CN102777441A - Cylinder module driven by steam and installation structure for robot using same - Google Patents
Cylinder module driven by steam and installation structure for robot using same Download PDFInfo
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- CN102777441A CN102777441A CN2012102587228A CN201210258722A CN102777441A CN 102777441 A CN102777441 A CN 102777441A CN 2012102587228 A CN2012102587228 A CN 2012102587228A CN 201210258722 A CN201210258722 A CN 201210258722A CN 102777441 A CN102777441 A CN 102777441A
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Abstract
The invention discloses a cylinder module driven by steam and an installation structure for a robot using the cylinder module. The cylinder module comprises a cylinder drum; two ends of the cylinder drum are respectively sealed by a front end cover and a rear end cover; a movable cavity in which the liquid is filled is arranged in the cylinder drum, and a piston rod is arranged in the movable cavity; a tail end of the piston rod passes through the front end cover and stretches out of the front end cover, while a starting end is connected with one end of an elastic heating wire; the other end of the elastic heating wire is mounted on an inner surface of the rear end cover; a first circuit outlet is arranged on the rear end cover and a third circuit outlet is arranged at the tail end of the piston rod; the rear end cover, the elastic heating wire and the piston rod are connected into a circuit in serial via the first circuit outlet and the third circuit outlet; moreover, the rear end cover and the cylinder drum, as well as the piston rod and the cylinder drum, are processed in an insulation manner. According to the invention, the cylinder module only consists of the cylinder drum, the piston rod, a sealing ring, an end cover and an elastic heating wire lamp part, and is free from a structure connected with an air pipe, so that miniaturization is easy to achieve.
Description
Technical field
The present invention relates to fine control technique field of robot, particularly a kind of steam-powered cylinder module and be used for the mounting structure of robot.
Background technique
At present, robot has been applied to aspects such as military affairs, medical treatment, space flight, education, amusement, rescue and relief work, home services and community service, and stretches to new field.In these robot total systems, all need use pneumatic system that power is provided.Because pneumatic system is simple in structure, light, installation and maintenance are simple, reliability is high.Under the situation of smaller size smaller, motor can obtain bigger output power relatively, so can be widely used in fine driving field of machinery.Such as, usually said gas pawl.
Yet traditional pneumatic system exists following deficiency:
1, complex structure: traditional pneumatic system comprises following element: final controlling element, source of the gas, control unit, also have various auxiliary elements.A large amount of pneumatic system elements also can increase the design difficulty of robot total system, and also increases the needed cost of construction systems.Wherein, final controlling element is difficult to miniaturization.Because the cylinder of final controlling element must link to each other with tracheae, need reliable interface between the two, this interface has limited the further miniaturization of final controlling element.
2, the source of the gas delivery pressure is relevant with the size of source of the gas: if excessive as the source of the gas air pump, the air pressure of output is high, and the final controlling element output power is also big; But robot is difficult to carry.Air pump is too small, and then air pressure is too small, possibly can't satisfy the requirement of final controlling element to pressure again.When needs are controlled the operation of the first device of a plurality of execution, support that current-controlled valve class mechanism is complicated.If use circuit that it is controlled, structure is just more complicated.
Summary of the invention
Goal of the invention of the present invention is the technical deficiency to existing cylinder module, the steam-powered cylinder module that a kind of miniaturization is provided and is convenient to operate.
Further, a kind of miniaturization and be convenient to operate the mounting structure that steam-powered cylinder module is used for robot is provided.
For realizing the foregoing invention purpose, the technological scheme that the present invention adopts is:
A kind of steam-powered cylinder module is provided, comprises cylinder barrel, through front cover, rear end cover sealing, said cylinder barrel inside is provided with the movable chamber of the liquid of having packed into, is provided with piston rod in the movable chamber respectively at said cylinder barrel two ends; Said piston-rod end passes front cover and stretches out in outside the front cover, and starting point is connected with an end of elasticity electric heating wire, and the other end of elasticity electric heating wire is loaded on the internal surface of rear end cover; Said rear end cover is provided with the first circuit drawing-off mouth, and said piston-rod end is provided with the tertiary circuit drawing-off mouth; Through the first circuit drawing-off mouth and tertiary circuit drawing-off mouth, said rear end cover, elasticity electric heating wire, piston rod are connected into circuit; In addition, between said rear end cover and the cylinder barrel, doing insulation between piston rod and the cylinder barrel handles.
