WO1996031325A1 - Industrieroboter mit massenausgleich - Google Patents
Industrieroboter mit massenausgleich Download PDFInfo
- Publication number
- WO1996031325A1 WO1996031325A1 PCT/EP1996/001478 EP9601478W WO9631325A1 WO 1996031325 A1 WO1996031325 A1 WO 1996031325A1 EP 9601478 W EP9601478 W EP 9601478W WO 9631325 A1 WO9631325 A1 WO 9631325A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- industrial robot
- rocker
- robot according
- axis
- mass balance
- Prior art date
Links
Classifications
-
- 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
-
- 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
Definitions
- the invention relates to an axis
- Industrial robot which has at least one frame, a swing arm, a boom and a robot hand, which are articulated to one another and driven.
- a robot is known from DE-A 40 01 885. It is designed for loads of more than 25 kg and with regard to the moving masses and the
- DE-A-34 47 701 shows an industrial robot with one-sided flying bearings for the swing arm and boom.
- Several motors and drive components are arranged on the rocker housing. can bring about a mass balance.
- the invention solves this problem with the features in the main claim.
- the design of the industrial robot according to the invention is optimized with regard to the moving masses and the dynamics.
- the one-sided arrangement and mounting of the swing arm and boom interact advantageously with static hydraulic load balancing. This enables the moving masses to be kept low and the components of the industrial robot to be optimized for lightweight construction.
- the industrial robot weighs only approx. 50 - 60% of the usual devices with the same load class.
- this benefits the dynamics in that the industrial robot according to the invention is faster and more precisely positioned than known constructions.
- foundations and structures are loaded significantly less. Weaker drives and brakes can also be used. Overall, this also improves profitability by reducing the effort and the manufacturing costs.
- Figure 2 is an enlarged view of the
- Figure 3 a plan view of the industrial robot according to arrow III of Figure 1 and with the swing arm and
- Figure 4 is a partially broken rear view of the robot of Figure 1.
- the rocker axis (10) being arranged at a distance in front of the frame axis (5).
- the boom (13) is in turn pivoted about a likewise preferably horizontal axis (16).
- the latter carries the robot hand (18) with its preferably three axes.
- the main hand axis running in the extended position along the boom (13) is designated by the reference number (20). it is the axis of rotation of the hand flange (19) of the robot hand (18) and extends through the middle of the flange.
- the rocker bearing head (32) and the arm (13) are arranged together in the area of the system level (21).
- the arrangement is preferably center-symmetrical to the system level (21).
- the rocker (7) is spaced laterally next to the system level (21), here e.g. the right side.
- the rocker (7) and the boom (13) are both supported on one side and provided with a floating bearing (8,14).
- the bearings (8,14) and the associated Gearboxes (9.15) are located just next to the system level
- the associated motors (11, 17) are arranged on the opposite side of the system level (21), here the left side.
- a static hydraulic mass balance This is arranged on the same side of the system level (21) as the rocker (7). It consists of a hydraulic cylinder (24) which is connected to a pressure accumulator (26). In the pressure accumulator (26) there is a gas bubble (not shown) that is prestressed under high pressure and presses on the oil cushion and generates the counterforce to compensate for the rocker loads.
- the piston (25) of the cylinder (24) is rotatably articulated on the rocker (7) via a bearing eye (29).
- the cylinder (24) is in turn mounted at the rear end by means of a pivot bearing (28) on the rear edge of the platform (3).
- the pressure accumulator (26) is attached to the cylinder (24) and is in one with it
- the mass balance (23) has a supporting effect when the rocker (7) is raised.
- the mass balance (23) or the cylinder (24) is arranged in such a way that its axis of action (30) when the rocker arm (7) is vertically aligned is essentially horizontal or in a small size Angle of z. B. 5 ° downwards.
- the active axis (30) runs in this position near the swing arm axis (10) and preferably cuts it.
