CN211729158U - High-speed parallel robot with energy recovery indirect drive - Google Patents
High-speed parallel robot with energy recovery indirect drive Download PDFInfo
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- CN211729158U CN211729158U CN201921410774.6U CN201921410774U CN211729158U CN 211729158 U CN211729158 U CN 211729158U CN 201921410774 U CN201921410774 U CN 201921410774U CN 211729158 U CN211729158 U CN 211729158U
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Abstract
The utility model relates to a take indirect driven high-speed parallel robot of energy recuperation, its technical characterstic lies in: comprises a fixed platform, a driving arm, a driven arm, a movable platform and a driving motor; three driving motors are uniformly arranged on the fixed platform, the output end of each driving motor is connected with a driving arm, each driving arm is connected with a driven arm, and the lower ends of the three driven arms are connected with the movable platform together; the driving arm comprises a driving output arm, an auxiliary driving arm and a driven main arm which are connected in sequence; the driving motor drives the driving end of the driving output arm, the driven end of the driving output arm drives the driving end of the auxiliary driving arm, the driven end of the auxiliary driving arm drives the middle end of the driven main arm, the front end of the driven main arm is hinged with the static platform, the tail end of the driven main arm drives the driving end of the driven arm, and the driven end of the driven arm drives the fixed platform to move. The utility model discloses can realize the promotion of parallel robot speed.
Description
Technical Field
The utility model belongs to the technical field of the robot, a high-speed parallel robot is related to, especially a take indirect driven high-speed parallel robot of energy recuperation.
Background
With the increasing of labor cost, the speed dependence on the robot in industrial production is larger and larger, so the running speed of the parallel robot becomes an important index of the performance of the series of robots, the traditional parallel robot consists of a fixed platform, a driving arm, a driven arm and a movable platform, if the mass of the driving arm is too large, the speed of the movable platform cannot be increased, if the mass of the driving arm is too small, the movable platform cannot have good rigidity, and because the traditional parallel robot is limited by a mechanical structure and self-movement characteristics, the running speed of the high-speed and high-power motor cannot be increased in a breakthrough manner even if the high-speed and high-power motor is used, and the problems of heat dissipation of the motor and overlarge current caused during reciprocating motion cannot be solved.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome prior art's not enough, provide a reasonable in design, non-maintaining, low-power consumption and high-speed high stable take energy recovery indirect driven high-speed parallel robot.
The utility model provides a its technical problem take following technical scheme to realize:
a high-speed parallel robot with energy recovery indirect drive comprises a fixed platform, a driving arm, a driven arm, a moving platform and a driving motor; three driving motors are uniformly arranged on the fixed platform, the output end of each driving motor is connected with a driving arm, each driving arm is connected with a driven arm, and the lower ends of the three driven arms are connected with the movable platform together; the driving arm comprises a driving output arm, an auxiliary driving arm and a driven main arm which are connected in sequence; the driving motor drives the driving end of the driving output arm, the driven end of the driving output arm drives the driving end of the auxiliary driving arm, the driven end of the auxiliary driving arm drives the middle end of the driven main arm, the front end of the driven main arm is hinged with the static platform, the tail end of the driven main arm drives the driving end of the driven arm, and the driven end of the driven arm drives the fixed platform to move.
Moreover, the tail end of the driven main arm is hinged with the driving end of the driven arm through a hook hinge, and the specific installation mode is as follows: the tail end of the driven main arm is rotatably provided with a driven main arm tail end shaft perpendicular to the driven main arm, two ends of the driven main arm tail end shaft are respectively sleeved with a driven main arm tail end shaft connecting seat, a driven arm rotating shaft penetrates through the driven main arm tail end shaft connecting seat, the driven arm rotating shaft is perpendicular to the shaft driving arm tail end shaft, a driven arm rotating shaft fixing seat is sleeved on the driven arm rotating shaft, and a driven arm which coaxially rotates is sleeved in the driven arm rotating shaft fixing seat;
and two energy recovery torsion springs with opposite rotation directions are respectively sleeved at the front end of the driven main arm and two sides of a hinged shaft of the static platform, one end of each energy recovery torsion spring is fixedly connected to the fixed platform, and the other end of each energy recovery torsion spring is fixed on the hinged shaft.
