A pressure-regulated energy-storable and energy-releasable swing device

Abstract

The present application relates to a kind of swing devices of pressure-regulating energy storage release, including electromagnetic band key shaft, energy storage device, servo motor, the electromagnetic band key shaft is placed in energy storage device, by the expansion and contraction of sliding key to switch the energy storage pressure piece where the required torque input to energy storage device, realize the energy storage-release mode of energy storage device;The servo motor is directly connected to the output flange by electromagnetic band key shaft, and the output flange is rotated by servo motor by electromagnetic band key shaft, to realize non-energy storage-release mode.The present application uses adjustable pneumatic device to store energy, compared with the structure of mechanical device, it is also more simple, and has the characteristics of adjustable energy storage.The present application is used in robot system, and effective energy storage control based on overall servo system can be formed.

Description

TECHNICAL FIELD

[0001] The present invention relates to a full-range advancing device for on-load tap changer accumulator, accumulator, and on-load tap changer. BACKGROUND

[0002] Based on the existing robot technology, especially the bionic robot technology, the speed and force performance parameters of the power component are affected by the structure, control component and signal transmission function.

[0003] Based on the research of bionic robots, the joints of the human body will form explosive movements around the joints due to the driving of the muscles. Since the linear motion device is the most appropriate form to simulate human muscle movement, it cannot be used to simulate small muscle tissue. In this case, the swinging device can be used to simulate the movement of the muscles rotating around the joints.

[0004] The main structure of the swinging device is a servo motor cooperating with the rotating shaft to move. Based on the characteristics of human muscles, the output structure is variable force and variable speed. For the joints of the human body, there can be explosive output with large torque and high speed, or small force and slow movement. Therefore, the general large inertia servo motor cannot meet the condition of crossing multiple output conditions.

[0005] In summary, the swinging device to be designed needs to meet multiple output conditions, including explosive output and small force and slow output, which can simulate the explosive force of the human body at the joints.

[0006] Patent publication number "WO2022183670A1" discloses a "FULL-RANGE ADVANCING DEVICE FOR ON-LOAD TAP CHANGER ACCUMULATOR, ACCUMULATOR, AND ON-LOAD TAP CHANGER", i.e. "full-range advancing device for on-load tap changer accumulator, accumulator, and on-load tap changer", as shown in Figure 1As shown, the full-stroke advancing device comprises two Geneva intermittent mechanisms and a central gear. The two Geneva intermittent mechanisms respectively comprise a cam gear, a driving cam, a cam pin, a driven Geneva wheel and an advancing plate; the driving cam with the cam pin is coaxially fixed with the cam gear without axial contact; the advancing plate is fixedly connected to the driven Geneva wheel; the driven Geneva wheel is provided with a root slot. The two Geneva intermittent mechanisms are staggered in the vertical direction; the two cam gears are driven by the same central gear. The positional relationship of the two Geneva intermittent mechanisms satisfies the following constraint conditions: when the driving cam of one of the Geneva intermittent mechanisms rotates by an angle of a1, the cam pin cooperates with the root tip slot on the driven Geneva wheel to make the advancing plate on the driven Geneva wheel rotate by an angle of a to advance; when the driving cam of the other Geneva intermittent mechanism rotates by an angle of (360°-a1), the cam pin is located at the opening of the root slot.

[0007] Since the full-stroke advancing device adopts the full-stroke advancing mechanism composed of the cam gear, the driving cam, the driven Geneva wheel and the advancing plate, the mechanism is complex, the control points cannot be adjusted, etc. Therefore, an adjustable pneumatic device is needed to store energy. According to the innovative design method in the Modern Mechanical Design Method, the "foreign matter combination method" in the entity element combination innovation method is adopted to combine the pneumatic energy storage device for fluid power with the control motor for electric power to make up for the shortcomings of each other. SUMMARY

[0008] Based on the background art described above, the present application proposes a pressure-adjustable energy-storable and releasable swing device, which has large force transmission of a fluid driving system and can achieve the function of simulating human muscle explosive force through energy storage and release, and at the same time meet the function of high-precision rotary motion, and can realize high-precision and high-speed motion based on servo electric control.

