CN205533466U - Energy storage assist drive device of robot - Google Patents
Energy storage assist drive device of robot Download PDFInfo
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- CN205533466U CN205533466U CN201620119336.4U CN201620119336U CN205533466U CN 205533466 U CN205533466 U CN 205533466U CN 201620119336 U CN201620119336 U CN 201620119336U CN 205533466 U CN205533466 U CN 205533466U
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- energy storage
- hydraulic cylinder
- cylinder
- exerting oneself
- robot
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/16—Mechanical energy storage, e.g. flywheels or pressurised fluids
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Abstract
The utility model aims at providing an energy storage assist drive device, including a pressure boost pneumatic cylinder that is equipped with the piston, with pressure boost pneumatic cylinder even energy storage jar as an organic whole, energy storage jar in spring or compressed gas, the pneumatic cylinder of exerting oneself be equipped with, the pressure boost pneumatic cylinder passes through pipeline UNICOM with the pneumatic cylinder of exerting oneself, the pneumatic cylinder of exerting oneself is connected with the robot arm. It can accomplish that the energy storage part is very big to the energy storage mechanism and the assist drive device separation of exerting oneself, reach to satisfy the energy storage and hold the power requirement, and it is very little to exert oneself the assist drive device volume, can place most of desired position in.
Description
Technical field
The invention belongs to Mechanical Driven, energy storage and power-assisted technical field, the power-assisted in particular for articulated robot arm drives.
Background technology
In a lot of occasions, for the power bigger to machinery offer, it is desirable to have various power-assisted measures, such as, power assistant spring, cylinder, hydraulic cylinder, balancing weight.But, these devices are relatively and own vol and weight, it is provided that power output limited；Owing to space limits, the servomechanism of big specification cannot use because volume is excessive.Therefore, a lot of in the case of, power-assisted design can not reach perfect condition.
The energy storage power-assisted measure driving the bigger specification of needs mostly of heavy-duty machine robot arm, but, due to the requirement of the quick dexterity of robot, movable arm should not set up large-scale servomechanism.
Summary of the invention
The present invention provides a kind of energy storage servomechanism, and it can separate stored energy mechanism with servomechanism of exerting oneself, and accomplishes that energy storage section is very big, reaches to meet accumulation of energy and stores power requirement, and servomechanism volume of exerting oneself is the least, can be placed in the position of great majority needs.
The structure of the present invention includes: the loaded cylinder being connected as a single entity with pressurizing hydraulic cylinder equipped with the pressurizing hydraulic cylinder of piston, a loaded cylinder are built with spring or cylinder, a hydraulic cylinder of exerting oneself, and pressurizing hydraulic cylinder and hydraulic cylinder of exerting oneself are by pipeline UNICOM.Hydraulic cylinder of exerting oneself is connected with robots arm.Generally, the diameter of cylinder or spring is more than pressurizing hydraulic cylinder.
During work, spring or cylinder produce bigger pressure in promoting hydraulic cylinder piston, cylinder, and hydraulic medium enters, by pipeline, hydraulic cylinder of exerting oneself, and hydraulic cylinder of exerting oneself output power, to robots arm, produces power-assisted effect.Otherwise, when robots arm swings, and compression is exerted oneself hydraulic cylinder, hydraulic medium is delivered into pressurizing hydraulic cylinder, and then compression cylinder or spring, rich strength is stored.
If cylinder capacity can not meet energy storage requirement, can set up a gas storage bag, this gas storage bag is by trachea and the gas UNICOM in loaded cylinder.It addition, the gas in energy storage cylinder can be other gases such as high pressure nitrogen.
Stored energy mechanism, when robots arm, can be positioned close to the outside or inside of the arm of robot center of rotation by this device.For there being the robot of balancing pull rod, stored energy mechanism can also be made of one with this pull bar, it is to avoid increases component and space hold.More can be arranged on robot base top or inside.
This device is applicable to other needs energy storage power-assisted mechanically.
Accompanying drawing explanation
Accompanying drawing 1 is a kind of structural representation of the present invention.
Accompanying drawing 2 is the another kind of structural representation of the present invention.
Accompanying drawing 3 is the yet another construction schematic diagram of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention is described in further detail.
Embodiment 1.
As shown in Figure 1, this example is that the present invention applies in the power-assisted of robot second section arm, an energy storage cylinder (2) replacing balancing pull rod it is provided with in the balancing pull rod position of robot, its two ends are hinged with robot base (1) and balance weight (6) respectively, energy storage cylinder is connected with compressed gas in (2), a pressurizing hydraulic cylinder equipped with piston (3) (4) is had in one end of energy storage cylinder (2), the diameter of pressurizing hydraulic cylinder (4) is less than energy storage cylinder (2) diameter, one hydraulic cylinder of exerting oneself (5) two ends is hinged with the balance weight of robot (6) and robots arm (7) respectively, pressurizing hydraulic cylinder (4) and hydraulic cylinder of exerting oneself (5) are by pipeline UNICOM, hydraulic medium can circulate between two hydraulic cylinders through piping.
