis of action (30) runs essentially horizontally or in a small angle of, e.g., 5~ diagonally downwards when the rocker arm (7) is raised. In addition, the axis of action (30) runs in this position close to the rocker arm axis (10) and preferably intersects this [rocker arm axis]. Viewed in the top view, the S mass balance (23) is arranged as close as possible to the frame axis (5). It is positioned such that the axis of action (30) runs near the inside of the rocker arm housing (12), which [inside] is turned towards the system plane (21). As a result, the axis of action (30) also lies very close to the rocker arm bearing (8). This reduces the tilting load on the rocker arm bearing (8). In addition, on the outside next to the mass balance (23), there is enough space for the connection and for the guiding of lines (31) for the supply of a tool and robot parts.
The mass balance (23) acts directly on the rocker arm housing (12). As is evident from Figures 1 and 2, the bearing lug (29) is located on the rear edge of the rocker arm housing (12) and has a gap to the rocker arm axis (10). This gap acts as a lever, by means of which the load-compensating moment of the mass balance (23) that is exerted via the axis of action (30) increases via the downward pivoting movement of the rocker s arm (7). In the raised position of the rocker arm shown in Figure 1, the action of the mass balance is reduced to zero.
In the exemplary embodiment shown, the bearings (8, 14) of the rocker arm (7) and the extension arm (13) are integrated into the respective highly reduced gears (9, 15). The bearings (4) and gears of the frame (2) may also be designed in this manner.
As an alternative, however, the bearings may also be arranged separately from the gear and concentrically around this [gear]. In another variant, the bearings may also be guided centrally on the circumference of the gear.
As Figure 3 illustrates, at least the rocker arm (7) is equipped with a straight, box-shaped and thin-walled housing (12). By means of crossbars, the design is reinforced and leaves space on the inside for laying lines (31), which can lead from the frame (2) to the extension arm (13) and to the motors (17, 22) arranged there, as well as to the tool flanged thereto. Because of the thin-walled design, the rocker arm housing (12) may be very lightweight. The housing of the extension arm (13) may also be designed in a similar manner.
With the rocker arm housing (12) and the bearings (8, 14) and gears (9, 15) Iying as close as possible to the system plane (21), a dynamic mass balance about the frame axis (5) can be produced in connection with the opposing drive motors (11, 16) of the ' CA 02217224 1997-10-02 rocker arm (7) and the extension arm (13). The motors (11, 17) may optionally be distanced somewhat further from the system plane (21) by means of a corresponding housing shape.
Variants of the embodiment shown are possible in various respects. On the one s hand, the arrangements related to the system plane (21) may also be reversed so that the parts lying on the right side in the drawings move to the left side and the parts lying on the left side move to the right side. In addition, it is also possible to design the static hydraulic mass balance (23) even in another suitable manner as a static balance, which develops high enough forces. Moreover, the bearings and gears may be varied in their 0 structural design.
. CA 02217224 1997-10-02 LIST OF REFERENCE NUMBERS
Industrial robot 2 Frame 3 Platform 4 Bearing, frame 5 Axis, frame 6 Motor, frame 7 Rocker arm 8 Bearing, rocker arm 9 Gear, rocker arm 10 Axis, rocker arm 11 Motor, rocker arm 12 Housing, rocker arm 13 Extension arm 14 Bearing, extension arm 15 Gear, extension arm 16 Axis, extension arm 17 Motor, extension arm 18 Robot hand 19 Hand flange 20 Hand axis 21 System plane 22 Motor, robot hand 23 Mass balance 24 Cylinder 25 Piston 26 Accumulator 27 Safety block 28 Pivoting bearing 29 Link, bearing lug 30 Axis of action 31 Line 32 Bearing head of rocker arm
Industrial Robot with Mass Balance The present invention pertains to a multiaxial industrial robot, which has at least one frame, one rocker arm, one extension arm and one robot hand, which are hinged to one another and are driven.
Such a robot has become known in the form of a robot construction kit from DE-s A-41 32 775. The frame axis and the center of the hand flange, as well as of the extension arm form a common system plane. The one-armed rocker arm and the extension arm each have a floating bearing on one side. The rocker arm is provided with a static hydraulic mass balance and is arranged together with this [mass balance] on one side of the system plane. The rocker arm drive is designed as a piezoelectric drive 0 without a gear. The piezoelectric drive sits together with the bearing on that side of the system plane, on which the rocker arm and the static hydraulic mass balance are also arranged. This arrangement has drawbacks in terms of drive technology and dynamics.