- the mass balance (23) is arranged as close as possible to the frame axis (5). It is positioned so that the active axis (30) runs in the vicinity of the inside of the rocker housing (12), which faces the system level (21).
- the axis of action (30) is also very close to the rocker bearing (8). This reduces the tipping load on the swing arm bearing (8). There is also sufficient space on the outside in addition to the mass balance (23) for connecting and guiding lines (31) for the supply of tools and robot parts.
- the mass balance (23) acts directly on the rocker housing (12). As can be seen from FIGS. 1 and 2, the bearing eye (29) is located at the rear edge of the rocker housing (12).
- Swing arm housing (12) and is at a distance from the swing arm axis (10). This distance acts as a lever by means of which the load-compensating moment of mass balancing (23) exerted by the pivot axis of the rocker (7) increases via the effective axis (30).
- the upright rocker position shown in FIG. 1 reduces the mass balancing effect to zero.
- the bearings (8, 14) of the rocker (7) and the boom (13) are integrated in the gear ratios (9, 15), which are each stepped up.
- bearings (4) and gears of the frame (2) can also be formed.
- the bearings can also be arranged separately from the transmission and concentrically around it.
- the bearings can also be guided centrally on the transmission circumference.
- At least the rocker (7) is equipped with a straight, hollow box-shaped and thin-walled housing (12).
- the structure is braced by transverse webs and leaves space on the inside for laying the line (31) leading from the frame (2) to
- the motors (11, 17) can optionally be spaced somewhat further from the system level (21) by a corresponding housing design.
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Testing Of Balance (AREA)
- Paper (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE59600917T DE59600917D1 (de) | 1995-04-07 | 1996-04-04 | Industrieroboter mit massenausgleich |
JP8529991A JPH11503076A (ja) | 1995-04-07 | 1996-04-04 | マスバランスを有する産業用ロボット |
EP96909172A EP0819041B1 (de) | 1995-04-07 | 1996-04-04 | Industrieroboter mit massenausgleich |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE29506008U DE29506008U1 (de) | 1995-04-07 | 1995-04-07 | Industrieroboter mit Massenausgleich |
DE29506008.5 | 1995-04-07 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1996031325A1 true WO1996031325A1 (de) | 1996-10-10 |
Family
ID=8006572
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP1996/001478 WO1996031325A1 (de) | 1995-04-07 | 1996-04-04 | Industrieroboter mit massenausgleich |
Country Status (5)
Country | Link |
---|---|
EP (1) | EP0819041B1 (de) |
JP (1) | JPH11503076A (de) |
CA (1) | CA2217224A1 (de) |
DE (2) | DE29506008U1 (de) |
WO (1) | WO1996031325A1 (de) |
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1138449A1 (de) * | 2000-03-28 | 2001-10-04 | KUKA Roboter GmbH | Vorrichtung zum Gewichtsausgleich eines Roboters dank eines druckbeaufschlagten Schlauchelementes |
EP1777043A1 (de) * | 2005-10-21 | 2007-04-25 | Abb Ab | Roboterarmteil sowie Industrieroboter mit einem solchen Armteil |