[0009] To achieve the above object, the technical scheme of the present application is as follows: a pressure-adjustable energy-storable and releasable swing device, comprising an electromagnetic belt key shaft, an energy storage device and a servo motor, the electromagnetic belt key shaft is arranged in the energy storage device, and the extension and contraction of the sliding key is used to switch the torque required to be input to the energy storage pressure piece of the energy storage device, so as to realize the energy storage-release mode of the energy storage device; the servo motor is directly connected to the output flange through the electromagnetic belt key shaft, and the output flange is driven to rotate by the servo motor through the electromagnetic belt key shaft, so as to realize the non-energy storage-release mode.

[0010] Further, the electromagnetic belt key shaft comprises a shaft head, a plug-in electromagnetic coil, a sliding shaft, a spring, a sliding key, a shaft shell and a plug-in electromagnetic coil, the shaft shell is fixedly connected with the shaft head at both ends, the sliding shaft is installed in the shaft shell at both ends through the left plug-in electromagnetic coil fixed in the shaft shell at both ends, the middle part of the sliding shaft is provided with a wedge surface structure, the wedge surface structure is connected with the sliding key, the sliding key is arranged in the sliding groove on the upper surface of the middle part of the shaft shell and can move up and down along the sliding groove, the limiting screw is arranged in the limiting groove in the middle of the sliding key, and the limiting screw is connected and fixed with the spring and the limiting nut through the sliding shaft.

[0011] Further, one of the shaft heads of the electromagnetic belt key shaft is connected with a servo motor, and the other shaft head is connected with an output flange.

[0012] Further, the energy storage device comprises an anti-collision block, an energy storage pressing piece, a pressure regulating valve and an air bag, the air bag is provided with the energy storage pressing piece on one side and is provided with the pressure regulating valve and the anti-collision block on the other side.

[0013] Further, the inner cavity of the air bag is connected with an external pressure cavity to store energy for the energy storage device.

[0014] Further, a one-way valve, a reversing electromagnetic valve, a digital air pressure gauge and a servo variable pump system are arranged on the connecting pipeline between the inner cavity of the air bag and the external pressure cavity, and the pressure of the energy storage device is changed by increasing or reducing the air pressure of the inner cavity.

[0015] A method for energy storage and release mode by using a swing device with pressure regulating type and energy storage and release function, first, the sliding key in the electromagnetic belt key shaft is retracted; the servo motor drives the electromagnetic belt key shaft to be aligned to the corresponding key groove position; the sliding key in the electromagnetic belt key shaft is extended; under the driving of the sliding key, the energy storage device starts to store energy; then the external pressure regulating system adjusts the internal pressure of the air bag to adjust the stored air pressure energy; finally, the sliding key in the electromagnetic belt key shaft is retracted, and the energy storage and release are completed.

[0016] The beneficial effects of the present application are:

[0017] Compared with the prior art on-load tap changer accumulator, accumulator, on-load tap changer full series propulsion device, the adjustable pneumatic device is used for energy storage, the structure is simpler than the mechanical device, and the adjustable energy storage feature is also provided. The application is used in a robot system, and effective energy storage control based on an overall servo system can be formed. In the design process, the functional defects are found from the motion characteristics of the rotary joint of the modern humanoid robot according to the innovative design process in the modern mechanical design method. Then, according to the innovative design method in the modern mechanical design method, the pneumatic energy storage device for fluid power is combined with the control motor for electric power, so as to make up for the defects of each other, which is an innovative design in line with the current mechanical design criteria.

[0018] (1) The application is a swing device with energy storage and release functions, realizes the combination of the advantages of fluid driving and electric control driving, can be used as a driving system of bionic muscle tissue, and can simulate the explosive force of human muscles.

[0019] (2) The energy storage device of the application is an adjustable energy storage and release system, the combination of energy storage and release of multiple swing devices can be realized through a servo air pressure system, the energy can be accurately calculated, and the energy is released after adjustment, so that the energy storage system is more compatible and intelligent compared with general energy storage systems.