DE-A 40 01 885 shows another industrial robot. It is designed for limit loads ofmore than 25 kg and is largely optimized with regard to the masses moved and the mass moments of inertia. The rocker arm is mounted bilaterally in a forked stand and possesses a right-angle bend. The extension arm is hinged to the rocker arm on one side, and the motors mounted on the extension arm for the robot hand are positioned at a certain position to the frame axis. A compensator, which actively opposes the moments and forces which are burdening the rocker arm during the operation, acts on the rocker arm in the center between the bearings.
DE-A-34 47 701 shows an industrial robot with one-sided floating bearings for the rocker arm and the extension arm. A plurality of motors and of drive components, which are able to bring about a mass balance, among other things, are arranged on the rocker s arm housing.
Industrial robots for low loads of less than 25 kg, which have floating bearings for the rocker arm and the extension arm on one side, have also become known from practice. Because of the low limit load, a mass balance is not necessary. The forces and moments occurring can be absorbed in the bearing and drive of the rocker arm.
n Counterweights for the mass balance are present in particular cases.
The object of the present invention is to further h~ ve an industrial robot, which is especially suitable for limit loads of more than 25 kg, in terms of its statics and dynamics.
This object is accomplished by the present invention with the features in the S principal claim.
The industrial robot according to the present invention is opti~ ed in terms of the masses moved and the dynamics because of its shape. In this case, the one-sided arrangement and mounting of the rocker arm and the extension arm work together advantageously with a static hydraulic load balance. As a result, the masses moved can 20 be kept low and the components of the industrial robots can be optimized to a lightweight construction. The industrial robot still weighs only ca. 50-60% of the usual devices having the same limit load classification. This is beneficial to the dynamics, on the one hand, while the industrial robot according to the present invention is faster and more positionally accurate than prior-art designs. In addition, foundations and support structures are loaded considerably less. Furthermore, weaker drives and brakes can be used. Overall, the economic efficiency is also thereby improved because of a decrease in s the efforts and the production costs.
Additional advantageous variants of the present invention are given in the subclaims.
The present invention is shown as an example and schematically in the drawings.
In detail:
~ Figure 1 shows an overall view and a lateral view of an industrial robot with the rocker arm and extension arm bearing on one side as well as with a mass balance, Figure 2 shows an enlarged view of the rocker arm bearing and mass balance of Figure 1, ~ Figure 3 shows a top view of the industrial robot according to arrow III of Figure 1 and with folded-down rocker arm, and Figure 4 shows a partially broken-up rear view of the robot of Figure 1.
Figure 1 shows a lateral view of a multiaxial industrial robot (1), which is designed for limit loads of 25 kg and more. It [industrial robot] consists of a stationary or 20 movable frame (2), which has a movable platform (3) on top, which platform rotates about a preferably vertical frame axis (5). As Figure 4 illustrates, a bearing (4), which is preferably integrated into a highly reduced gear or is attached to a gear in another suitable manner, is arranged between the platform (3) and the frame (2). A motor (6) for the rotary drive of the platform (3) sits on the platform (3) preferably centrally to the frame axis (5).
The industrial robot (1) also has a rocker arm (7), an extension arm (13), and as preferably multiaxial robot hand (18). The rocker arm (7) is pivotably mounted about a preferably horizontal axis (10) on the lower end on a bearing head (32) of the rocker arm on the platform (3). The rocker arm (7) is located on the front edge of the platform, and the rocker arm axis (10) is arranged at a distance in front of the frame axis (5) 0 On the upper end of the rocker arm (7), the extension arm (13) is again pivotably mounted about a likewise preferably horizontal axis (16). On one side, this [extension arm] carries the robot hand (18) with its preferably three axes. The main hand axis, which runs in the extended position along the extension arm (13), is designated with the reference number (20). It is the axis of rotation of the hand flange (19) of the robot hand (18) and extends through the center of the flange.
