CN109641356A - Balance system and industrial robot for industrial robot - Google Patents
Balance system and industrial robot for industrial robot Download PDFInfo
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- CN109641356A CN109641356A CN201680086695.7A CN201680086695A CN109641356A CN 109641356 A CN109641356 A CN 109641356A CN 201680086695 A CN201680086695 A CN 201680086695A CN 109641356 A CN109641356 A CN 109641356A
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- industrial robot
- piston rod
- vacuum chamber
- cylinder body
- balance system
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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
Abstract
A kind of balance system and industrial robot, the balance system include: cylinder body (1), are arranged on the pedestal of industrial robot；One end of piston rod (2), piston rod (2) is plugged in the cavity of cylinder body (1), and the other end of piston rod (2) and the mechanical arm of industrial robot connect；Baffle (3), it is arranged in the cavity of cylinder body (1) and connect with one end of piston rod (2) with the movement with piston rod (2) and move, and the cavity of cylinder body (1) is divided into rodless cavity (12) and rod chamber (13) by baffle (3)；Rodless cavity (12) is vacuum chamber, and when mechanical arm is moved along first direction, the mechanical energy of industrial robot is converted into potential energy and the storage of vacuum chamber with the movement of mechanical arm by piston rod (2)；When mechanical arm is moved along the second direction opposite with first direction, the energy that piston rod (2) is stored with the movement release vacuum chamber of mechanical arm, and convert thereof into the mechanical energy of industrial robot.The balance system can easily realize the function of two axle loads of balance, and light reliable, maintenance is simple, while easy for installation, will not bring movement interference.
Description
The present invention relates to robot balancing technique fields, more particularly to a kind of balance system and industrial robot for industrial robot.
Industrial robot is multi-joint manipulator or multivariant installations towards industrial circle, it can execute work automatically, is a kind of machine that various functions are realized by self power and control ability；It is the telecontrol equipment being driven by motor.Two axle loads of heavy duty industrial robot (load 90kg or more) are relatively large, and reasonable balancing device can allow two axle loads more balanced, and choice of electrical machine is more reasonable, and the movenent performance of industrial robot is more preferable.The typically no balance system of light-duty industrial robot (load 20kg or less).Although load and total quality are much smaller than heavy duty industrial robot, but secondly axis is as the maximum axis of motor load in six axis, motor model is generally higher than other axis, according to reasonable balance system, the load of two spindle motors can be reduced, make the reduction of robot entirety power supply capacity, this is highly advantageous for cost control.
In the prior art, generally there are three types of modes for the balance system of existing industrial robot: gravity type, spring and fluid pressure type.Gravity type balances two axle loads using counterweight；Spring balances two axle loads using multiple groups spring；Fluid pressure type balances two axle loads using hydraulic and bladder accumulator combining form.
For existing three kinds of balance systems, all have the shortcomings that different:
The general counterweight of gravity type balance system is very big, and industrial robot overall mass has been significantly greatly increased, and the quality influence of light-duty industrial robot complete machine is especially apparent；
Spring balance system and device quality is larger, and multiple groups spring assembly form need to generally be selected merely by using when spring balance system, design scheme is complicated, and the service life of spring is limited by reciprocal time, and system is frequently necessary to safeguard；
Hydraulic balance system generally uses hydraulic cylinder to add the combining form of double accumulators, and hydraulic system maintenance is inconvenient, has leakage hidden danger, when selected accumulator volume is larger, balancing device may be interfered with two axis spaces；And the equilibrant force that hydraulic balance system can provide is generally very big, is suitable for heavy duty industrial robot.
It can be seen that providing a kind of function that can easily realize two axle loads of balance, light reliable, maintenance is simple, while easy for installation, and the industrial robot of movement interference will not be brought particularly important.
[summary of the invention]
The invention mainly solves the technical problem of providing a kind of balance systems and industrial robot for industrial robot, can easily realize the function of two axle loads of balance, and light reliable, maintenance is simple, while easy for installation, will not bring movement interference.