[0020] (3) The electromagnetic belt key shaft in the application is an innovation point, an electromagnetic shaft capable of switching between two states of key driving and non-key driving is designed, the electromagnetic shaft moves through a wedge surface mechanism, and is uniformly stressed, precise and less error. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 It is a structural schematic view of an existing on-load tap changer accumulator, accumulator, on-load tap changer full series propulsion device;

[0022] Figure 2 It is a structural schematic view of the swing device of the application;

[0023] Figure 3 It is a schematic view of the external structure of the swing device of the application;

[0024] Figure 4 It is a schematic view of the internal structure of the swing device of the application;

[0025] Figure 5 It is a structural schematic view of the electromagnetic belt key shaft;

[0026] Figure 6 It is a sectional view of the electromagnetic belt key shaft structure;

[0027] Figure 7 It is a schematic view of the external structure of the electromagnetic belt key shaft;

[0028] Figure 8 This is a schematic diagram of the internal structure of an electromagnetic keyed shaft;

[0029] Figures 9-11 This is a schematic diagram of the energy storage device structure;

[0030] In the diagram: 1-Left shaft head, 2-Left insert type electromagnetic coil, 3-Sliding shaft, 4-Spring, 5-Sliding key, 6-Shaft housing, 7-Right insert type electromagnetic coil, 8-Right shaft head, 9-Limit screw, 10-Limit nut, 11-Anti-collision block, 12-Energy storage plate, 13-Pressure regulating valve, 14-Airbag, 20-Electromagnetic keyed shaft, 21-Energy storage device, 22-Servo motor. Detailed Implementation

[0031] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0032] like Figures 2-4 As shown, the present invention discloses a voltage-regulating, energy-storing and releasing oscillating device, comprising an electromagnetic keyed shaft 20, an energy storage device 21, and a servo motor 22. The electromagnetic keyed shaft 20 is housed within the energy storage device 21. The extension and retraction of the sliding key 3 switches the torque input to the energy storage plate 12 of the energy storage device 21, thus switching the energy storage-release mode of the energy storage device 21. The servo motor is directly connected to the output flange via the electromagnetic keyed shaft. The servo motor drives the output flange to rotate via the electromagnetic keyed shaft, achieving a non-energy storage-release mode.

[0033] The movement process of the voltage-regulating, energy-storing and releasing oscillating device of the present invention is as follows: When the sliding key in the electromagnetic key shaft retracts, the energy storage device does not function and does not begin to store energy. When the sliding key in the electromagnetic key shaft extends, the energy storage device stores energy under the drive of the key, and then the energy is released when the sliding key is retracted.

[0034] This pusher has two modes: energy storage-release mode and non-energy storage-release mode.

[0035] The two parts of the energy storage-release mode work together as follows:

[0036] (1) The sliding key in the electromagnetic key shaft retracts;

[0037] (2) The servo motor drives the electromagnetic belt key shaft to select the corresponding keyway position (using Hall element positioning sensing);

[0038] (3) The sliding key extends out of the electromagnetic belt key shaft;

[0039] (4) Driven by the sliding key, the energy storage device begins to store energy;

[0040] (5) The external pressure regulating system adjusts the internal pressure of the air bag, and adjusts the stored air pressure energy;

[0041] (6) The sliding key in the electromagnetic shaft is retracted, and the energy storage is released.

[0042] The three-part cooperation of the non-energy storage-release mode is as follows:

[0043] (1) The sliding key in the electromagnetic shaft is always retracted;

[0044] (2) The servo motor directly drives the output flange to rotate through the shaft.

[0045] The structure of each part will be introduced in detail below.

[0046] (1) Electromagnetic shaft

[0047] As shown in Figures 5-8 , the electromagnetic shaft 20 includes a left shaft head 1, a left plug-in electromagnetic coil 2, a sliding shaft 3, a spring 4, a sliding key 5, a shaft shell 6, a right plug-in electromagnetic coil 7, a right shaft head 8, a limiting screw 9, and a limiting nut 10. The shaft shell 6 is fixedly connected to the left shaft head 1 and the right shaft head 8 at both ends, respectively. The sliding shaft 3 is installed in the shaft shell 6 through the left plug-in electromagnetic coil 2 and the right plug-in electromagnetic coil 7 fixed in the shaft shell 6 at both ends. The middle part of the sliding shaft 3 is provided with a wedge surface structure, and the wedge surface structure is connected to the sliding key 5. The sliding key 5 is located in the sliding groove on the upper surface of the middle part of the shaft shell 6 and can move up and down along the sliding groove. The limiting screw 9 is arranged in the limiting groove in the middle of the sliding key 5, and the limiting screw 9 passes through the sliding shaft 3 and is connected and fixed with the spring 4 and the limiting nut 10.

