Vertical articulated robot manipulator equipped with a gravity compensation device

Vertical Articulated Robot Manipulator with Gravity Compensation Using a Modular Spring Counterbalancer

This technology is a vertical articulated robot manipulator equipped with a gravity compensation device. It integrates a spring-based counterbalancer module into the link structure to offset gravity torque caused by the self-weight of the robot's link mechanism, utilizing a movable member that deforms an elastic member in conjunction with the rotational movement of the links.

Operating articulated robots typically requires high-capacity motors and reducers due to the load applied to joints by gravity. Conventional counterweight methods increase inertia, while existing spring-based methods suffer from complex structures and difficult maintenance.

This technology proposes a modular counterbalancer consisting of an elastic member, a connecting rod, and a movable member installed on the first link. It applies auxiliary torque to the second and input links by converting the rotation of the links into the sliding motion of the movable member. This provides an economical solution for industrial vertical articulated robots by reducing actuator capacity requirements and improving energy efficiency.

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Key Features:

• A second link connected to the first link by a first joint, allowing for rotation relative to the first link
• A third link connected to the second link by a second joint spaced apart from the first joint
• An input link connected to the first link, allowing for rotation independently of the second link
• A counterbalancer module rotatably connected to the third link and the input link to deform the elastic member

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This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of a low-cost robot system based on multi-degree-of-freedom passive gravity compensation.