WO2007046754A1 (en) * | 2005-10-21 | 2007-04-26 | Abb Ab | An arm part of an industrial robot as well as an indus- trial robot provided therewith |
US20110072930A1 (en) * | 2009-09-29 | 2011-03-31 | Kuka Roboter Gmbh | Industrial Robot With A Weight Counterbalance System |
CN103949821A (zh) * | 2014-05-14 | 2014-07-30 | 泰佰亿(山东)工业有限公司 | 机器人焊枪把持装置 |
EP3311961A1 (de) | 2016-10-20 | 2018-04-25 | Bucher Hydraulics Erding GmbH | Roboter sowie lastausgleichsanordnung für einen roboter |
EP3311962A1 (de) | 2016-10-20 | 2018-04-25 | Bucher Hydraulics Erding GmbH | Roboter sowie lastausgleichsanordnung für einen roboter |
CN109702401A (zh) * | 2019-02-25 | 2019-05-03 | 山东时代新纪元机器人有限公司 | 机器人倒挂系统旋转外部轴装置 |
US20210060799A1 (en) * | 2019-08-28 | 2021-03-04 | Fanuc Corporation | Arm-shaped structure body and robot |
WO2024133839A1 (de) | 2022-12-23 | 2024-06-27 | Bucher Hydraulics Erding Gmbh | Roboter, lastausgleichsanordnung für einen roboter sowie montageverfahren |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10393671D2 (de) * | 2002-08-23 | 2005-07-21 | Boehm Hubertus | Gewichtsausgleichssystem für Geräte mit Drehachsen |
ITTO20020987A1 (it) * | 2002-11-14 | 2004-05-15 | Comau Spa | Robot industriale |
JP4628345B2 (ja) * | 2006-12-12 | 2011-02-09 | ナブテスコ株式会社 | 産業用ロボットの関節構造 |
CN101823263B (zh) * | 2009-03-07 | 2013-02-13 | 鸿富锦精密工业(深圳)有限公司 | 机器人的臂部件及其制造方法以及具有该臂部件的机器人 |
JP5628953B2 (ja) | 2013-03-29 | 2014-11-19 | ファナック株式会社 | ガススプリングを備えた多関節ロボット、及びガススプリングの内圧を推定する方法 |
JP5949693B2 (ja) | 2013-07-30 | 2016-07-13 | 株式会社安川電機 | ロボット |
CN104942789B (zh) * | 2015-06-12 | 2017-04-19 | 邓莉莉 | 一种四轴搬运机器人 |
CN107498581A (zh) * | 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 | 机器人连接臂及具有其的机器人 |
CN110762067B (zh) * | 2019-11-27 | 2022-01-18 | 江苏博人文化科技有限公司 | 一种用于回转关节的平衡执行器 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3241687A (en) * | 1965-03-10 | 1966-03-22 | Moline Organisation Ltd | Mechanical handling apparatus |
FR2436656A1 (fr) * | 1978-09-22 | 1980-04-18 | Karlsruhe Augsburg Iweka | Dispositif d'equilibrage de poids pour un manipulateur |
FR2483300A1 (fr) * | 1980-05-28 | 1981-12-04 | Expl Mat Indls Const | Manipulateur industriel perfectionne |
DE3310107A1 (de) * | 1983-03-21 | 1984-10-04 | Mantec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth | Industrieroboter mit hintereinandergeschalteten armteilen |
EP0218075A1 (de) * | 1985-09-10 | 1987-04-15 | Siemens Aktiengesellschaft | Gelenkroboter |
DE4132775A1 (de) * | 1991-10-02 | 1993-04-08 | Richter Hans | Roboterbaukasten |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3447701A1 (de) * | 1984-12-28 | 1986-07-10 | Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg | Industrie-roboter fuer unterschiedliche einsatzzwecke |
SE457744B (sv) * | 1987-05-29 | 1989-01-23 | Asea Ab | Utbalanseringsenhet foer t ex en roerlig arm i en industrirobot |
DE4001885A1 (de) * | 1990-01-23 | 1991-07-25 | Kuka Schweissanlagen & Roboter | Mehrachsiger industrieroboter |
-
1995
- 1995-04-07 DE DE29506008U patent/DE29506008U1/de not_active Expired - Lifetime
-
1996
- 1996-04-04 DE DE59600917T patent/DE59600917D1/de not_active Expired - Lifetime