Figure 3 shows a top view of the industrial robot (1) of Figure 1, whereby the rocker arm (7) is, however, pivoted downwards in an essentially horizontal position and the extension arm (13) is extended vertically downwards through the plane of projection.
The industrial robot (1) has a so-called system plane (21), which is defined by the frame axis (5) and the center of the hand flange (19) or the hand axis (20).
As Figure 3 illustrates, the bearing head (32) of the rocker arm and the extension arm (13) are arranged together in the area of the system plane (21). The arrangement is preferably centrally symmetrical to the system plane (21). The rocker arm (7) is arranged at a distance laterally next to the system plane (21), here, e.g., on the right side.
The rocker arm (7) and the extension arm (13) are both mounted on one side and are provided with a floating bearing (8, 14). The bearing (8, 14) and the associated gears s (9, 15) are located right next to the system plane (21) on the same side as the rocker arm (7). The associated motors (11, 17) are arranged on the opposite side of the system plane (21), here on the left side.
In this variant, it is recommended to arrange the motors (22) of the robot hand (18) in the area of the system plane (21), preferably centrally to the system plane (21).
o They [motors] can thus be positioned next to one another in a series along the system plane (21).
The dynamic and static loads acting on the rocker arm (7) due to the limit load, the extension arm (13), etc. during the operation are largely compensated by a static hydraulic mass balance (23). This [static hydraulic mass balance] is arranged on the same l5 side of the system plane (21) as the rocker arm (7). It comprises a hydraulic cylinder (24), which is connected to an accumulator (26). A blowhole (not shown) prestressed under high pressure, which presses on the oil pad and generates the opposing forces for compensating the rocker arm loads, is located in the accumulator (26).
The piston (25) of the cylinder (24) is rotatably linked to the rocker arm (7) via a 20 bearing lug (29). For its part, the cylinder (24) is mounted on the rear edge of the platform (3) on the rear end by means of a pivot bearing (28). The accumulator (26) is fastened to the cylinder (24) and is connected in line with same, and a safety block (27) that provides the necessary safety functions, e.g., oil or gas discharge in case of overload is attached.
The piston (25) follows the pivoting movements of the rocker arm (7) about its axis (10). When the rocker arm (7) is pivoted downwards, it moves outward and pumps s hydraulic oil into the accumulator (26), which [oil] colllpresses the blowhole. The springy reaction force of the blowhole reacts to the piston (24) and compensates the forces and moments acting on the rocker arm (7) from outside in case of correspondingly balanced prestressing of the blowhole. When the rocker arm (7) is raised, the mass balance (23) acts in a supportive manner.
o As is evident from Figure 3 and the enlarged view of Figure 2, the mass balance (23) or the cylinder (24) is arranged, so that its axis of action (30) runs essentially horizontally or in a small angle of, e.g., 5~ diagonally downwards when the rocker arm (7) is raised. In addition, the axis of action (30) runs in this position close to the rocker arm axis (10) and preferably intersects this [rocker arm axis]. Viewed in the top view, the S mass balance (23) is arranged as close as possible to the frame axis (5). It is positioned such that the axis of action (30) runs near the inside of the rocker arm housing (12), which [inside] is turned towards the system plane (21). As a result, the axis of action (30) also lies very close to the rocker arm bearing (8). This reduces the tilting load on the rocker arm bearing (8). In addition, on the outside next to the mass balance (23), there is enough space for the connection and for the guiding of lines (31) for the supply of a tool and robot parts.
The mass balance (23) acts directly on the rocker arm housing (12). As is evident from Figures 1 and 2, the bearing lug (29) is located on the rear edge of the rocker arm housing (12) and has a gap to the rocker arm axis (10). This gap acts as a lever, by means of which the load-compensating moment of the mass balance (23) that is exerted via the axis of action (30) increases via the downward pivoting movement of the rocker s arm (7). In the raised position of the rocker arm shown in Figure 1, the action of the mass balance is reduced to zero.
In the exemplary embodiment shown, the bearings (8, 14) of the rocker arm (7) and the extension arm (13) are integrated into the respective highly reduced gears (9, 15). The bearings (4) and gears of the frame (2) may also be designed in this manner.
As an alternative, however, the bearings may also be arranged separately from the gear and concentrically around this [gear]. In another variant, the bearings may also be guided centrally on the circumference of the gear.
