CN115847477A - Energy recovery joint module for robot and industrial robot - Google Patents
Energy recovery joint module for robot and industrial robot Download PDFInfo
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- CN115847477A CN115847477A CN202211565881.2A CN202211565881A CN115847477A CN 115847477 A CN115847477 A CN 115847477A CN 202211565881 A CN202211565881 A CN 202211565881A CN 115847477 A CN115847477 A CN 115847477A
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- robot
- motor
- joint module
- energy recovery
- recovery joint
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- 238000011084 recovery Methods 0.000 title claims abstract description 23
- 238000004146 energy storage Methods 0.000 claims abstract description 27
- 238000004804 winding Methods 0.000 claims abstract description 12
- 239000003638 chemical reducing agent Substances 0.000 claims description 17
- 239000003990 capacitor Substances 0.000 claims description 9
- 229910001386 lithium phosphate Inorganic materials 0.000 claims description 7
- TWQULNDIKKJZPH-UHFFFAOYSA-K trilithium;phosphate Chemical compound [Li+].[Li+].[Li+].[O-]P([O-])([O-])=O TWQULNDIKKJZPH-UHFFFAOYSA-K 0.000 claims description 7
- 239000002253 acid Substances 0.000 claims description 4
- 238000007789 sealing Methods 0.000 claims description 4
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 3
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 3
- 229910052782 aluminium Inorganic materials 0.000 claims description 3
- 239000010949 copper Substances 0.000 claims description 3
- 229910052802 copper Inorganic materials 0.000 claims description 3
- 230000004308 accommodation Effects 0.000 claims 2
- 239000004411 aluminium Substances 0.000 claims 1
- 230000033001 locomotion Effects 0.000 description 5
- 230000017525 heat dissipation Effects 0.000 description 4
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000010438 heat treatment Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000008929 regeneration Effects 0.000 description 2
- 238000011069 regeneration method Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 230000003446 memory effect Effects 0.000 description 1
- 239000000178 monomer Substances 0.000 description 1
- 230000001172 regenerating effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000003245 working effect Effects 0.000 description 1
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Abstract
The invention provides an energy recovery joint module for a robot and an industrial robot, and belongs to the field of robot design. After the movable joint of the braking robot is controlled, induced electric quantity is generated in the stator winding, and the part of the induced electric quantity is collected through the electric energy storage assembly, so that the part of electric energy is further utilized, and the energy utilization rate is improved.
Description
Technical Field
The invention belongs to the field of robot design, and particularly relates to an energy recovery joint module for a robot and an industrial robot.
Background
The harmonic reducer mainly comprises a rigid gear, a flexible gear and a wave generator, the flexible gear generates elastic deformation under the action of the wave generator and interacts with the rigid gear, thereby achieving the purpose of transmission. The flexspline, which is curved into an elliptical shape, is engaged with the rigid spline at both ends of its major axis to transmit torque. The motor is used as an input and is fixedly connected with a wave generator, a harmonic reducer and the motor of the traditional robot movable joint (100) are respectively installed, the traditional robot movable joint cannot be well applied under the working conditions of small size and light weight, and based on the defects, the harmonic reducer and the motor are compounded into a whole in the industry at present to form a joint module, so that the robot movable joint (100) is applicable under more working conditions and occasions.
In the braking process of the robot, because a rotating part (such as a motor rotor) has inertia, the rotating part cannot be in a static state immediately, the motor is in a regeneration state at the moment, the kinetic energy of the motor is changed into electric energy which is sent back to the controller, in order to consume the part of the energy, the existing treatment mode generally installs a regeneration resistor at the controller end, and the part of the energy is consumed through the form of heat energy, so how to effectively utilize the part of the energy is the focus of attention of the patent.
Disclosure of Invention
Therefore, the invention provides an energy recovery joint module for a robot and an industrial robot, which can solve the technical problem that in the prior art, in the joint braking process, the regenerative electric energy generated by the joint module is consumed in the form of heat energy and is not utilized.
In order to solve the above problems, the invention provides an energy recovery joint module for a robot, which includes a harmonic reducer, a driving motor, an electric energy storage assembly and a control unit, wherein the driving motor is used for driving the harmonic reducer to operate so as to achieve the purpose of moving joint movement of the robot, the driving motor includes a motor rotor and a motor stator, the electric energy storage assembly includes a super capacitor and a storage battery, and the electric energy storage assembly is electrically connected with a stator winding wound on the motor stator through the super capacitor so as to store induced electric quantity in the stator winding in the storage battery.