In order to solve the above technical problems, one technical scheme adopted by the invention is that: a kind of balance system for industrial robot is provided, comprising:
Cylinder body is arranged on the pedestal of the industrial robot, and is provided with cavity in the cylinder body；
Piston rod, one end of the piston rod are plugged in the cavity of the cylinder body, and the other end of the piston rod is connect with the mechanical arm of the industrial robot；
Baffle is arranged in the cavity of the cylinder body and connect with one end of the piston rod with the movement with the piston rod and move, and the cavity of the cylinder body is divided into rodless cavity and rod chamber by the baffle；
Wherein, the rodless cavity is vacuum chamber, and when the mechanical arm of the industrial robot is moved along first direction, the piston rod is moved with the movement of the mechanical arm, and the mechanical energy of the industrial robot is converted into potential energy and the storage of the vacuum chamber；When the mechanical arm of the industrial robot is moved along second direction opposite to the first direction, the piston rod is moved with the movement of the mechanical arm, to discharge the energy of vacuum chamber storage, and the energy that the vacuum chamber stores is converted into the mechanical energy of the industrial robot.
Wherein, the cylinder body corresponds to and is provided with venthole at the position of the rod chamber, so that the rod chamber is communicated with outside air.
Wherein, further comprise:
Air cleaner is arranged on the venthole so that the particulate pollutant in outside air is isolated.
Wherein, the air pressure in the rod chamber is 1 bar of bar.
Wherein, the cylinder body is provided with vacuum chamber bleeding point at the position of the correspondence vacuum chamber, in advance to vacuumize the rodless cavity.
Wherein, the air pressure in the vacuum chamber is not higher than 10-5Bar bar.
Wherein, further comprise:
Sealing ring is arranged on the baffle to seal the vacuum chamber.
Wherein, the sealing ring is Oilless Lubrication Seal in Petroleum Gas circle.
Wherein, the load of the industrial robot is no more than 20 kilograms.
In order to solve the above technical problems, another technical solution used in the present invention is: providing a kind of industrial robot comprising pedestal, mechanical arm, joint and balance system, wherein the joint is arranged at the bottom
Between seat and the mechanical arm, and the balance system is arranged in the joint, and the balance system includes:
Cylinder body is arranged on the pedestal of the industrial robot, and is provided with cavity in the cylinder body；
Piston rod, one end of the piston rod are plugged in the cavity of the cylinder body, and the other end of the piston rod is connect with the mechanical arm of the industrial robot；
Baffle is arranged in the cavity of the cylinder body and connect with one end of the piston rod with the movement with the piston rod and move, and the cavity of the cylinder body is divided into rodless cavity and rod chamber by the baffle；
Wherein, the rodless cavity is vacuum chamber, and when the mechanical arm of the industrial robot is moved along first direction, the piston rod is moved with the movement of the mechanical arm, and the mechanical energy of the industrial robot is converted into potential energy and the storage of the vacuum chamber；When the mechanical arm of the industrial robot is moved along second direction opposite to the first direction, the piston rod is moved with the movement of the mechanical arm, to discharge the energy of vacuum chamber storage, and the energy that the vacuum chamber stores is converted into the mechanical energy of the industrial robot.
Wherein, the cylinder body corresponds to and is provided with venthole at the position of the rod chamber, so that the rod chamber is communicated with outside air.
Wherein, the balance system further comprises:
Air cleaner is arranged on the venthole so that the particulate pollutant in outside air is isolated.
Wherein, the air pressure in the rod chamber is 1 bar of bar.
Wherein, the cylinder body is provided with vacuum chamber bleeding point at the position of the correspondence vacuum chamber, in advance to vacuumize the rodless cavity.
Wherein, the air pressure in the vacuum chamber is not higher than 10-5Bar bar.
Wherein, the balance system further comprises:
Sealing ring is arranged on the baffle to seal the vacuum chamber.
Wherein, the sealing ring is Oilless Lubrication Seal in Petroleum Gas circle.
Wherein, the load of the industrial robot is no more than 20 kilograms.
