Energy-saving type industrial robot and drive unit time-sharing control method thereof

A technology of industrial robots and drive units, which is applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., and can solve problems such as energy loss, large mass of moving parts of robots, and large inertia

Active Publication Date: 2020-02-14
HEFEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the specific manufacturing process, the drive unit operates with high energy efficiency only when the robot is running under load, and the energy efficiency of the drive unit is low during no-load operation, resulting in a large amount of energy loss
At the same time, the moving part of the robot has a large mass and large inertia, which is difficult to control

Method used

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  • Energy-saving type industrial robot and drive unit time-sharing control method thereof
  • Energy-saving type industrial robot and drive unit time-sharing control method thereof
  • Energy-saving type industrial robot and drive unit time-sharing control method thereof

Examples

Experimental program
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Effect test

Embodiment Construction

[0050] see figure 1 , an energy-saving industrial robot in this embodiment is provided with an arm base 2b on the base 2a, and is driven by the arm base drive unit 1a; a large arm 3a is provided at the top between the two clamping keys of the arm base 2b , and is driven synthetically by the arm seat drive unit 1a and the boom drive unit 1b through the first differential gear train;

[0051] The first differential gear train is composed of the first sun gear 5a, the first planetary gear 5b, the first ring gear 5c, and the first planet carrier 5d, and the first differential gear train is based on the first sun gear 5a and the first gear The ring 5c ​​is the input end, and the first planet carrier 5d is the output end;

[0052] A small arm 3b is provided on the top of the large arm 3a, and is driven synthetically by the arm seat drive unit 1a and the small arm drive unit 1c through the second differential gear train;

[0053] The second differential gear train is composed of th...

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Abstract

The invention discloses an energy-saving type industrial robot and a drive unit time-sharing control method thereof. An arm base is arranged on a base, and is driven by an arm base drive unit; a largearm is arranged at the top end between two clamping keys of the arm base, and the arm base drive unit and a large arm drive unit synthesize drive through a first differential wheel system; a small arm is arranged at the top end of the large arm, and the arm base drive unit and a small arm drive unit synthesize drive through a second differential wheel system. The energy-saving type industrial robot superposes output power of the large arm drive unit with output power of the arm base drive unit through time-sharing no-conflict control of the arm base drive unit, so that matching between load operation demanded power with drive unit output power is realized; the large arm drive unit and the small arm drive unit are in respective high-efficiency regions, so that energy efficiency is improved; and meanwhile, power of the drive units is superposed, so that assembly power of the robot drive unit is reduced under the condition of meeting maximal power needs of the industrial robot.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to an energy-saving industrial robot and a time-sharing control method for a drive unit thereof. Background technique [0002] Industrial robots are widely used in various fields of industry because of their greater flexibility and versatility. Today, my country has become the world's largest application market for industrial robots for five consecutive years, and industrial robots are energy-intensive, and there are irrational use of energy during their operation, resulting in a lot of waste of energy. Taking the automobile manufacturing industry as an example, the electric energy consumed by industrial robots accounts for more than half of the total energy consumption of the body manufacturing, accounting for 8% of the total electric energy consumption of the factory, and the electric energy consumed by the robots in the body-in-white workshop accounts for about 30% of t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/10B25J9/16
CPCB25J9/102B25J9/1602
Inventor 黄海鸿甘雷邹翔金瑞李磊
Owner HEFEI UNIV OF TECH
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