In some embodiments, the drive motor includes a motor housing, the motor stator and the motor rotor being within the motor housing, the motor housing having a first end to which the harmonic reducer is connected and a second end distal from the harmonic reducer, an end plate being connected at the second end, the electrical energy storage assembly being on a side of the end plate distal from the second end.
In some embodiments, the energy recovery joint module for a robot further includes a sealing cover connected to a side of the end plate away from the second end, a sealed accommodating cavity is formed between the sealing cover and the end plate, and the electric energy storage assembly is located in the sealed accommodating cavity.
In some embodiments, the sealed housing has a cover plate spaced parallel to the end plate, an outer side of the cover plate has a heat dissipating structure, and the electrical energy storage assembly is assembled to the inner side of the cover plate.
In some embodiments, the harmonic reducer comprises a rigid wheel, a wave generator, and a flexible wheel therebetween, the first end of the motor housing is connected with the first end of the rigid wheel, the output end of the flexible wheel is connected with the robot movable joint, and the motor rotor is in driving connection with the wave generator.
In some embodiments, a flange is disposed at the first end of the motor housing, the motor housing is connected to the rigid wheel through the flange, and two ends of the motor rotor are supported on the central hole of the flange and the end plate through a rotating shaft bearing, respectively.
In some embodiments, the battery is one of a lithium phosphate battery or a lead acid battery.
In some embodiments, a plurality of the supercapacitors are connected in series by connecting plates made of aluminum; and/or a plurality of the storage batteries are connected in series by copper connecting sheets.
The invention also provides an industrial robot which comprises the energy recovery joint module for the robot.
After the movable joint of the robot is controlled and braked, the movable joint of the robot has motion inertia, the motion inertia drives a motor rotor to rotate, and a permanent magnet arranged on the motor rotor forms a rotating magnetic field, so that a stator winding makes a magnetic line cutting motion relative to the rotating magnetic field, induced electric quantity is generated in the stator winding, and the part of the induced electric quantity is collected by an electric energy storage assembly of the invention so as to be further utilized, and the energy recovery joint module for the robot and the industrial robot do not use a heating resistor for heat dissipation and exhaustion as in the prior art, thereby improving the energy utilization rate.
Drawings
Fig. 1 is a schematic view of an internal structure of an energy recovery joint module for a robot according to an embodiment of the present invention.
Reference numerals expressed as:
11. a rigid wheel; 12. a wave generator; 13. a flexible gear; 14. a generator bearing; 15. a rigid bearing; 16. a locking washer; 21. a motor rotor; 22. a motor stator; 23. a stator winding; 24. an end plate; 25. a flange plate; 26. a motor housing; 27. a rotating shaft bearing; 31. a super capacitor; 32. a battery; 4. a sealing cover; 100. the robot is provided with a movable joint.
Detailed Description
Referring to fig. 1, according to an embodiment of the present invention, an energy recovery joint module for a robot is provided, including a harmonic reducer, a driving motor, where the driving motor is a frameless motor, and the driving motor is used to drive the harmonic reducer to operate so as to achieve the purpose of moving the movable joint 100 of the robot, the driving motor includes a motor rotor 21 and a motor stator 22, and further includes an electric energy storage assembly, where the electric energy storage assembly includes a super capacitor 31 and a storage battery 32, and the electric energy storage assembly is electrically connected to a stator winding 23 wound on the motor stator 22 through the super capacitor 31, so as to store induced electric quantity in the stator winding 23 in the storage battery 32. In the technical scheme, after the robot movable joint 100 is controlled and braked, the robot movable joint 100 has motion inertia which drives the motor rotor 21 to rotate, and the stator winding 23 cuts magnetic lines of force relative to the rotating magnetic field due to the fact that the permanent magnet arranged on the motor rotor 21 forms the rotating magnetic field, so that induced electric quantity is generated in the stator winding 23, and the part of the induced electric quantity is collected through the electric energy storage assembly of the invention so as to be further utilized, and the part of the electric energy is not exhausted through heat dissipation by adopting a heating resistor as in the prior art, and the energy utilization rate is improved. It can be understood that the storage of induced electric quantity in the storage battery is a common technology of electric energy storage, and it is not described herein, but it is to be noted that the present invention does not intend to improve or protect the storage principle of electric quantity, and the present invention aims to provide a storage and utilization concept capable of storing and utilizing induced electric quantity caused by rotation of the movable joint 100 of the robot due to inertia after braking.