The beneficial effects of the present invention are: being in contrast to the prior art, balance system of the invention includes cylinder body, piston rod and baffle；The cavity of cylinder body is divided into rodless cavity and rod chamber by baffle, rodless cavity is vacuum chamber, when the mechanical arm of industrial robot is moved along first direction, piston rod is moved with the movement of mechanical arm, and the mechanical energy of industrial robot is converted into potential energy and the storage of vacuum chamber；When the mechanical arm of industrial robot is moved along the second direction opposite with first direction, piston rod is mobile to discharge the energy that vacuum chamber stores with the movement of mechanical arm, and the energy that vacuum chamber stores is converted into the machinery of the industrial robot
Energy.Since rodless cavity keeps vacuum, rod chamber connects atmosphere, and two chamber pressure differences are constant, therefore can provide constant power output to balance two axle loads, and do not need that pneumatic supply is separately provided again.Compared to the same load level industrial robot of no balance system, the load of two spindle motors can obtain obvious equilibrium, and two spindle motor models can be smaller, and more preferably, control cabinet power level can also be effectively reduced movenent performance.In this way, the function of two axle loads of balance can be easily realized, light reliable, maintenance is simple, while easy for installation, will not bring movement interference.
Fig. 1 is structural schematic diagram of the present invention for one embodiment of balance system of industrial robot；
Fig. 2 is the structural schematic diagram of one embodiment of industrial robot of the present invention.
Below in conjunction with the attached drawing in embodiment of the present invention, the technical solution in embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only some embodiments of the invention, rather than whole embodiments.Based on the embodiment in the present invention, every other embodiment obtained by those of ordinary skill in the art without making creative efforts belongs to the scope of protection of the invention.
It is structural schematic diagram of the present invention for one embodiment of balance system of industrial robot referring to Fig. 1, Fig. 1.The balance system for being used for industrial robot includes: cylinder body 1, piston rod 2 and baffle 3.
Cylinder body 1 is arranged on the pedestal of industrial robot, and is provided with cavity in cylinder body 1；One end of piston rod 2 is plugged in the cavity of cylinder body 1, and the other end of piston rod 2 and the mechanical arm of industrial robot connect；Baffle 3 is arranged in the cavity of cylinder body 1 and connect with one end of piston rod 2 with the movement with piston rod 2 and move, and the cavity of cylinder body 1 is divided into rodless cavity 12 and rod chamber 13 by baffle 3.When manipulator motion, drives the piston rod of connection mechanical arm mobile, and then baffle is driven to move in the cavity, so as to cause the variation of volume between rodless cavity and rod chamber, and then lead to the conversion of energy.
Wherein, it is vacuum or ultralow air pressure that rodless cavity, which is the air pressure of vacuum chamber namely rodless cavity,；When the mechanical arm of industrial robot is moved along first direction, piston rod is moved with the movement of mechanical arm, and the mechanical energy of industrial robot is converted into potential energy and the storage of vacuum chamber；Such as: when the joint of industrial robot rotates forward, the mechanical energy of industrial robot is converted into the potential energy of vacuum chamber and stored by mechanical arm nutation, balance system.
When industrial robot mechanical arm along the second direction opposite with first direction move when, piston rod with
The movement of mechanical arm and move, to discharge the energy of vacuum chamber storage, and the energy that vacuum chamber stores is converted into the mechanical energy of industrial robot；Such as: when the joint of industrial robot rotates backward, mechanical arm is faced upward, and balance system releases the energy that vacuum chamber stores, and is converted to the mechanical energy of industrial robot.
The balance system of embodiment of the present invention includes cylinder body, piston rod and baffle；The cavity of cylinder body is divided into rodless cavity and rod chamber by baffle, rodless cavity is vacuum chamber, when the mechanical arm of industrial robot is moved along first direction, piston rod is moved with the movement of mechanical arm, and the mechanical energy of industrial robot is converted into potential energy and the storage of vacuum chamber；When the mechanical arm of industrial robot is moved along the second direction opposite with first direction, piston rod is moved with the movement of mechanical arm, to discharge the energy of vacuum chamber storage, and the energy that vacuum chamber stores is converted into the mechanical energy of the industrial robot.Since rodless cavity keeps vacuum, rod chamber connects atmosphere, and two chamber pressure differences are constant, therefore can provide constant power output to balance two axle loads, and do not need that pneumatic supply is separately provided again.Compared to the same load level industrial robot of no balance system, the load of two spindle motors can obtain obvious equilibrium, and two spindle motor models can be smaller, and more preferably, control cabinet power level can also be effectively reduced movenent performance.In this way, the function of two axle loads of balance can be easily realized, light reliable, maintenance is simple, while easy for installation, will not bring movement interference.