As Figure 3 illustrates, at least the rocker arm (7) is equipped with a straight, box-shaped and thin-walled housing (12). By means of crossbars, the design is reinforced and leaves space on the inside for laying lines (31), which can lead from the frame (2) to the extension arm (13) and to the motors (17, 22) arranged there, as well as to the tool flanged thereto. Because of the thin-walled design, the rocker arm housing (12) may be very lightweight. The housing of the extension arm (13) may also be designed in a similar manner.
With the rocker arm housing (12) and the bearings (8, 14) and gears (9, 15) Iying as close as possible to the system plane (21), a dynamic mass balance about the frame axis (5) can be produced in connection with the opposing drive motors (11, 16) of the ' CA 02217224 1997-10-02 rocker arm (7) and the extension arm (13). The motors (11, 17) may optionally be distanced somewhat further from the system plane (21) by means of a corresponding housing shape.
Variants of the embodiment shown are possible in various respects. On the one s hand, the arrangements related to the system plane (21) may also be reversed so that the parts lying on the right side in the drawings move to the left side and the parts lying on the left side move to the right side. In addition, it is also possible to design the static hydraulic mass balance (23) even in another suitable manner as a static balance, which develops high enough forces. Moreover, the bearings and gears may be varied in their 0 structural design.
. CA 02217224 1997-10-02 LIST OF REFERENCE NUMBERS
Industrial robot 2 Frame 3 Platform 4 Bearing, frame 5 Axis, frame 6 Motor, frame 7 Rocker arm 8 Bearing, rocker arm 9 Gear, rocker arm 10 Axis, rocker arm 11 Motor, rocker arm 12 Housing, rocker arm 13 Extension arm 14 Bearing, extension arm 15 Gear, extension arm 16 Axis, extension arm 17 Motor, extension arm 18 Robot hand 19 Hand flange 20 Hand axis 21 System plane 22 Motor, robot hand 23 Mass balance 24 Cylinder 25 Piston 26 Accumulator 27 Safety block 28 Pivoting bearing 29 Link, bearing lug 30 Axis of action 31 Line 32 Bearing head of rocker arm
Claims (13)
1. Multiaxial industrial robot with a said frame (2), a said rocker arm (7), a said extension arm (13) and a said robot hand (18), which are hinged to one another and are driven, whereby - the said rocker arm (7) is arranged laterally next to the said system plane (21), which is formed by the said frame axis (5) and by the center of the said hand flange (19), - the said rocker arm (7) as well as the said extension arm each have a said floating bearing (8, 14) on one side, - the said rocker arm (7) is connected with a said static hydraulic mass balance(23), which is arranged on its side of the said system plane (21), - the said gear (9) and the said bearing (8) of the said rocker arm (7) are arranged on one side of the said system plane (21) and the said motor (11) of the said rocker arm (7) is arranged on the other side of the said system plane (21).
2. Industrial robot in accordance with claim 1, characterized in that the said rocker arm bearing head (32) of the said frame (2) and the said extension arm (13) lie together in the area of the said system plane (21).
3. Industrial robot in accordance with claim 1 or 2, characterized in that the said gears (9, 15) and the said bearings (8, 14) of the said rocker arm (7) and the said extension arm (13) are arranged on the said side of the said system plane (21).
4. Industrial robot in accordance with claim 1, 2 or 3, characterized in that the said bearings (8, 14) are integrated into the said gears (9, 15).
5. Industrial robot in accordance with claim 1, 2, 3 or 4, characterized in that the said motors (11, 17) of the said rocker arm (7) and the said extension arm (13) [are arranged] on the other side of the said system plane (21).
6. Industrial robot in accordance with one of claims 1 to 5, characterized in that the said motors (22) of the said robot hand (18) are arranged in the area of the said system plane (21).
7. Industrial robot in accordance with one of claims 1 to 6, characterized in that the said rocker arm (7) has a said essentially straight, thin-walled housing (12).
8. Industrial robot in accordance with one of claims 1 to 7, characterized in that the said mass balance (23) is mounted pivotably on the said frame (2) and is connected in a hinged manner (29) with the rear of the said rocker arm housing (12).