[0048] The main feature of the electromagnetic shaft is that the middle sliding shaft 3 can be pushed to move by the plug-in coil through the switching coil power-on mode. In the movement process of the middle sliding shaft 3, the wedge surface structure drives the sliding key 5 to slide in the middle sliding groove, to drive the sliding key to extend and retract. The extension and retraction of the sliding key 5 serve to switch whether the torque needs to be input to the energy storage pressure piece of the energy storage device.

[0049] (2) Energy storage device

[0050] As shown in Figures 9-11 , the energy storage device 21 includes an anti-collision block 11, an energy storage pressure piece 12, a pressure regulating valve 13, and an air bag 14. The air bag 14 is provided with the energy storage pressure piece 12 on one side, and is provided with the pressure regulating valve 13 and the anti-collision block 11 on the other side.

[0051] The function of the energy storage device is to compress the cavity, so that the pressure inside the cavity and the air bag changes, and then adjust the internal pressure of the air bag to match the required pressure, and finally release it through the sliding key in the electromagnetic shaft.

[0052] The pressure of the outer cavity and the pressure of the inner cavity constitute the energy stored by the energy storage device at this time. Since the inner cavity is in communication with the outside, a one-way valve, a reversing electromagnetic valve, a digital pressure gauge, a servo variable pump system, and other pressure control elements are provided on the pipeline in communication with the outside at this time, and the pressure of the energy storage device is changed by increasing or decreasing the pressure of the inner cavity.

[0053] When it is necessary to increase the energy storage, the inner cavity can be pressurized, and when the energy storage is to be reduced, the inner cavity can be depressurized.

Claims

1. A pressure-regulated, energy-storaged-release swing device, characterized by: The application relates to a torque transmission device, which comprises an electromagnetic shaft, an energy storage device and a servo motor, the electromagnetic shaft is arranged in the energy storage device, the electromagnetic shaft is used for switching the torque input to the energy storage device through the expansion and contraction of a sliding key, the energy storage device is used for realizing the energy storage and release mode, the servo motor is directly connected with an output flange through the electromagnetic shaft, the servo motor drives the output flange to rotate through the electromagnetic shaft, and the non-energy storage and release mode is realized, the electromagnetic shaft comprises a shaft head, a plug-in electromagnetic coil, a sliding shaft, a spring, a sliding key, a shaft shell and a plug-in electromagnetic coil, the shaft shell is fixedly connected with the shaft head at two ends, the sliding shaft is arranged in the shaft shell at two ends through the plug-in electromagnetic coil fixedly arranged in the shaft shell at two ends, a wedge surface structure is arranged in the middle of the sliding shaft, the sliding key is connected with the wedge surface structure, the sliding key is arranged in a sliding groove in the middle of the shaft shell and can move up and down in the sliding groove, a limiting screw is arranged in a limiting groove in the middle of the sliding key, and the limiting screw is connected and fixed with the spring and a limiting nut through the sliding shaft, the energy storage device comprises an anti-collision block, an energy storage pressing piece, a pressure regulating valve and an air bag, the air bag is provided with the energy storage pressing piece on one side and is provided with the pressure regulating valve and the anti-collision block on the other side.

2. The pressure-regulated, energy-storable and releasable swing apparatus according to claim 1, characterized in that: One of the shaft heads of the electromagnetic shaft is connected with the servo motor, and the other shaft head is connected with the output flange.

3. The pressure-regulated, energy-storable and releasable swing apparatus according to claim 1, characterized in that: The inner cavity of the air bag is connected with an external pressure cavity, and the energy stored in the energy storage device is provided.

4. The pressure-regulated, energy-storable and releasable swing apparatus according to claim 3, characterized in that: A one-way valve, a reversing electromagnetic valve, a digital air pressure gauge and a servo variable pump system are arranged on the connecting pipeline between the inner cavity and the external pressure cavity of the air bag, the pressure of the energy storage device is changed by increasing or reducing the air pressure of the inner cavity.

5. A method for energy storage and release mode using the swing device with pressure regulating and energy storage and release of any one of claims 1-4, characterized in that: Firstly, the sliding key in the electromagnetic shaft is retracted, the servo motor drives the electromagnetic shaft to be aligned to the corresponding key groove position, the sliding key in the electromagnetic shaft is extended, the energy storage device starts to store energy under the driving of the sliding key, then the external pressure regulating system adjusts the internal pressure of the air bag, adjusts the stored air pressure energy, and finally the sliding key in the electromagnetic shaft is retracted, and the energy is released.

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