The driving motor is provided with a motor cover which is fixedly arranged on the fixed platform, a vortex tube is arranged in a cavity formed by the motor cover and the driving motor and fixedly arranged on the inner wall of the motor cover, and the vortex tube comprises a high-pressure gas inlet, a hot gas outlet and a cold gas outlet; the high-pressure air inlet is communicated with the air pump, and the hot air outlet is communicated with a heat dissipation grid arranged at the upper part of the motor cover; the cold air outlet is communicated into a cavity formed between the motor cover and the driving motor, and the hot air outlet is also provided with a temperature regulating valve for regulating the refrigeration temperature of the motor.
The utility model has the advantages that:
1. the utility model discloses a change traditional mechanical structure and increase speed to for motor design refrigerating system reduces the motor heat dissipation problem, install energy recuperation and release system additional and avoid the motor current too big. The utility model discloses the pertinence has been solved parallel robot and in high-speed operation, and the master arm atress is concentrated, and coefficient of friction is high, and the motion characteristic energy is extravagant serious, technical problem such as motor overheat to gained good effect in the test, through changing mechanical structure and taking the promotion that the parallel robot speed was realized to the motor cooling safeguard measure.
2. The utility model discloses divide into three structure with the master arm: the driving end of the driving output arm is connected with the speed reducer, the driven end of the driving output arm is hinged with the driving end of the auxiliary driving arm, and the driven end of the auxiliary driving arm is hinged with the driving end of the driven main arm so as to jointly form a driving arm component; the tail end of the driven main arm bears load, the middle part of the driven main arm is driven by the auxiliary driving arm, and the front part of the driven main arm is hinged to the static platform, so that the stress of the driven main arm becomes more uniform, the mass of the driving arm is greatly reduced on the premise of keeping rigidity unchanged, and the effect of reducing the inertia of the driving arm and improving the running speed is achieved through an indirect driving mode of the driving arm.
3. The utility model discloses according to the characteristics that parallel robot spindle motor needs frequent reciprocating motion, one set of mechanical type torsional spring energy recuperation system has been designed, through install one positive anti-two sets of torsion spring in driven main arm front end and quiet platform articulated department, retrieve the energy of rising above zero and the lower hem below zero respectively, thereby pick up at the robot and put the in-process deceleration stage and retrieve kinetic energy, release kinetic energy at the robot acceleration stage, reduce the peak current of motor when auxiliary motor acceleration and deceleration, with the best performance of volatilizing the motor. As shown in the figure, the torque state waveforms of the motor before energy recovery and after energy recovery intervention are respectively shown, the peak value section of the torque is obviously reduced.
4. The utility model discloses a traditional bulb bowl structure is replaced to the form of ceramic bearing cooperation hooke joint, has replaced sliding friction into rolling friction, and coefficient of friction has reduced 0.004 from 0.2, because the energy loss that frictional resistance caused reduces by a wide margin, and ceramic bearing need not to add lubricating grease, makes things convenient for the maintenance and the maintenance of a whole set of structure.
5. The utility model discloses in introducing the motor heat dissipation with vortex pipe refrigeration technology, at first for main shaft motor design relatively confined guard shield to in the leading-in motor guard shield of low temperature air current that produces vortex pipe, thereby effectively reduce the temperature in motor and the motor guard shield cavity, for traditional fan and water-cooling heat dissipation, the low-temperature airflow flow low temperature difference that vortex pipe produced is big, and the radiating efficiency is higher. The utility model provides a because the motion characteristic of reciprocal high rotational speed is opened frequently to the spindle motor of parallel robot opens and stops, cause the robot motor temperature rise too big and report to the police when high-speed operation, directly lead to the robot can not last the technological problem of high-speed operation.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a partial enlarged view of the Hooke's hinge connection structure of the present invention;
FIG. 3 is a partial enlarged view of the energy recovery spring connection structure of the present invention;
FIG. 4 is a schematic view of the connection structure of the vortex tube of the present invention;
FIG. 5 is a waveform of the torque state of the energy recovery front drive motor of the present invention;
fig. 6 is the torque state waveform diagram of the energy recovery torsion spring after the intervention of the driving motor.