9. Industrial robot in accordance with claim 8, characterized in that the said axis of action (30) of the said mass balance (23) runs essentially horizontally and close to or through the said rocker arm axis (10) when the said rocker arm (7) is vertically aligned.
10. Industrial robot in accordance with claim 8 or 9, characterized in that the said axis of action (30) of the said mass balance (23) runs close to the inside of the said rocker arm housing (12) that is turned towards the said system plane (21).
11. Industrial robot in accordance with claim 1 or one of the claims following it, characterized in that the said mass balance (23) has a said hydraulic cylinder, which is connected with a said accumulator (26), which has a said prestressed blowhole.
12. Industrial robot in accordance with claim 11, characterized in that the said mass balance (23) has a said safety block (27).
13. Industrial robot in accordance with claim 1 or one of the claims following it, characterized in that the said industrial robot (1) is designed for a limit load of more than 25 kg.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE29506008.5 | 1995-04-07 | ||
| DE29506008U DE29506008U1 (en) | 1995-04-07 | 1995-04-07 | Industrial robots with mass balancing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA2217224A1 true CA2217224A1 (en) | 1996-10-10 |
Family
ID=8006572
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA002217224A Abandoned CA2217224A1 (en) | 1995-04-07 | 1996-04-04 | Industrial robot with mass balance |
Country Status (5)
| Country | Link |
|---|---|
| EP (1) | EP0819041B1 (en) |
| JP (1) | JPH11503076A (en) |
| CA (1) | CA2217224A1 (en) |
| DE (2) | DE29506008U1 (en) |
| WO (1) | WO1996031325A1 (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102029607A (en) * | 2009-09-29 | 2011-04-27 | 库卡罗伯特有限公司 | Industrial robot with weight balancing system |
| CN101291783B (en) * | 2005-10-21 | 2011-12-28 | Abb公司 | An arm part of an industrial robot as well as an industrial robot provided therewith |
| CN101823263B (en) * | 2009-03-07 | 2013-02-13 | 鸿富锦精密工业（深圳）有限公司 | Arm component of robot, manufacturing method thereof and robot with same |
| CN104942789A (en) * | 2015-06-12 | 2015-09-30 | 邓莉莉 | Four-shaft transfer robot |
| US9193074B2 (en) | 2013-03-29 | 2015-11-24 | Fanuc Corporation | Multi-joint robot having gas spring, and method for estimating inner pressure of the gas spring |
| US9381644B2 (en) | 2013-07-30 | 2016-07-05 | Kabushiki Kaisha Yaskawa Denki | Robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE10015411C1 (en) * | 2000-03-28 | 2001-07-26 | Kuka Roboter Gmbh | Weight compensation device for robot, with several parallel hose elements having ends fixed to common fixing elements |
| AU2003260275A1 (en) * | 2002-08-23 | 2004-03-19 | Hubertus Boehm | Weight compensation system for devices with axes of rotation |
| ITTO20020987A1 (en) * | 2002-11-14 | 2004-05-15 | Comau Spa | INDUSTRIAL ROBOT |
| ATE401997T1 (en) * | 2005-10-21 | 2008-08-15 | Abb Ab | ROBOT ARM PART AND INDUSTRIAL ROBOTS WITH SUCH AN ARM PART |
| JP4628345B2 (en) * | 2006-12-12 | 2011-02-09 | ナブテスコ株式会社 | Joint structure of industrial robot |
| CN103949821A (en) * | 2014-05-14 | 2014-07-30 | 泰佰亿（山东）工业有限公司 | Robot welding gun holding device |
| EP3311961B9 (en) | 2016-10-20 | 2021-11-24 | Bucher Hydraulics Erding GmbH | Robot and load balancer for a robot |
| EP3311962B1 (en) | 2016-10-20 | 2021-12-15 | Bucher Hydraulics Erding GmbH | Robot and load balancer for a robot |
| CN107498581A (en) * | 2017-08-21 | 2017-12-22 | 珠海格力节能环保制冷技术研究中心有限公司 | Robot linking arm and there is its robot |