Wherein, it is provided with venthole 11 at the position of the corresponding rod chamber 13 of cylinder body 1, so that rod chamber 13 is communicated with outside air.In this way, it can guarantee rod chamber 13 and 12 air pressure constant of rodless cavity as far as possible.
Wherein, balance system further comprises: air cleaner 4.Air cleaner 4 is arranged on venthole 11 so that the particulate pollutant in outside air is isolated.In this way, it can be avoided the normal work that the particulate pollutant in outside air enters balance system and interferes balance system.
Wherein, the air pressure in rod chamber 13 is 1 bar of bar.
Wherein, cylinder body 1 is provided with vacuum chamber bleeding point 14 at the position of corresponding vacuum chamber, in advance to vacuumize rodless cavity 12.
Wherein, the air pressure in vacuum chamber is not higher than 10-5Bar bar.
Wherein, balance system further comprises: sealing ring 5.Sealing ring 5 is arranged on baffle 3 to seal vacuum chamber.Further, sealing ring 5 is Oilless Lubrication Seal in Petroleum Gas circle.
Rod chamber 13 and 12 draught head of rodless cavity are constant, therefore active force is constant all the time, and active force is the product of atmospheric pressure and rod chamber anchor ring area, and constant active force is conducive to carry out emulation check and makes suitable type selecting to motor.It is more sensitive to polluting since rodless cavity 12 is vacuum chamber, therefore pollution need to be controlled, atmosphere bring particle contamination is isolated in air cleaner 4, Oilless Lubrication Seal in Petroleum Gas circle 5 does not introduce lubricating oil volatilization bring pollution, vacuum chamber cleaning is effectively ensured while sealing.
Wherein, the load of industrial robot is no more than 20 kilograms.It is i.e. light on the artificial ordinary meaning of industrial machine
Type industrial robot.
The balance system is installed on the joint of industrial robot.When the joint of motor driven robot is moved along first direction (such as: when rotating forward, mechanical arm nutation), balance system can store the potential energy that the mechanical energy of robot body is converted to vacuum chamber；When the joint of motor driven robot is moved along the second direction opposite with first direction (such as: when rotating backward, mechanical arm is faced upward), the potential energy of storage can be released the mechanical energy for being converted to robot body by balance system.
The balance system, rodless cavity 12 keep vacuum, and rod chamber 13 connects atmosphere, and two chamber pressure differences are constant, therefore can provide constant power output to balance two axle loads.Working method is specific as follows:
The balance system cylinder body 1 is connect with robot base, and piston rod 2 is connect with mechanical arm；Cylinder rod chamber 13 is in pressured state always, forms pulling force to mechanical arm, to reduce the load of two spindle motors；When mechanical arm is moved along first direction (such as: move down), balance system can store the potential energy that the mechanical energy of robot body is converted to vacuum chamber；When the joint of motor driven robot moves in a second direction (such as: when rotating backward, mechanical arm is faced upward), the potential energy of storage can be released the mechanical energy for being converted to robot body by balance system.
Since light-duty two axle load of industrial robot is much smaller than two axle load of heavy robot, therefore excessive pressure difference and excessive anchor ring area are not needed to provide equilibrant force, using the pressure difference of atmospheric pressure and vacuum, the effect of balance had not only been played in this way, but also did not needed that pneumatic supply is separately provided.Compared to the same load level industrial robot of no balance system, the load of two spindle motors can obtain obvious equilibrium, and two spindle motor models can be smaller, and more preferably, control cabinet power level can also be effectively reduced movenent performance.
Above-mentioned balance system has the advantage that first, force of gravity formula balance system quality is lighter；The second, simpler than hydraulic balance system structure, it is easy to maintain；It is third, longer than spring balance lifetime of system；4th, vacuum chamber and atm difference are constant, therefore balance system power output is constant, facilitates design & check；5th, design profile is succinct, is not likely to produce movement interference；6th, system integral installation is convenient, and interface is clear, easy to maintain；7th, structure is simple, at low cost, especially more significant to the reduction of overall cost.