Description of reference numerals:
1-an active output arm; 2-auxiliary driving arm; 3-slave driving arm; 4-the shaft connecting seat at the tail end of the slave driving arm; 5-the active arm end shaft; 6-driven arm rotation axis; 7-driven arm rotating shaft fixing seat; 8-left-handed energy recovery torsion spring; 9-right-handed rotation energy recovery torsion spring; 10-motor cover; 11-fixing a platform; 12-moving the platform; 13-regulating valve and hot gas outlet; 14-a motor cover; 15-high pressure gas inlet; 16-cold air outflow; 17-a servo motor; 18-cold airflow direction.
Detailed Description
The embodiments of the present invention will be described in detail with reference to the accompanying drawings:
a high-speed parallel robot with energy recovery indirect drive, as shown in figure 1, comprises a fixed platform, a driving arm, a driven arm, a moving platform and a driving motor; three driving motors are uniformly arranged on the fixed platform, the output end of each driving motor is connected with a driving arm, each driving arm is connected with a driven arm, and the lower ends of the three driven arms are connected with the movable platform together; the driving arm comprises a driving output arm, an auxiliary driving arm and a driven main arm which are connected in sequence; the driving motor drives the driving end of the driving output arm, the driven end of the driving output arm drives the driving end of the auxiliary driving arm, the driven end of the auxiliary driving arm drives the middle end of the driven main arm, the front end of the driven main arm is hinged with the static platform, the tail end of the driven main arm drives the driving end of the driven arm, and the driven end of the driven arm drives the fixed platform to move.
In this embodiment, the output end of the speed reducer of the driving motor is connected with the driving output arm, the driving output arm is hinged with the auxiliary driving arm, the auxiliary driving arm is hinged with the driven main arm at one half of the driven main arm, the front end of the driven main arm is hinged with the static platform, and the tail end of the driven main arm is hinged with the driven arm; the driving output arm, the auxiliary driving arm and the driven main arm jointly form a driving arm component, the driving output arm drives the driven main arm to ascend and descend in the process of ascending and descending, and then drives the driven arm to ascend and descend, and in the same way, the other two groups of mechanisms also perform similar motion and the three groups of mechanisms cooperate to realize that the movable platform moves in a space range.
The utility model discloses divide into three constitution structure with the master arm: the driving output arm, the auxiliary driving arm and the driven main arm; the driving output arm is connected with the speed reducer and is hinged with the driving auxiliary arm, the driving auxiliary arm and the driven main arm are hinged to form a driving arm component, the tail end of the driven main arm bears load, the middle part of the driven main arm is driven by the driving auxiliary arm, and the front part of the driven main arm is hinged with the static platform, so that the stress of the driven main arm becomes more uniform, the mass of the main arm is greatly reduced on the premise of unchangeable rigidity, and the effect of reducing the inertia of the driving arm and improving the running speed is achieved in an indirect driving mode of the driving arm.
The tail end of the driven main arm is hinged with the driving end of the driven arm through a hook hinge, and the specific mounting mode is as follows: the tail end of the driven main arm is rotatably provided with a driven main arm tail end shaft perpendicular to the driven main arm, two ends of the driven main arm tail end shaft are respectively sleeved with a driven main arm tail end shaft connecting seat, a driven arm rotating shaft penetrates through the driven main arm tail end shaft connecting seat, the driven arm rotating shaft is perpendicular to the shaft driving arm tail end shaft, a driven arm rotating shaft fixing seat is sleeved on the driven arm rotating shaft, and a driven arm which coaxially rotates is sleeved in the driven arm rotating shaft fixing seat;
the tail ends of the three driven arms are hinged with the movable platform through hooke hinges respectively.
The three driving motors are distributed on the static platform at intervals of 120 degrees.
As shown in fig. 2, in this embodiment, a hooke joint is used to replace a ball-end ball socket, a tail end shaft connecting seat of a driven main arm is installed on a tail end shaft of a driving arm and can rotate around the tail end shaft of the driving arm, the tail end shaft connecting seat of the driven main arm and a driven arm rotating shaft fixing seat are connected through a shaft driven arm rotating shaft, the driven arm rotating shaft fixing seat can rotate around the shaft driven arm rotating shaft, the driven arm rotating shaft and the tail end shaft of the driving arm are perpendicular to each other to form a hooke joint, so that a degree of freedom for replacing the ball-end ball socket is achieved, and two sets of ceramic bearings are respectively installed on the driven arm rotating shaft and the tail end shaft of the.