| CN109702401A (en) * | 2019-02-25 | 2019-05-03 | 山东时代新纪元机器人有限公司 | Robot hangs upside down system revolving outer shaft device |
| US11707851B2 (en) * | 2019-08-28 | 2023-07-25 | Fanuc Corporation | Arm-shaped structure body and robot |
| CN110762067B (en) * | 2019-11-27 | 2022-01-18 | 江苏博人文化科技有限公司 | Balance actuator for rotary joint |
| DE102022134749A1 (en) | 2022-12-23 | 2024-07-04 | Bucher Hydraulics Erding Gmbh | Robot and load balancing arrangement for a robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| GB966609A (en) * | 1965-03-10 | 1900-01-01 | ||
| DE2841183C2 (en) * | 1978-09-22 | 1982-07-15 | Industrie-Werke Karlsruhe Augsburg AG Zweigniederlassung Keller & Knappich Augsburg, 8900 Augsburg | Handling device with a cantilever arm |
| FR2483300A1 (en) * | 1980-05-28 | 1981-12-04 | Expl Mat Indls Const | Articulated mechanical handling arm - is on swivel base and uses two fixed jacks to counter torque at joints and moment of front arm about shoulder joint |
| DE3310107A1 (en) * | 1983-03-21 | 1984-10-04 | Mantec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth | Industrial robot having arm parts connected in series |
| DE3447701A1 (en) * | 1984-12-28 | 1986-07-10 | Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg | INDUSTRIAL ROBOTS FOR DIFFERENT APPLICATIONS |
| DE8525812U1 (en) * | 1985-09-10 | 1987-02-19 | Manutec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth | Articulated robot |
| SE457744B (en) * | 1987-05-29 | 1989-01-23 | Asea Ab | BALANCING UNIT FOR EXACTLY A MOVABLE ARM IN AN INDUSTRIAL ROBOT |
| DE4001885A1 (en) * | 1990-01-23 | 1991-07-25 | Kuka Schweissanlagen & Roboter | MULTI-AXIS INDUSTRIAL ROBOT |
| DE4132775A1 (en) * | 1991-10-02 | 1993-04-08 | Richter Hans | Modular construction robot for assembly line - has independent joints with piezoelectric drives controlled by databus |
-
1995
- 1995-04-07 DE DE29506008U patent/DE29506008U1/en not_active Expired - Lifetime
-
1996
- 1996-04-04 WO PCT/EP1996/001478 patent/WO1996031325A1/en active IP Right Grant
- 1996-04-04 EP EP96909172A patent/EP0819041B1/en not_active Expired - Lifetime
- 1996-04-04 JP JP8529991A patent/JPH11503076A/en not_active Ceased
- 1996-04-04 DE DE59600917T patent/DE59600917D1/en not_active Expired - Lifetime
- 1996-04-04 CA CA002217224A patent/CA2217224A1/en not_active Abandoned
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101291783B (en) * | 2005-10-21 | 2011-12-28 | Abb公司 | An arm part of an industrial robot as well as an industrial robot provided therewith |
| CN101823263B (en) * | 2009-03-07 | 2013-02-13 | 鸿富锦精密工业（深圳）有限公司 | Arm component of robot, manufacturing method thereof and robot with same |
| CN102029607A (en) * | 2009-09-29 | 2011-04-27 | 库卡罗伯特有限公司 | Industrial robot with weight balancing system |
| CN102029607B (en) * | 2009-09-29 | 2015-10-07 | 库卡罗伯特有限公司 | There is the industrial robot of weight balancing system |
| US9193074B2 (en) | 2013-03-29 | 2015-11-24 | Fanuc Corporation | Multi-joint robot having gas spring, and method for estimating inner pressure of the gas spring |
| US9381644B2 (en) | 2013-07-30 | 2016-07-05 | Kabushiki Kaisha Yaskawa Denki | Robot |
| CN104942789A (en) * | 2015-06-12 | 2015-09-30 | 邓莉莉 | Four-shaft transfer robot |
| CN104942789B (en) * | 2015-06-12 | 2017-04-19 | 邓莉莉 | Four-shaft transfer robot |
Also Published As
| Publication number | Publication date |
|---|---|
| WO1996031325A1 (en) | 1996-10-10 |
| EP0819041A1 (en) | 1998-01-21 |
| JPH11503076A (en) | 1999-03-23 |
| DE59600917D1 (en) | 1999-01-14 |
| EP0819041B1 (en) | 1998-12-02 |
| DE29506008U1 (en) | 1996-08-14 |
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