Preferably, said cylinder barrel is provided with the second circuit drawing-off mouth, be used for electrically contacting with piston rod, thus the stroke of detection piston rod.When piston rod is gone to the end of stroke, uninsulated local contact (between cylinder barrel and the piston rod, carrying out insulation processing) on piston rod meeting and the cylinder barrel; So from the second circuit interface; Just can draw electric current, detect the size that the second circuit interface is drawn electric current, just can judge whether piston rod has moved to the end of stroke; If need accurately read the stroke size really; Then must its formation be measured indirectly at other local riding position or angle transducer, its position can be with reference to accompanying drawing 10.
Preferably, for ease of installing and be convenient to the range of limited piston bar, said movable chamber is to be provided with the first step face that is used for the motion of limited piston bar, the corresponding spacing shaft shoulder that cooperates with the first step face that is provided with of said piston rod starting point.
Preferably, for guaranteeing sealing effect, said position-limited shaft shoulder end face is with first seal ring.
Preferably, for ease of installing, said front cover is provided with the second step face.
Preferably, be further sealing, the end face that said piston rod contacts with the second step face is provided with second seal ring.
Said cylinder barrel is provided with the 3rd step surface, and the end face that said rear end cover contacts with the 3rd step surface is provided with the 3rd seal ring.
At seal aspect, adopt the sealing configuration of GB defined.Wherein, because cylinder barrel internal liquid gas mixes, the difficulty of sealing is bigger; So, use first seal ring and second seal ring jointly cylinder barrel inside to be sealed.Yet, make in such a way, can produce bigger frictional force, also can cause the gas between first seal ring and second seal ring to be compressed, offset the pressure that a part of liquid gasification produces.So,, can not adorn second seal ring if sealing is all right.
Preferably, said front cover is fastened on the cylinder barrel front end through screw; Said rear end cover is fastened on the cylinder barrel rear end through nut.
Wherein, the elasticity electric heating wire turns to solenoid, is similar to spring, guaranteeing in proper functioning, can not contact between the elasticity electric heating wire and causes short circuit.For guaranteeing that cylinder barrel has heat dissipation rate faster, lighter quality, cylinder barrel uses aluminium base alloy as material.
In the use; Note what time as follows: (1) is (at cylinder barrel internal liquid one regularly) under the identical situation of internal liquid; The diameter of cylinder barrel is as far as possible little, makes liquid occupy bigger volume ratio in cylinder barrel inside, guarantees that the elasticity electric heating wire can contact with liquid more fully.(2) lacking of liquid feed, under the situation of same energy input, it can be heated to higher temperature quickly, and in the absence of energy input, it is also easier to dispel the heat, and can improve the speed of response of cylinder module like this.(3) surface area of elasticity electric heating wire is big as far as possible, makes the elasticity electric heating wire pass to liquid to heat quickly, accelerates the speed to liquid heat, reduces the danger of self crossing thermal cut.
A kind of cylinder module that is used for robot, some above-mentioned steam-powered cylinder module piston rods relatively and be placed side by side in the robot, these some steam-powered cylinder modules are connected with circuit respectively.
Preferably, the quantity of said steam-powered cylinder module is two.
The present invention has following beneficial effect with respect to existing technology: cylinder module of the present invention is directly as the electricity components and parts, and circuit is gone in series connection, can use the method for control circuit that the energy input of module is controlled fully.This cylinder module only comprises cylinder barrel, piston rod, seal ring, end cap and elasticity electric-field lamp parts, and the structure that is not connected with tracheae is easy to miniaturization.After the miniaturization, under identical volume, can lay more multi cylinder module, to realize the control of more freedom.This cylinder module need not and the source of the gas of general pneumatic system and control supplementary equipment, and the global design of robot is comparatively simple, and the purchase cost of equipment is very low also.Go into circuit as series connection between the electricity components and parts, only need to use the method for control circuit, the make-and-break time ratio of control circuit just can be controlled the energy of load module, realizes light current control control forceful electric power by this way, controls whole system.In theory, along with the rising of fluid temperature in the cylinder barrel, saturated pressure just can constantly raise, and realizes very large strength output.
Description of drawings
Fig. 1 is the sectional drawing of steam-powered cylinder module;
Fig. 2 is the Conversion of energy figure of steam-powered cylinder module;
Fig. 3 is the workflow diagram of steam-powered cylinder module;
Fig. 4 is the fundamental diagram of steam-powered cylinder module;
Fig. 5 is the External view of steam-powered cylinder module;
Fig. 6 is the filament saturation gas pressure curve figure of the water in the cylinder barrel;
Fig. 7 is the application framework figure (about parameter detecting system) of steam-powered cylinder module;
Fig. 8 is the application framework figure (about control system) of steam-powered cylinder module;
Fig. 9 is the insulating process flow chart;
Figure 10 is used for the structural drawing of the mounting structure of robot for steam-powered cylinder module.
Embodiment
Below in conjunction with accompanying drawing and specific embodiment goal of the invention of the present invention is done to describe in further detail, embodiment can not give unnecessary details at this one by one, but therefore mode of execution of the present invention is not defined in following examples.Unless stated otherwise, the material and the processing method of the present invention's employing are present technique field conventional material and processing method.
Shown in Figure 4 and 5, a kind of steam-powered cylinder module comprises cylinder barrel 1.Cylinder barrel 1 two ends are respectively through front cover 4, rear end cover 7 sealings.Cylinder barrel 1 inside is provided with the movable chamber 11 of the liquid of having packed into, is provided with piston rod 5 in the movable chamber 11.Piston rod 5 ends pass front cover 4 and stretch out in outside the front cover 4, and the starting point of piston rod 5 is connected with an end of elasticity electric heating wire, and the other end of elasticity electric heating wire is loaded on the internal surface of rear end cover 7.Rear end cover 7 is provided with the first circuit drawing-off mouth 51, and piston rod 5 ends are provided with tertiary circuit drawing-off mouth 53.Through the first circuit drawing-off mouth 51 and tertiary circuit drawing-off mouth 53, circuit is gone in rear end cover 7, elasticity electric heating wire 6, piston rod 5 series connection.In addition, did insulation processing between piston rod 5 and the cylinder barrel 1.
As shown in Figure 1, be the sectional drawing of above-mentioned cylinder module: among the figure, second seal ring 3 and first seal ring 2 carry out radial seal to piston rod 5 simultaneously, and wherein, if only first seal ring 2 can be accomplished sealing well, second seal ring 3 can remove.The 3rd seal ring 8 places between rear end cover 7 and the cylinder barrel 1, accomplishes the axial seal to module; Elasticity electric heating wire 6 connects piston rod 5 and rear portion end cap 7 respectively, uses the mode of welding.
Wherein, the elasticity electric heating wire turns to solenoid, is similar to spring, guaranteeing in proper functioning, can not contact between the elasticity electric heating wire and causes short circuit.For guaranteeing that cylinder barrel 1 has heat dissipation rate faster, lighter quality, cylinder barrel 1 uses aluminium base alloy as material.
In addition, aspect the energy input: circuit is gone in 5 series connection of rear end cover 7, elasticity electric heating wire 6, piston rod, becomes the part in loop, current direction (also can conversely) shown in the i-i of Fig. 5.
Cylinder barrel 1 is provided with second circuit drawing-off mouth 52, is used for and piston rod 5, thus the stroke of detection piston rod 5.When piston rod is gone to the end of stroke, uninsulated local contact (between cylinder barrel and the piston rod, carrying out insulation processing) on piston rod meeting and the cylinder barrel; So from second circuit interface 52; Just can draw electric current, detect the size that second circuit interface 52 is drawn electric current, just can judge whether piston rod has moved to the end of stroke; If need accurately read the stroke size really; Then must its formation be measured indirectly at other local riding position or angle transducer, its position can be with reference to Figure 10.But, have to carry, even read the stroke of this module piston, still be difficult to it is carried out accurate Stroke Control.
Movable chamber 11 is used for the first step face 12 that limited piston bar 5 moves for being provided with, the corresponding spacing shaft shoulder 54 that cooperates with first step face 11 that is provided with of piston rod 5 The initial segment, and the spacing shaft shoulder 54 end faces are with first seal ring 2.Front cover 4 is provided with second step face 41, and the end face that piston rod 5 contacts with second step face 41 is provided with second seal ring 3.Cylinder barrel 1 is provided with the 3rd step surface 13, and the end face that rear end cover 7 contacts with the 3rd step surface 41 is provided with the 3rd seal ring 8.Front cover 4 is fastened on cylinder barrel 1 front end through screw 9; Rear end cover 7 is fastened on cylinder barrel 1 rear end through nut 10.
At seal aspect, adopt the sealing configuration of GB defined.Wherein, because cylinder barrel 1 internal liquid gas mixes, the difficulty of sealing is bigger; So, use first seal ring 2 and second seal ring 3 jointly cylinder barrel 1 inside to be sealed.Yet, make in such a way, can produce bigger frictional force, also can cause the gas between first seal ring 2 and second seal ring 3 to be compressed, offset the pressure that a part of liquid gasification produces.So, if sealing is all right, second seal ring 3 of can directly dismantling.