Referring to fig. 2, Fig. 2 is the structural schematic diagram of one embodiment of industrial robot of the present invention, the industrial robot includes: pedestal 100, mechanical arm 200, joint 300 and balance system 400, wherein, joint 300 is arranged between pedestal 100 and mechanical arm 200, and balance system 400 is arranged at joint 300, and balance system 400 is any balance system in above-mentioned balance system, particular content refers to the explanation of above-mentioned balance system, no longer superfluous herein to chat.
Mode the above is only the implementation of the present invention is not intended to limit the scope of the invention, all using equivalent structure or equivalent flow shift made by description of the invention and accompanying drawing content, directly or indirectly
Other related technical areas are used in, are included within the scope of the present invention.
Claims (17)
- A kind of balance system for industrial robot characterized by comprisingCylinder body is arranged on the pedestal of the industrial robot, and is provided with cavity in the cylinder body；Piston rod, one end of the piston rod are plugged in the cavity of the cylinder body, and the other end of the piston rod is connect with the mechanical arm of the industrial robot；Baffle is arranged in the cavity of the cylinder body and is connect with one end of the piston rod, moved with the movement with the piston rod, and the cavity of the cylinder body is divided into rodless cavity and rod chamber by the baffle；Wherein, the rodless cavity is vacuum chamber, and when the mechanical arm of the industrial robot is moved along first direction, the piston rod is moved with the movement of the mechanical arm, and the mechanical energy of the industrial robot is converted into potential energy and the storage of the vacuum chamber；When the mechanical arm of the industrial robot is moved along second direction opposite to the first direction, the piston rod is moved with the movement of the mechanical arm, to discharge the energy of vacuum chamber storage, and the energy that the vacuum chamber stores is converted into the mechanical energy of the industrial robot.
- Balance system according to claim 1, which is characterized in that the cylinder body corresponds to and is provided with venthole at the position of the rod chamber, so that the rod chamber is communicated with outside air.
- Balance system according to claim 2, which is characterized in that further comprise:Air cleaner is arranged on the venthole so that the particulate pollutant in outside air is isolated.
- Balance system according to claim 1, which is characterized in that the cylinder body is provided with vacuum chamber bleeding point at the position of the correspondence vacuum chamber, in advance to vacuumize the rodless cavity.
- Balance system according to claim 1, wherein the air pressure in the vacuum chamber is not higher than 10-5Bar bar.
- Balance system according to claim 1, which is characterized in that further comprise:Sealing ring is arranged on the baffle to seal the vacuum chamber.
- Balance system according to claim 6, which is characterized in that the sealing ring is Oilless Lubrication Seal in Petroleum Gas circle.
- Balance system according to claim 1, which is characterized in that the load of the industrial robot is no more than 20 kilograms.
- A kind of industrial robot comprising pedestal, mechanical arm, joint and balance system, which is characterized in that the joint is arranged between the pedestal and the mechanical arm, and the balance system is arranged in the joint, and the balance system includes:Cylinder body is arranged on the pedestal of the industrial robot, and is provided with cavity in the cylinder body；Piston rod, one end of the piston rod are plugged in the cavity of the cylinder body, and the other end of the piston rod is connect with the mechanical arm of the industrial robot；Baffle is arranged in the cavity of the cylinder body and connect with one end of the piston rod with the movement with the piston rod and move, and the cavity of the cylinder body is divided into rodless cavity and rod chamber by the baffle；Wherein, the rodless cavity is vacuum chamber, and when the mechanical arm of the industrial robot is moved along first direction, the piston rod is moved with the movement of the mechanical arm, and the mechanical energy of the industrial robot is converted into potential energy and the storage of the vacuum chamber；When the mechanical arm of the industrial robot is moved along second direction opposite to the first direction, the piston rod is moved with the movement of the mechanical arm, to discharge the energy of vacuum chamber storage, and the energy that the vacuum chamber stores is converted into the mechanical energy of the industrial robot.
- Industrial robot according to claim 9, which is characterized in that the cylinder body corresponds to and is provided with venthole at the position of the rod chamber, so that the rod chamber is communicated with outside air.
- Industrial robot according to claim 10, which is characterized in that the balance system further comprises:Air cleaner is arranged on the venthole so that the particulate pollutant in outside air is isolated.