- 1996-04-04 EP EP96909172A patent/EP0819041B1/de not_active Expired - Lifetime
- 1996-04-04 JP JP8529991A patent/JPH11503076A/ja not_active Ceased
- 1996-04-04 CA CA002217224A patent/CA2217224A1/en not_active Abandoned
- 1996-04-04 WO PCT/EP1996/001478 patent/WO1996031325A1/de active IP Right Grant
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3241687A (en) * | 1965-03-10 | 1966-03-22 | Moline Organisation Ltd | Mechanical handling apparatus |
FR2436656A1 (fr) * | 1978-09-22 | 1980-04-18 | Karlsruhe Augsburg Iweka | Dispositif d'equilibrage de poids pour un manipulateur |
FR2483300A1 (fr) * | 1980-05-28 | 1981-12-04 | Expl Mat Indls Const | Manipulateur industriel perfectionne |
DE3310107A1 (de) * | 1983-03-21 | 1984-10-04 | Mantec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth | Industrieroboter mit hintereinandergeschalteten armteilen |
EP0218075A1 (de) * | 1985-09-10 | 1987-04-15 | Siemens Aktiengesellschaft | Gelenkroboter |
DE4132775A1 (de) * | 1991-10-02 | 1993-04-08 | Richter Hans | Roboterbaukasten |
Cited By (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1138449A1 (de) * | 2000-03-28 | 2001-10-04 | KUKA Roboter GmbH | Vorrichtung zum Gewichtsausgleich eines Roboters dank eines druckbeaufschlagten Schlauchelementes |
EP1777043A1 (de) * | 2005-10-21 | 2007-04-25 | Abb Ab | Roboterarmteil sowie Industrieroboter mit einem solchen Armteil |
WO2007046754A1 (en) * | 2005-10-21 | 2007-04-26 | Abb Ab | An arm part of an industrial robot as well as an indus- trial robot provided therewith |
US10987817B2 (en) | 2009-09-29 | 2021-04-27 | Kuka Deutschland Gmbh | Industrial robot with a weight counterbalance system |
US20110072930A1 (en) * | 2009-09-29 | 2011-03-31 | Kuka Roboter Gmbh | Industrial Robot With A Weight Counterbalance System |
CN103949821A (zh) * | 2014-05-14 | 2014-07-30 | 泰佰亿(山东)工业有限公司 | 机器人焊枪把持装置 |
EP3311961A1 (de) | 2016-10-20 | 2018-04-25 | Bucher Hydraulics Erding GmbH | Roboter sowie lastausgleichsanordnung für einen roboter |
EP3311962A1 (de) | 2016-10-20 | 2018-04-25 | Bucher Hydraulics Erding GmbH | Roboter sowie lastausgleichsanordnung für einen roboter |
CN109702401A (zh) * | 2019-02-25 | 2019-05-03 | 山东时代新纪元机器人有限公司 | 机器人倒挂系统旋转外部轴装置 |
US20210060799A1 (en) * | 2019-08-28 | 2021-03-04 | Fanuc Corporation | Arm-shaped structure body and robot |
US11707851B2 (en) * | 2019-08-28 | 2023-07-25 | Fanuc Corporation | Arm-shaped structure body and robot |
WO2024133839A1 (de) | 2022-12-23 | 2024-06-27 | Bucher Hydraulics Erding Gmbh | Roboter, lastausgleichsanordnung für einen roboter sowie montageverfahren |
DE102022134749A1 (de) | 2022-12-23 | 2024-07-04 | Bucher Hydraulics Erding Gmbh | Roboter sowie Lastausgleichsanordnung für einen Roboter |
DE102022134749B4 (de) | 2022-12-23 | 2024-07-18 | Bucher Hydraulics Erding Gmbh | Roboter sowie Lastausgleichsanordnung für einen Roboter |
Also Published As
Publication number | Publication date |
---|---|
EP0819041A1 (de) | 1998-01-21 |
JPH11503076A (ja) | 1999-03-23 |
CA2217224A1 (en) | 1996-10-10 |
DE59600917D1 (de) | 1999-01-14 |
DE29506008U1 (de) | 1996-08-14 |
EP0819041B1 (de) | 1998-12-02 |
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