Use principle is as shown in Figure 2, and electric energy is converted into interior ability, can be converted into mechanical energy with interior again.As shown in Figure 3, use step to be: at first with circuit turn-on; Utilize elasticity electric heating wire heating liquid again; Saturated pressure rises in the cylinder barrel; Then, the liquid gasification, the cylinder barrel internal air pressure increases sharply; The pressure that acts on the piston rod increases sharply; Machinery is pushed.
In the use; Note what time as follows: (1) is (at cylinder barrel internal liquid one regularly) under the identical situation of internal liquid; The diameter that cylinder is 1 is as far as possible little, makes liquid occupy bigger volume ratio in cylinder barrel 1 inside, guarantees that elasticity electric heating wire 6 can contact with liquid more fully.(2) lacking of liquid feed, under the situation of same energy input, it can be heated to higher temperature quickly, and in the absence of energy input, it is also easier to dispel the heat, and can improve the speed of response of cylinder module like this.(3) surface area of elasticity electric heating wire 6 is big as far as possible, makes the elasticity electric heating wire pass to liquid to heat quickly, accelerates the speed to liquid heat, reduces the danger of self crossing thermal cut.
In actual use; As shown in Figure 8; Can also adopt the break-make of solid-state relay control circuit,, can control the energy of input cylinder module module according to the time ratio of circuit turn-on and open circuit; Thereby inner interior of control module can be the pressure of gas inside, with the size of the power of controlling outside output.For the assurance system short circuit phenomenon can not occur, carry out insulation processing g between rear end cover 7 and cylinder barrel 1, cylinder barrel 1 and the piston rod 5.
And the method for insulation processing g; Can use the anodizing of aluminium method; Observe following technological process: of Fig. 9, movable inner cavity surface is carried out: machine glazed finish-except that grease-cleaning-chemical polishing or electropolishing-cleaning-anodic oxidation-cleaning-neutralization-cleaning.
For institute's liquid heated, for ensuring safety and environmental protection, can make water, the curve showing temperature of Fig. 6 and the relation between the water saturation air pressure as the liquid in the cylinder barrel.
Shown in figure 10, a kind of cylinder module that is used for robot, two above-mentioned steam-powered cylinder module piston rods relatively and be placed side by side in the robot, these two steam-powered cylinder modules are connected with circuit respectively.Two cylinder modules are denoted as the first cylinder module 00 and the second cylinder module 01.This robot is through first hinge 04 and second hinge, the 05 hinged finger tip that contacts with object.
In embodiment of the present invention, only need with circuit two modules be linked together according to frame diagram 9; Again through microcontroller programming is realized the control to module.For each degrees of freedom, all need use two modules to drive.During rise, the elasticity electric heating wire of the first cylinder module 00 at first generates heat, and causes the vaporizing liquid in the cylinder barrel, thereby promotes piston rod at the inner high pressure that produces of cylinder barrel, drives the mechanical finger among Figure 10 with this; During backhaul, the elasticity electric heating wire of the first cylinder module 00 stops heating, because inner liquid quality is very little, temperature and air pressure descend rapidly; Simultaneously; The elasticity electric heating wire of the second cylinder module 01 begins heating; Promote to accomplish down backhaul and with the cylinder barrel of the first cylinder module 00 reset (under the big pressure that in the cylinder barrel of the second cylinder module 01, produces, the quick heat release of the steam of the cylinder barrel of the first cylinder module 00 is liquefied) at it.
In addition because in order to make the structure of this module as far as possible simple, this inside modules does not provide the place of any sensor installation, can only use some more cleverly method detect several parameters that Fig. 7 mentions, detecting method below is detailed:
The temperature of A, detection elasticity electric heating wire: if the temperature of elasticity electric heating wire is too high, can cause the elasticity electric heating wire to be blown, cause whole module to be scrapped.Yet when elasticity electric heating wire temperature raise, its specific resistance also can and then raise.Around this principle, we measured before installing, and took the lead in measuring the resistance value of elasticity electric heating wire under the different temperatures, and it is fitted to resistance value and elasticity electric heating wire temperature curve.When using, only need just can infer the temperature of elasticity electric heating wire indirectly according to the relation of elasticity electric heating wire resistance and temperature.
B, stroke inspection: when piston rod is gone to the end of stroke, uninsulated local contact (between cylinder barrel and the piston rod, carrying out insulation processing) on piston rod meeting and the cylinder barrel; So from the second circuit interface; Just can draw electric current, detect the size that the second circuit interface is drawn electric current, just can judge whether piston rod has moved to the end of stroke; If need accurately read the stroke size really; Then must its formation be measured indirectly at other local riding position or angle transducer, its position can be with reference to accompanying drawing 10.But, have to carry, even read the stroke of this module piston, still be difficult to it is carried out accurate Stroke Control.
C, cylinder barrel internal pressure detect: for the pressure that guarantees system is operated in the normal scope, just must detect the size of cylinder barrel internal pressure.Generally speaking, consider at the inner setting pressure sensor of cylinder barrel, but in narrow space, this is impossible.So we can only be through detecting the size of the pressure that piston rod receives, perhaps the size of the pressure that receives of other parts of machinery is inferred the size of cylinder barrel internal pressure indirectly.Such as among Figure 10 introduction, for the structure of similar mechanical finger, can pressure transducer 03 be installed in the finger tip place of contact object, through measuring the pressure that the finger tip place receives, calculate the size of cylinder inside modules pressure indirectly then.
The foregoing description is merely preferred embodiment of the present invention, is not to be used for limiting practical range of the present invention.Be that all equalizations of doing according to content of the present invention change and modification, all contained by claim of the present invention scope required for protection.
Claims (10)
1. steam-powered cylinder module; Comprise cylinder barrel (1); Through front cover (4), rear end cover (7) sealing, said cylinder barrel (1) inside is provided with the movable chamber (11) of the liquid of having packed into, is provided with piston rod (5) in movable chamber (11) respectively at said cylinder barrel (1) two ends; It is characterized in that: said piston rod (5) end passes front cover (4) and stretches out in outside the front cover (4), and the starting point of said piston rod (5) is connected with an end of elasticity electric heating wire, and the other end of elasticity electric heating wire is loaded on the internal surface of rear end cover (7); Said rear end cover (7) is provided with the first circuit drawing-off mouth (51), and said piston rod (5) end is provided with tertiary circuit drawing-off mouth (53); Through the first circuit drawing-off mouth (51) and tertiary circuit drawing-off mouth (53), circuit is gone in said rear end cover (7), elasticity electric heating wire (6), piston rod (5) series connection; In addition, between said rear end cover (7) and the cylinder barrel, do insulation between piston rod (5) and the cylinder barrel (1) and handle (g).
2. steam-powered cylinder module according to claim 1 is characterized in that: said cylinder barrel (1) is provided with second circuit drawing-off mouth (52), be used for electrically contacting with piston rod (5), thus the stroke of detection piston rod (5).
3. steam-powered cylinder module according to claim 1; It is characterized in that: said movable chamber (11) is for being provided with the first step face (12) that is used for limited piston bar (5) motion, the corresponding spacing shaft shoulder (54) that cooperates with first step face (11) that is provided with of said piston rod (5) The initial segment.
4. steam-powered cylinder module according to claim 1 is characterized in that: the said spacing shaft shoulder (54) end face is with first seal ring (2).
5. steam-powered cylinder module according to claim 1 is characterized in that: said front cover (4) is provided with second step face (41).
6. steam-powered cylinder module according to claim 1 is characterized in that: the end face that said piston rod (5) contacts with second step face (41) is provided with second seal ring (3).
7. steam-powered cylinder module according to claim 1 is characterized in that: said cylinder barrel (1) is provided with the 3rd step surface (13), and the end face that said rear end cover (7) contacts with the 3rd step surface (41) is provided with the 3rd seal ring (8).
8. according to each described steam-powered cylinder module of claim 1-7, it is characterized in that: said front cover (4) is fastened on cylinder barrel (1) front end through screw (9); Said rear end cover (7) is fastened on cylinder barrel (1) rear end through nut (10).
9. mounting structure that is used for robot like each described steam-powered cylinder module of claim 1-8; It is characterized in that: some above-mentioned steam-powered cylinder module piston rods relatively and be placed side by side in the robot, these some steam-powered cylinder modules are connected with circuit respectively.
10. steam-powered cylinder module according to claim 9 is used for the mounting structure of robot, it is characterized in that: the quantity of said steam-powered cylinder module is two.
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| CN2012102587228A CN102777441A (en) | 2012-07-24 | 2012-07-24 | Cylinder module driven by steam and installation structure for robot using same |
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| CN2012102587228A CN102777441A (en) | 2012-07-24 | 2012-07-24 | Cylinder module driven by steam and installation structure for robot using same |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107414811A (en) * | 2017-06-30 | 2017-12-01 | 深圳市波心幻海科技有限公司 | Two phase flow parallel connection impedance driver and robot and control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107414811A (en) * | 2017-06-30 | 2017-12-01 | 深圳市波心幻海科技有限公司 | Two phase flow parallel connection impedance driver and robot and control method |
| CN107414811B (en) * | 2017-06-30 | 2020-07-24 | 深圳市波心幻海科技有限公司 | Two-phase flow parallel impedance-variable driver, robot and control method |
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Application publication date: 20121114 |