- Industrial robot according to claim 9, which is characterized in that the air pressure in the rod chamber is 1 bar of bar.
- Industrial robot according to claim 9, which is characterized in that the cylinder body is provided with vacuum chamber bleeding point at the position of the correspondence vacuum chamber, in advance to vacuumize the rodless cavity.
- Industrial robot according to claim 9, which is characterized in that the air pressure in the vacuum chamber is not higher than 10-5Bar bar.
- Industrial robot according to claim 9, which is characterized in that the balance system further comprises:Sealing ring is arranged on the baffle to seal the vacuum chamber.
- Industrial robot according to claim 15, which is characterized in that the sealing ring is Oilless Lubrication Seal in Petroleum Gas circle.
- Industrial robot according to claim 9, which is characterized in that the load of the industrial robot is no more than 20 kilograms.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2016/113810 WO2018120154A1 (en) | 2016-12-30 | 2016-12-30 | Balancing system for use in industrial robot and industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109641356A true CN109641356A (en) | 2019-04-16 |
Family
ID=62706784
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680086695.7A Pending CN109641356A (en) | 2016-12-30 | 2016-12-30 | Balance system and industrial robot for industrial robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109641356A (en) |
| WO (1) | WO2018120154A1 (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111098319A (en) * | 2020-01-19 | 2020-05-05 | 路邦科技授权有限公司 | Industrial grade arm allies oneself with control system more |
| CN114055447A (en) * | 2021-11-29 | 2022-02-18 | 彭丽 | Swing arm gravity elimination balance method based on flexible traction mode |
| CN114131584A (en) * | 2021-12-21 | 2022-03-04 | 彭丽 | Human body bone movement auxiliary balancing method |
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| US4465424A (en) * | 1981-06-29 | 1984-08-14 | Fujitsu Fanuc Limited | Industrial robot |
| WO2003039819A1 (en) * | 2001-11-09 | 2003-05-15 | Honda Giken Kogyo Kabushiki Kaisha | Leg joint assist device for leg type movable robot |
| CN102471043A (en) * | 2009-07-15 | 2012-05-23 | 学校法人庆应义塾 | Load-compensation device |
| CN104070536A (en) * | 2013-03-29 | 2014-10-01 | 发那科株式会社 | Industrial robot provided with balancer device |
| WO2015148370A1 (en) * | 2014-03-24 | 2015-10-01 | Abb Technology Ag | Hydraulic/pneumatic cylinder as balancer units |
| CN105829035A (en) * | 2013-12-25 | 2016-08-03 | 川崎重工业株式会社 | Balancer device |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ATE458594T1 (en) * | 2006-09-27 | 2010-03-15 | Abb Ab | INDUSTRIAL ROBOT WITH COMPRESSED AIR SUPPLY IN WEIGHT COMPENSATION DEVICE |
| CN205043806U (en) * | 2015-10-14 | 2016-02-24 | 南京埃斯顿机器人工程有限公司 | Industrial robot second joint balance mechanism |
-
2016
- 2016-12-30 CN CN201680086695.7A patent/CN109641356A/en active Pending
- 2016-12-30 WO PCT/CN2016/113810 patent/WO2018120154A1/en active Application Filing
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4465424A (en) * | 1981-06-29 | 1984-08-14 | Fujitsu Fanuc Limited | Industrial robot |
| WO2003039819A1 (en) * | 2001-11-09 | 2003-05-15 | Honda Giken Kogyo Kabushiki Kaisha | Leg joint assist device for leg type movable robot |
| CN102471043A (en) * | 2009-07-15 | 2012-05-23 | 学校法人庆应义塾 | Load-compensation device |
| CN104070536A (en) * | 2013-03-29 | 2014-10-01 | 发那科株式会社 | Industrial robot provided with balancer device |
| CN105829035A (en) * | 2013-12-25 | 2016-08-03 | 川崎重工业株式会社 | Balancer device |
| WO2015148370A1 (en) * | 2014-03-24 | 2015-10-01 | Abb Technology Ag | Hydraulic/pneumatic cylinder as balancer units |
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|---|---|
| WO2018120154A1 (en) | 2018-07-05 |
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