In work, when robots arm needs to overcome gravity to be lifted up, compressed gas in loaded cylinder (2) promotes hydraulic cylinder piston (3), diameter difference due to two cylinder bodies, producing pressurization, produce bigger pressure in pressurizing hydraulic cylinder (4), hydraulic medium enters, from pressurizing hydraulic cylinder (4), hydraulic cylinder (5) of exerting oneself by pipeline, hydraulic cylinder of exerting oneself output power, to robots arm (7), produces power-assisted effect.Otherwise, when robots arm's backswing, compress hydraulic cylinder of exerting oneself, hydraulic medium be delivered into pressurizing hydraulic cylinder, and then by the compressed gas in piston compressed energy-storage cylinder, rich strength stored.
In like manner, the compressed gas in loaded cylinder can also be substituted by spring, or both coexist.
So, because loaded cylinder is two parts separated with hydraulic cylinder of exerting oneself, only connected by pipeline, so that hydraulic cylinder volume of exerting oneself is the least, little to the movement interference space of robots arm, it is advantageously implemented the topology requirement that robot is quickly dexterous.
Embodiment 2.
As in figure 2 it is shown, other structures of the present embodiment are same as in Example 1, difference is: loaded cylinder (2) and pressurized cylinder (4) are positioned close to the outside or inside of the arm (8) of robot center of rotation, do not replace the effect of balancing pull rod.
Embodiment 3.
As it is shown on figure 3, other structures of the present embodiment are same as in Example 1, difference is: loaded cylinder (2) and pressurized cylinder (4) are arranged on top or the inside of robot base (1), do not replace the effect of balancing pull rod.
Above robot provided by the present invention energy storage servomechanism is described in detail.Principle and the embodiment of the present invention are set forth by specific case used herein, and the explanation of above example is only intended to help to understand the core concept of the present invention.It should be pointed out that, for those skilled in the art, under the premise without departing from the principles of the invention, it is also possible to the present invention is carried out some improvement and modification, these improve and modify in the protection domain also falling into the claims in the present invention.
Claims (4)
1. a robot energy storage servomechanism, it is characterised in that include an energy storage cylinder being connected with this hydraulic cylinder equipped with the pressurizing hydraulic cylinder of piston or spring, a hydraulic cylinder of exerting oneself, and connected pressurizing hydraulic cylinder and hydraulic cylinder of exerting oneself by pipeline.
Energy storage servomechanism the most according to claim 1, is further characterized in that, pressurizing hydraulic cylinder and energy storage cylinder or spring are arranged on the pull bar of robot double leval jib bascule.
Energy storage servomechanism the most according to claim 1, is further characterized in that, pressurizing hydraulic cylinder and energy storage cylinder or spring are arranged on robot one and save the outside or inside of arm.
Energy storage servomechanism the most according to claim 1, is further characterized in that, pressurizing hydraulic cylinder and energy storage cylinder or spring are arranged on machinery base or internal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620119336.4U CN205533466U (en) | 2016-02-14 | 2016-02-14 | Energy storage assist drive device of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620119336.4U CN205533466U (en) | 2016-02-14 | 2016-02-14 | Energy storage assist drive device of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205533466U true CN205533466U (en) | 2016-08-31 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620119336.4U Active CN205533466U (en) | 2016-02-14 | 2016-02-14 | Energy storage assist drive device of robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN205533466U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107283414A (en) * | 2017-07-27 | 2017-10-24 | 佛山市南海普拉迪机器人有限公司 | It is a kind of to make the drive mechanism of stable oscillation before and after pivoted arm in spray robot |
| WO2018120137A1 (en) * | 2016-12-30 | 2018-07-05 | 深圳配天智能技术研究院有限公司 | Balancing system for use in industrial robot and industrial robot |
-
2016
- 2016-02-14 CN CN201620119336.4U patent/CN205533466U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018120137A1 (en) * | 2016-12-30 | 2018-07-05 | 深圳配天智能技术研究院有限公司 | Balancing system for use in industrial robot and industrial robot |
| CN107283414A (en) * | 2017-07-27 | 2017-10-24 | 佛山市南海普拉迪机器人有限公司 | It is a kind of to make the drive mechanism of stable oscillation before and after pivoted arm in spray robot |
| CN107283414B (en) * | 2017-07-27 | 2019-07-16 | 佛山市普拉迪机器人有限公司 | A kind of driving mechanism making stable oscillation before and after pivoted arm in spray robot |
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|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |