DE202015007161U1 - Manipulator with vortex tube - Google Patents

Abstract

Manipulator (1), comprising a compressed air line (11), and a vortex tube (20) within the manipulator (1), wherein the vortex tube (20) comprises a gas inlet, a hot gas outlet and a cold gas outlet, the gas inlet of the vortex tube (20) with the Compressed air line (11) is connected, and the cold gas outlet of the vortex tube (20) for cooling an element (13) of the manipulator (1) is used.

Description

1. Technical area

The present invention relates to a manipulator, and more particularly to a lightweight robot.

2. Technical background

Manipulators are automatically controlled, programmable multipurpose machines. They can be used, for example, in a production or assembly to machine a component or workpiece. A manipulator may consist of a plurality of movable members or axles. By a targeted control of motors, and in particular servomotors, the individual axes of a manipulator can be moved.

In particular, lightweight robots electronic components are installed within the manipulator and often separated by an air-impermeable housing made of light metal from the environment. During operation, the electronic components develop heat, which, however, can escape poorly due to the dense construction and therefore accumulates within the lightweight robot. The heat radiation through the surface of the manipulator is often insufficient to sufficiently dissipate heat. For this reason, the failure rate of the electronic components of lightweight robots is comparatively high.

It is therefore an object of the present invention to provide a manipulator which can be used even at high ambient temperatures. It is a further object of the present invention to provide a manipulator which at least partially eliminates the above-mentioned disadvantages.

These and other objects, which will be apparent from the following description, are achieved by a manipulator according to claim 1.

3. Content of the invention

The present invention relates to a manipulator, and more particularly to a lightweight robot. A lightweight robot may be a particularly small and lightweight robot whose movable members and axles are at least partially shielded from the environment by a shell or housing.

The manipulator has a compressed air line. Furthermore, the manipulator has a vortex tube, which is arranged within the manipulator. A vortex tube, such as a Ranque-Hilsch vortex tube, may be a device with no moving parts to divide a flowing gas into a hot and a cold stream. The vortex tube has a gas inlet through which gas can be introduced into the vortex tube. Furthermore, the vortex tube has a hot gas outlet and a cold gas outlet, from which in each case the hot and cold gas stream can escape from the vortex tube. The cold gas outlet of the vortex tube is used according to the invention for cooling an element of the manipulator. The element may be a heat-generating element of the manipulator, such as an electronic component.

Thus, the manipulator can be at least partially cooled, with no additional maintenance is necessary because the vortex tube is designed as a passive element without moving parts. The manipulator can thus work reliably because effective and active cooling is provided. Malfunction of the manipulator are thus greatly reduced.

The cold gas stream has a lower temperature than the hot gas stream. In this case, the temperature of the cold gas stream may be lower than the temperature of the gas, which is introduced into the vortex tube. Likewise, the temperature of the hot gas stream may be higher than the temperature of the gas, which is introduced into the vortex tube. The hot gas flow does not necessarily have to have a very high temperature, but can also be perceived as a warm gas or air flow.

Preferably, the manipulator further comprises a thermostatic valve which is provided between the compressed air line and the gas inlet of the vortex tube. The thermostatic valve is arranged to control a compressed air supply from the compressed air line to the vortex tube. The thermostatic valve can thus control how much compressed air is provided to the gas inlet of the vortex tube. Temperature, flow and cooling capacity can thus be controlled via the thermostatic valve. Energy consumption and losses of compressed air can thus be efficiently minimized. By means of the thermostat control can also be ensured that the compressed air system of the manipulator little compressed air is lost through the vortex tube. The functionality of further components of the manipulator, which require a compressed air supply, is thus not restricted.

Preferably, the compressed air line leads to a hand flange and / or an end effector of the manipulator. Thus, both the functionality of the end effector and the cooling by means of the heat exchanger can be ensured by the same compressed air line. An additional compressed air line is not needed.

Preferably, the cold gas outlet of the vortex tube is coupled to a heat exchanger within the manipulator. The heat exchanger itself is in turn preferably heat-conductively coupled to internal electronics of the manipulator. By coupling heat can be exchanged. The heat exchanger may, as a heat sink, preferably store efficiently the low temperatures provided by the cold gas outlet of the vortex tube. The heat sink may preferably store the amount of heat of the cold gas stream, which is characterized by low temperatures. Thus, a constant, homogeneous cooling of the manipulator can be provided, depending on the mass of the heat exchanger.

Preferably, the hot gas outlet and / or the cold gas outlet of the vortex tube is connected via a silencer to the environment of the manipulator. The hot or cold gas stream is thus passed through the silencer or from the manipulator housing, so that no additional noise pollution occurs. Preferably, the cold gas outlet of the vortex tube, preferably after the heat exchanger, connected to the environment of the manipulator.

Preferably, in the compressed air line and / or at the gas inlet of the vortex tube, a pressure of 2-10 bar, more preferably from 4-8 bar, and more preferably from about 6 bar before. Thus, effective functionality of the vortex tube can be provided.

Preferably, a mass flow of compressed air through the gas inlet of the vortex tube 1-20%, further preferably 5-15% and more preferably about 10% of the compressed air mass flow in the compressed air line. Thus, only a small portion of compressed air is used for cooling and functionality, such as a pneumatic end effector, is maintained.

Preferably, the manipulator further comprises an air filter on the compressed air line. Preferably, this achieves filtration of 25 microns or less, and more preferably 5 microns or less. Thus, a trouble-free operation of the vortex tube and thus the cooling can be made possible. A micron can represent a unit of measurement that can be used to identify the particle size that is filtered by a filter. It will be understood by those skilled in the art that the "Micron" rating may refer to the particle size filtered through filters of specified efficiency.

Preferably, the manipulator further comprises a shut-off valve which is adapted to switch on and off the supply of compressed air from the compressed air line to the gas inlet of the vortex tube. The shut-off valve thus has two states, one open and one closed. It can be efficiently controlled by means of the shut-off valve in the closed state that temporarily no compressed air is supplied to the vortex tube when, for example, a maximum pressure on the end effector of the manipulator is needed. On the other hand, by opening the shut-off valve, it is possible to allow maximum cooling to be effected. Preferably, the shut-off and / or the thermostatic valve of the manipulator is connected to a temperature sensor for controlling the / the valve / valves.

4th embodiments

In the following, the present invention will be described in detail with reference to the accompanying drawings. Identical parts are identified by the same reference numerals. It shows:

1 a manipulator part according to an embodiment; and

2 a manipulator according to another embodiment of the present invention.

In the 1 is a manipulator part 10 which may be a manipulator arm or a part of a manipulator arm. In the manipulator part 10 is a compressed air line 11 arranged, which via a branch 12 with a thermostatic valve 30 connected is. The thermostatic valve 30 regulates a supply of compressed air to a vortex tube 20 , In the vortex tube 20 is the compressed air flowing over the branch 12 and the thermostatic valve 30 or a gas inlet of the vortex tube 30 is prepared according to the principle described by Georges J. Ranque and Rudolf Hilsch, divided into a hot and a cold gas flow. At one end of the vortex tube 20 , the cold gas outlet, is a heat exchanger 21 provided by which the cold gas flow coming from the vortex tube 20 is provided flows. The cold gas stream cools the heat exchanger 21 and will after exiting the heat exchanger 21 via an exit 22 delivered to the environment.

For example, the compressed air coming from the vortex tube 20 to the heat exchanger 21 is between 10 degrees Celsius and -50 degrees Celsius. The heat exchanger 21 is with an electronics module 13 of the manipulator part 10 coupled. Heat coming from the electronics module 13 is developed by the heat exchanger 21 taken and discharged from the exiting into the environment cold gas, so that the electronic module 13 is effectively cooled. The cooling is through the vortex tube 20 much more effective than if the existing compressed air was used directly for cooling.

At a second exit of the vortex tube 20 , the hot gas outlet, is a silencer 23 provided. Over this is the hot gas flow from the vortex tube 20 to another exit 24 , and finally given to the environment. Likewise, a corresponding silencer may also be provided at the cold gas outlet (not shown).

The 2 shows a manipulator 1 according to another embodiment of the present invention. The manipulator 1 includes several manipulator parts 10a . 10b . 10c , which correspond respectively to the manipulator part 10 according to 1 can be constructed. In the manipulator 1 is a compressed air line 11 provided, which is fed by a compressed air supply, in which also a compressed air filter 16 located. The compressed air line 11 leads to an end effector 14 of the manipulator 1 , which can be operated by compressed air. Between the individual manipulator parts 10a . 10b . 10c are joints 15a . 15b provided. The joint 15a is by means of a motion control electronics 13 operated. To cool this electronics 13 is a vortex tube 20 provided, the gas inlet via a shut-off valve 40 with the compressed air line 11 connected is. By opening and closing the shut-off valve 40 can selectively the influx of compressed air to the vortex tube 20 to be controlled.

The functioning of the vortex tube 20 is analogous to the vortex tube 20 of the 1 built up. A cold gas outlet of the vortex tube 20 is with a heat exchanger 21 coupled so that the cold gas flow of the vortex tube 20 the heat exchanger 21 flows through and cools down and then on the output 22 escapes to the environment. The heat exchanger 21 is in turn with the motion control electronics 13 coupled thermally conductive, so that it is cooled. The hot gas outlet of the vortex tube 20 is over a silencer 23 and an exit 24 connected to the environment.

The skilled person understands that more than just the vortex tube 20 in the manipulator 1 can be provided. For example, further electronic components of the manipulator 1 be cooled with other vortex tubes, for example, a corresponding axis control electronics on the joint 15b (Not shown). Furthermore, the skilled person understands that a heat exchanger 21 as an additional element is not necessary to provide a cooling, but this improves. For example, the cold gas flow of the heat exchanger directly to a component to be cooled of the manipulator 1 be passed or blown, so that heat is dissipated by this component.

LIST OF REFERENCE NUMBERS

1

manipulator

10, 10a, 10b, 10c

manipulator part

11

Compressed air line

12

diversion

13

Electronic module / Achssteuerelektronik

14

end effector

15a, 15b

joint

16

air filter

20

vortex tube

21

heat exchangers

22, 24

output

23

silencer

30

thermostatic valve

40

shut-off valve

Claims (10)

Manipulator ( 1 ), comprising a compressed air line ( 11 ), and a vortex tube ( 20 ) within the manipulator ( 1 ), wherein the vortex tube ( 20 ) comprises a gas inlet, a hot gas outlet and a cold gas outlet, the gas inlet of the vortex tube ( 20 ) with the compressed air line ( 11 ), and the cold gas outlet of the vortex tube ( 20 ) for cooling an element ( 13 ) of the manipulator ( 1 ) is used. Manipulator ( 1 ) according to claim 1, further comprising a thermostatic valve ( 30 ), which between the compressed air line ( 11 ) and the gas inlet of the vortex tube ( 20 ) and is arranged to supply compressed air from the compressed air line ( 11 ) to the vortex tube ( 20 ) to control. Manipulator ( 1 ) according to claim 1 or 2, wherein the cold gas outlet of the vortex tube ( 20 ) with a heat exchanger ( 21 ) within the manipulator ( 1 ), and the heat exchanger ( 21 ) preferably with internal electronics ( 13 ) of the manipulator ( 1 ) is coupled thermally conductively. Manipulator ( 1 ) according to one of claims 1 to 3, wherein the hot gas outlet and / or the cold gas outlet of the vortex tube ( 20 ) via a silencer ( 23 ) with the environment of the manipulator ( 1 ) are connected. Manipulator ( 1 ) according to one of claims 1 to 4, wherein the cold gas outlet of the vortex tube ( 20 ) with the environment of the manipulator ( 1 ) connected is. Manipulator ( 1 ) according to one of claims 1 to 5, wherein in the compressed air line ( 11 ) and / or at the gas inlet of the vortex tube ( 20 ) a pressure of 2-10 bar, preferably 4-8 bar, more preferably about 6 bar is present. Manipulator ( 1 ) according to one of claims 1 to 6, wherein a mass flow of compressed air through the gas inlet of the vortex tube ( 20 ) 1-20%, preferably 5-15% and more preferably about 10% of the compressed air mass flow in the compressed air line ( 11 ) is. Manipulator ( 1 ) according to one of claims 1 to 7, further comprising an air filter ( 16 ) on the compressed air line ( 11 ). Manipulator ( 1 ) according to one of claims 1 to 8, wherein the compressed air line ( 11 ) to a hand flange and / or an end effector ( 14 ) of the manipulator ( 1 ) leads. Manipulator ( 1 ) according to one of claims 1 to 9, further comprising a shut-off valve ( 40 ) which is set up, the supply of compressed air from the compressed air line ( 11 ) to the gas inlet of the vortex tube ( 20 ) on and off.

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