The utility model discloses a traditional bulb bowl structure is replaced to the form of ceramic bearing cooperation hooke joint, has replaced sliding friction into rolling friction, and coefficient of friction has reduced 0.004 from 0.2, because the energy loss that frictional resistance caused reduces by a wide margin, and ceramic bearing need not to add lubricating grease for a whole set of structure need not to maintain and maintain.
Two energy recovery torsion springs with opposite rotation directions are respectively sleeved at the front end of the driven main arm and two sides of a hinged shaft of the static platform, one end of each energy recovery torsion spring is fixedly connected to the fixed platform, and the other end of each energy recovery torsion spring is fixed to the hinged shaft.
As shown in fig. 3, in this embodiment, the utility model discloses according to the characteristics that parallel robot spindle motor needs frequent reciprocating motion, a set of mechanical type torsional spring energy recuperation system has been designed, through install one positive one and two sets of torsion spring of turning over at driven main arm front end and quiet platform hinge department, retrieve the energy of rising above zero and the lower hem below zero respectively, thereby pick up and put the in-process deceleration stage at the robot and retrieve kinetic energy, release kinetic energy at the robot acceleration stage, reduce the peak current of motor when the auxiliary motor accelerates and decelerates, in order to exert the best performance of motor.
The energy recovery method comprises the following steps: the torsion springs are opposite in rotation direction and jointly act on the hinged shafts of the driven main arm and the static platform, one end of each torsion spring is fixed on the static platform, the other end of each torsion spring is fixed on the hinged shaft of the driven main arm, the left-handed energy recovery torsion spring starts to work when the driven main arm swings downwards below the horizontal level according to the characteristics of the torsion springs, the energy is stored by torsion, the stored energy is released when the driven main arm stops swinging downwards and starts to swing upwards, the braking and accelerating effects are similar, and the right-handed energy recovery torsion spring plays a role when the driven main arm swings upwards to above a zero plane.
As shown in fig. 5 and fig. 6, which are the torque state waveforms of the motor before energy recovery and after energy recovery intervention, respectively, it can be seen that the peak section of the torque is significantly reduced.
The vortex tube is fixedly arranged on the inner wall of the motor cover and comprises a high-pressure gas inlet, a hot gas outlet and a cold gas outlet; the high-pressure air inlet is communicated with an air pump through an air pipe, and the hot air outlet is communicated with a heat dissipation grid arranged at the upper part of the motor cover; the cold air outlet is communicated into a cavity formed between the motor cover and the driving motor, and the hot air outlet is also provided with a temperature regulating valve for regulating the refrigeration temperature of the motor.
In this embodiment, the utility model discloses a vortex tube motor cooling system is as shown in FIG. 4, form a relatively confined cavity between messenger's motor and the shell through the form of designing the shell for motor part, fix the vortex tube in this cavity, when letting in high-pressure gas for the vortex tube, the cold airflow blows to the cavity downside along the cavity wall, the hot airflow flows out from the heat dissipation grid on casing upper portion, thereby form annular cold airflow in the cavity and realized the radiating best effect to the motor, refrigerating temperature then can be realized according to the in service behavior adjustment governing valve of motor, avoid the condition such as subcooling or refrigeration effect are not good
Wherein, the operating principle of vortex pipe is: compressed air with certain pressure enters a nozzle of a vortex tube and then expands and accelerates, when the accelerated air flow enters a cylindrical vortex generator, the rotating air flow enters the heat tube along the wall of the heat tube at the rotating speed of 1,000,000rpm, the air in the heat tube generates energy separation after vortex exchange, and the air flow is divided into two air flows, namely hot air flow and cold air flow. At the end of the heat pipe, a part of the compressed air is discharged in the form of hot air through the regulating valve, and the rest of the compressed air returns at a lower speed through the center of the rotating air flow entering the heat pipe, and the cold air flow passes through the center of the generator to form ultra-low temperature cold air which is collected to the cold air end and discharged.
