用于工业机器人的平衡系统及工业机器人技术方案

一种用于工业机器人的平衡系统，其包括：液压装置(1)，其包括液压缸(12)和活塞杆(13)，其中液压缸(12)设置在工业机器人的底座上，活塞杆(13)的一端插设在液压缸(12)内，活塞杆(13)的另一端与工业机器人的机械臂连接；蓄能装置(2)，与液压缸(12)相连通；弹性装置(3)，设置在液压缸(12)内；其中，当工业机器人的机械臂沿第一方向运动时，液压缸(12)中的压力油注入至蓄能装置(2)，以将能量储存至蓄能装置(2)，同时弹性装置(3)产生形变以储存能量；当工业机器人的机械臂沿与第一方向相反的第二方向运动时，蓄能装置(2)中的压力油流入液压缸(12)，以释放储存在蓄能装置(2)中的能量，同时弹性装置(3)恢复形变，以释放储存在弹性装置(3)中的能量。通过上述方式，能够轻便地实现平衡二轴负载的功能，且对蓄能部件性能要求不高，同时安装方便，不会带来运动干涉。还涉及一种使用该平衡系统的工业机器人。

Balance System and Industrial Robot for Industrial Robot

A balancing system for industrial robots includes: a hydraulic device (1), which comprises a hydraulic cylinder (12) and a piston rod (13), in which a hydraulic cylinder (12) is arranged on the base of the industrial robot, one end of the piston rod (13) is inserted in the hydraulic cylinder (12), the other end of the piston rod (13) is connected with the mechanical arm of the industrial robot, an energy storage device (2) is connected with the hydraulic cylinder (12), and an elastic device (3). In the hydraulic cylinder (12), when the manipulator of the industrial robot moves in the first direction, the pressure oil in the hydraulic cylinder (12) is injected into the energy storage device (2) to store energy to the energy storage device (2), while the elastic device (3) generates deformation to store energy; when the manipulator of the industrial robot moves in the second direction opposite to the first direction, the pressure in the energy storage device (2) The force oil flows into the hydraulic cylinder (12) to release the energy stored in the energy storage device (2), while the elastic device (3) restores the deformation to release the energy stored in the elastic device (3). Through the above way, the function of balancing the two-axis load can be realized easily, and the performance requirements of the energy storage components are not high, at the same time, the installation is convenient, and the motion interference will not be brought. An industrial robot using the balance system is also involved.

【技术实现步骤摘要】
【国外来华专利技术】PCT国内申请，说明书已公开。

【技术保护点】
PCT国内申请，权利要求书已公开。

【技术特征摘要】
【国外来华专利技术】PCT国内申请，...

【专利技术属性】
技术研发人员：张鹏飞，
申请(专利权)人：深圳配天智能技术研究院有限公司，
类型：发明
国别省市：广东,44