| 摘要 |
<p>The present invention relates to a gravity compensation device of a vertical articulated robot with a parallel link structure in order to compensate for the gravity applied to the arm in motions in the vertical direction of an articulated robot handling heavy weight materials. The gravity compensation device of a vertical articulated robot according to the present invention has a parallel link structure, which is installed between a rotary unit (31) and the rear part of a second arm (12) in order to compensate for the gravity applied to the arm. The gravity compensation device of a vertical articulated robot comprises a first and a second gas spring (13, 23) installed between the inner space of the rotary unit (31) and the rear part of the second arm (12); a first fixation element (131) connecting a cylinder (134) on one end of the first gas spring (13) to the lower part of the second arm (12); a second fixation element (132) connecting the other end of the first gas spring (13) to the middle part of the rotary unit (31); a third fixation element (233) connecting a cylinder on one end of the second gas spring (23) to a link plate (26) installed on one side of the ring-shaped lower end of the second arm (12); and a fourth fixation element (234) connecting the other end of the second gas spring to the lower surface of the rotary unit (31). A second motor (10) is installed on the other side of the ring-shaped lower end of the second arm (12).</p> |