The utility model discloses a vortex pipe's advantage lies in:
1. no moving parts, portability, lightness and low cost;
2. the power is not needed, freon and other chemical refrigerant substances are not needed, and only filtered factory compressed air is needed;
3. no risk of spark flash, no magnetic wire/radio frequency interference;
4. the on/off is timely, the control is easy, and no waste is generated during refrigeration; 5. no residue needs to be cleaned, and no part needs to be cleaned.
It should be emphasized that the embodiments described herein are illustrative and not restrictive, and thus the present invention includes but is not limited to the embodiments described in the detailed description, as well as other embodiments derived from the technical solutions of the present invention by those skilled in the art, which also belong to the scope of the present invention.
Claims (4)
1. The utility model provides a take indirect driven high-speed parallel robot of energy recuperation which characterized in that: comprises a fixed platform, a driving arm, a driven arm, a movable platform and a driving motor; three driving motors are uniformly arranged on the fixed platform, the output end of each driving motor is connected with a driving arm, each driving arm is connected with a driven arm, and the lower ends of the three driven arms are connected with the movable platform together; the driving arm comprises a driving output arm, an auxiliary driving arm and a driven main arm which are connected in sequence; the driving motor drives the driving end of the driving output arm, the driven end of the driving output arm drives the driving end of the auxiliary driving arm, the driven end of the auxiliary driving arm drives the middle end of the driven main arm, the front end of the driven main arm is hinged with the static platform, the tail end of the driven main arm drives the driving end of the driven arm, and the driven end of the driven arm drives the fixed platform to move.
2. The high-speed parallel robot with the energy recovery indirect drive function as claimed in claim 1, wherein: the tail end of the driven main arm is hinged with the driving end of the driven arm through a hook hinge, and the specific mounting mode is as follows: the tail end of the driven main arm is rotatably provided with a driven main arm tail end shaft perpendicular to the driven main arm, two ends of the driven main arm tail end shaft are respectively sleeved with a driven main arm tail end shaft connecting seat, a driven arm rotating shaft penetrates through the driven main arm tail end shaft connecting seat, the driven arm rotating shaft is perpendicular to the shaft driving arm tail end shaft, a driven arm rotating shaft fixing seat is sleeved on the driven arm rotating shaft, and a driven arm which coaxially rotates is sleeved in the driven arm rotating shaft fixing seat.
3. The high-speed parallel robot with the energy recovery indirect drive function as claimed in claim 1, wherein: two energy recovery torsion springs with opposite rotation directions are respectively sleeved at the front end of the driven main arm and two sides of a hinged shaft of the static platform, one end of each energy recovery torsion spring is fixedly connected to the fixed platform, and the other end of each energy recovery torsion spring is fixed to the hinged shaft.
4. The high-speed parallel robot with the energy recovery indirect drive function as claimed in claim 1, wherein: the vortex tube is fixedly arranged on the inner wall of the motor cover, and comprises a high-pressure gas inlet, a hot gas outlet and a cold gas outlet; the high-pressure air inlet is communicated with the air pump, and the hot air outlet is communicated with a heat dissipation grid arranged at the upper part of the motor cover; the cold air outlet is communicated into a cavity formed between the motor cover and the driving motor, and the hot air outlet is also provided with a temperature regulating valve for regulating the refrigeration temperature of the motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921410774.6U CN211729158U (en) | 2019-08-28 | 2019-08-28 | High-speed parallel robot with energy recovery indirect drive |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921410774.6U CN211729158U (en) | 2019-08-28 | 2019-08-28 | High-speed parallel robot with energy recovery indirect drive |
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| CN211729158U true CN211729158U (en) | 2020-10-23 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110524514A (en) * | 2019-08-28 | 2019-12-03 | 勃肯特(镇江)机器人技术有限公司 | A kind of high speed parallel robot driven indirectly with energy regenerating |
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2019
- 2019-08-28 CN CN201921410774.6U patent/CN211729158U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110524514A (en) * | 2019-08-28 | 2019-12-03 | 勃肯特(镇江)机器人技术有限公司 | A kind of high speed parallel robot driven indirectly with energy regenerating |
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