Driving motor includes motor housing 26, motor stator 22 and motor rotor 21 are in motor housing 26, motor housing 26 has the first end of harmonic reduction gear connection and keeps away from the second end of harmonic reduction gear, second end department is connected with end plate 24, electric energy storage component is in one side that end plate 24 kept away from the second end, can keep apart the equipment of electric energy storage component outside motor housing 26's inner space through end plate 24, effectively prevent motor rotor 21 and motor stator 22's heat dissipation to electric energy storage component's adverse effect.
Energy recuperation joint module for robot still includes sealed cowling 4, and sealed cowling 4 is connected in the one side that second end was kept away from to end plate 24, forms sealed the chamber that holds between sealed cowling 4 and the end plate 24, and electric energy storage component is in sealed the intracavity that holds, can form effective isolation with electric energy storage component and exterior space, and the protection level is higher.
The sealed cover 4 is provided with a cover plate which is arranged in parallel with the end plate 24 at intervals, the outer side face of the cover plate is provided with a heat dissipation structure, and the electric energy storage assembly is assembled on the inner side face of the cover plate.
Specifically, the harmonic reducer comprises a rigid gear 11, a wave generator 12 and a flexible gear 13 arranged between the rigid gear 11 and the wave generator 12, wherein the first end of a motor shell 26 is connected with the first end of the rigid gear 11, the output end of the flexible gear 13 is connected with a movable joint 100 of the robot, and a motor rotor 21 is in driving connection with the wave generator 12, namely, the power output part of the harmonic generator in the invention is the flexible gear 13, so that the structure of the joint module is more reasonable and compact. The flexible gear 13 and the inner ring of the rigid bearing 15 are connected with the lock washer 16 through screws, and the inner ring of the rigid bearing 15 transmits the torque generated by the flexible gear 13 to the robot movable joint 100 (namely, an output end element) to execute the working action of the robot.
In some embodiments, a flange 25 is disposed at a first end of a motor housing 26, the motor housing 26 is connected to a rigid wheel 11 through the flange 25, the rigid wheel 11 is fixedly connected to a robot body, the motor housing 26 and the flange 25 may be connected in a snap-fit manner or other detachable manner, two ends of a motor rotor 21 are respectively supported on a central hole of the flange 25 and an end plate 24 through a rotating shaft bearing 27, in the technical scheme, reliable support is formed through the rotating shaft bearings 27 at two ends of the motor rotor 21, unlike the prior art in which two-end support is formed through the rotating shaft bearing 27 at one end of the motor rotor 21 and a generator bearing 14 at the other end, the motor rotor 21 is more stable, it should be noted that, after components such as an electric energy storage component and a seal cover 4 are assembled outside the end plate 24, the overall mass of the motor component is increased to a certain extent, so that, by supporting two ends of the motor rotor 21, the increase in deflection caused by the increase in mass can be effectively reduced, and stable operation of the motor can be ensured.
The battery 32 specifically can adopt the lithium phosphate battery, the lithium phosphate battery is small, light in weight, battery monomer voltage is high, the platform that discharges is stable, high temperature performance is good, no memory effect, but the forceful electric current can cause the injury to the lithium phosphate battery, what consequently it is a set of miniature ultracapacitor system 31 to be used for accomodating the battery of braking energy to adopt, ultracapacitor system 31 has the electric capacity big, charge and discharge are longe-lived, one of characteristic is to have very high power density, be not afraid of the inrush of heavy current, as the intermediate medium, charge the lithium phosphate battery to the electric energy of retrieving, thereby the purpose of regenerated electric energy recovery has been reached. The battery 32 may also be a lead-acid battery, which is relatively low in cost. However, the cycle charge and discharge life of the lithium phosphate battery is 2000 times, the charge and discharge life of the super capacitor can reach 50 ten thousand times, and the total service life exceeds that of a lead-acid battery. The plurality of super capacitors 31 are connected in series by connecting pieces made of aluminum; and/or, the plurality of storage batteries 32 are connected in series by copper connecting sheets.
The electric energy stored in the storage battery 32 can be suitable for various working conditions, the stored electric energy enables the robot to continuously operate under the condition of power failure, other devices on the robot can be supplied with electric energy, and the application range and occasions of the robot joints are widened.
According to the invention, the harmonic reducer and the electric energy storage component are effectively combined together through the frameless motor, so that the joint module has the advantages of compact structure, reduced volume and light weight, and the application range and occasions of the robot joint are enlarged.
According to an embodiment of the invention, an industrial robot is also provided, which comprises the energy recovery joint module for robot.
Those skilled in the art will readily appreciate that the advantageous features of the above described modes can be freely combined, superimposed and combined without conflict.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention. The above is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, it is possible to make several improvements and modifications without departing from the technical principle of the present invention, and these improvements and modifications should also be construed as the protection scope of the present invention.
Claims (9)
1. An energy recovery joint module for a robot comprises a harmonic reducer and a driving motor, wherein the driving motor is used for driving the harmonic reducer to operate so as to achieve the purpose of moving a movable joint (100) of the robot, the driving motor comprises a motor rotor (21) and a motor stator (22), and the energy recovery joint module is characterized by further comprising an electric energy storage component, the electric energy storage assembly comprises a super capacitor (31) and a storage battery (32), and the electric energy storage assembly is electrically connected with a stator winding (23) wound on the motor stator (22) through the super capacitor (31) so as to store induced electric quantity in the stator winding (23) in the storage battery (32).
2. The energy recovery joint module for robots according to claim 1, characterized in that said drive motor comprises a motor housing (26), said motor stator (22) and motor rotor (21) being inside said motor housing (26), said motor housing (26) having a first end to which said harmonic reducer is connected and a second end remote from said harmonic reducer, said second end being connected to an end plate (24), said electric energy storage assembly being on the side of said end plate (24) remote from said second end.
3. The energy recovery joint module for robots according to claim 2, characterized in that it further comprises a sealed enclosure (4), said sealed enclosure (4) being connected to the side of said end plate (24) remote from said second end, said sealed enclosure (4) and said end plate (24) forming a sealed accommodation chamber therebetween, said electric energy storage assembly being located in said sealed accommodation chamber.
4. The energy recovery joint module for robots as claimed in claim 3, characterized in that the sealing cover (4) has a cover plate arranged parallel to and spaced apart from the end plate (24), the outer side of the cover plate having a heat dissipating structure, the electrical energy storage assembly being assembled on the inner side of the cover plate.
5. The energy recovery joint module for the robot according to claim 2, wherein the harmonic reducer comprises a rigid gear (11), a wave generator (12) and a flexible gear (13) therebetween, a first end of the motor housing (26) is connected with a first end of the rigid gear (11), an output end of the flexible gear (13) is connected with the movable joint (100) of the robot, and the motor rotor (21) is in driving connection with the wave generator (12).
6. The energy recovery joint module for robots of claim 5, characterized in that a flange (25) is provided at a first end of the motor housing (26), the motor housing (26) is connected with the rigid wheel (11) through the flange (25), and two ends of the motor rotor (21) are supported on a central hole of the flange (25) and the end plate (24) through a rotating shaft bearing (27).
7. The energy recovery joint module for robots according to claim 1, characterized in that the accumulator (32) is one of a lithium phosphate battery or a lead acid battery.
8. The energy recovery joint module for robots according to claim 1, characterized in that a plurality of said supercapacitors (31) are connected in series by connecting plates made of aluminium; and/or the storage batteries (32) are connected in series by copper connecting sheets.
9. An industrial robot comprising an energy recovery joint module for a robot according to any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211565881.2A CN115847477A (en) | 2022-12-07 | 2022-12-07 | Energy recovery joint module for robot and industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211565881.2A CN115847477A (en) | 2022-12-07 | 2022-12-07 | Energy recovery joint module for robot and industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115847477A true CN115847477A (en) | 2023-03-28 |
Family
ID=85670848
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211565881.2A Pending CN115847477A (en) | 2022-12-07 | 2022-12-07 | Energy recovery joint module for robot and industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115847477A (en) |
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2022
- 2022-12-07 CN CN202211565881.2A patent/CN115847477A/en active Pending
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