CN114434418A - Industrial robot with intensification and heat preservation ability - Google Patents
Industrial robot with intensification and heat preservation ability Download PDFInfo
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- CN114434418A CN114434418A CN202011213992.8A CN202011213992A CN114434418A CN 114434418 A CN114434418 A CN 114434418A CN 202011213992 A CN202011213992 A CN 202011213992A CN 114434418 A CN114434418 A CN 114434418A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention relates to an industrial robot with temperature rising and heat preservation capabilities, comprising: the connecting rod, connect a plurality of joints, control system and the transmission system of connecting rod, the joint includes driving motor, control system includes: a motor control module for outputting a torque current to rotate the motor and a heating current to raise/maintain a temperature of the drive train; the temperature detection module is used for detecting the temperature of the motor; the control system is used for controlling the robot to run at a low speed and outputting heating current to raise the temperature of the motor when the temperature of the motor detected after the robot is powered on is less than a first threshold value; and when the temperature of the motor is detected to exceed a first threshold value, controlling the robot to normally run to execute a work task, wherein the speed of the robot in normal running is higher than the speed of the robot in low-speed running. The invention has the beneficial effects that: the industrial robot can keep proper temperature and has good working performance.
Description
Technical Field
The invention relates to the field of robots, in particular to an industrial robot.
Background
Industrial robots are a type of robots widely used in industrial environments, and are generally used in working scenes such as automobile manufacturing, part detection, loading and unloading, and with continuous technology change and changes in demands of people, industrial robots are developing more application scenes. When an industrial robot is used for outdoor work, outdoor temperature changes are relatively large, and the robot still needs to keep proper temperature, otherwise, the working performance of the robot is affected, and even the working effect is affected.
CN110877348 discloses an industrial robot with high and low temperature resistance, which makes the robot work at a constant temperature by arranging a temperature control outer cover outside the robot body. However, this approach is costly and not well suited for different outdoor environments.
Therefore, it is necessary to design an industrial robot which is easy to realize and has good temperature rise and heat preservation performance.
Disclosure of Invention
In view of this, the invention aims to provide an industrial robot which is easy to realize and has good temperature rise and heat preservation performance.
The invention can adopt the following technical scheme: an industrial robot comprising a connecting rod, a plurality of joints connecting the connecting rod, a control system and a transmission system, the joints comprising drive motors, the control system comprising: a motor control module for outputting a torque current to rotate the motor and a heating current to raise/maintain a temperature of the robot drive system; the temperature detection module is used for detecting the temperature of the motor; the control system is used for controlling the robot to run at a low speed and outputting heating current to raise the temperature of the motor when the temperature of the motor detected after the robot is powered on is less than a first threshold value; and when the temperature of the motor is detected to exceed a first threshold value, controlling the robot to normally run to execute a work task, wherein the speed of the robot in normal running is higher than the speed of the robot in low-speed running.
Further, the speed of the robot in low-speed operation is 1% to 10% of the normal operation speed of the robot.
Further, the control system is configured to reduce the heating current to raise/maintain the temperature of the drive train upon detecting that the motor temperature exceeds a first threshold.
Further, the control system is configured to reduce the heating current to increase/maintain the temperature of the drive train as the temperature of the motor increases when it is detected that the temperature of the motor exceeds a first threshold.
Further, the control system is configured to stop outputting the heating current when detecting that the temperature of the motor exceeds a second threshold, where the second threshold is greater than the first threshold.
Further, the control system is used for setting a rotation center point of the industrial robot, and controlling the robot to run at a low speed comprises: and controlling the robot to run at a low speed around the rotation central point.
Further, the rotation center point is a tool center point of the industrial robot.
Further, the industrial robot is a cooperative robot, or the industrial robot is a six-axis cooperative robot.
The invention can also adopt the following technical scheme: a temperature rise control method of an industrial robot including a connecting rod, a plurality of joints connecting the connecting rod, the joints including drive motors, and a control system, the control method comprising: when the detected motor temperature is lower than a first threshold value after the robot is powered on, controlling the robot to run at a low speed and outputting heating current to raise the motor temperature; and when the temperature of the motor is detected to exceed a first threshold value, controlling the robot to normally run to execute a work task, wherein the speed of the robot in normal running is higher than the speed of the robot in low-speed running.
Further, the control method comprises the following steps: when the detected motor temperature exceeds a first threshold value, the heating current is reduced to raise/maintain the temperature of the robot transmission system.
Further, the control method comprises the following steps: and setting a rotation central point of the industrial robot, wherein the control of the robot at a low speed comprises the control of the robot around the rotation central point at a low speed.
Compared with the prior art, the specific implementation mode of the invention has the beneficial effects that: the industrial robot can timely adjust the heating current of the motor according to the temperature of the motor, so that the temperature of a robot transmission system can be increased while no additional part is added, and the working performance of the robot when the environmental temperature is low can be guaranteed. Simultaneously, can in time adjust the motor electric current that generates heat according to the different temperatures of motor for the robot can remain suitable temperature throughout, and industrial robot working property is good.
Drawings
The above objects, technical solutions and advantages of the present invention can be achieved by the following drawings:
FIG. 1 is a schematic view of an industrial robot according to one embodiment of the present invention
Fig. 2 is a work flow diagram of an industrial robot according to an embodiment of the present invention
Fig. 3 is a work flow diagram of an industrial robot according to another embodiment of the invention
Fig. 4 is a workflow diagram of an industrial robot according to a further embodiment of the invention
FIG. 5 is a graph of the relationship between motor temperature and heating current in accordance with one embodiment of the present invention
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the embodiments of the present invention will be described in detail and fully with reference to the accompanying drawings in the following embodiments of the present invention, and it is obvious that the described embodiments are some but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention protects an industrial robot, and referring to fig. 1, fig. 1 schematically shows an industrial robot 10 according to an embodiment of the invention. An industrial robot comprises a connecting rod 2, a plurality of joints 4 connecting the connecting rod, a control system and a transmission system, wherein the joints comprise a driving motor (not shown) as a power source of the joints 4, and the joints 4 provide working power for the industrial robot 10. The power of the motor is conducted by the transmission system, so that the industrial robot can execute various kinds of work, the robot can keep proper temperature to ensure the working performance, and further, the key is to keep the temperature of the transmission system. The industrial robot 10 can be applied to various environments, and the industrial robot protected by the invention can be applied to outdoor environments, has good adaptability to the temperature of the outdoor environments and can keep good working performance.
The control system of the industrial robot 10 includes a motor control module for outputting a torque current to rotate a motor and outputting a heating current to raise/maintain the temperature of a robot transmission system, the motor generally includes a torque current and a heating current, the torque current is used for enabling the motor to rotate to generate power, generally in order to guarantee the efficiency of the motor, the heating current is kept as 0 as much as possible, the current of the motor is converted to obtain a d-axis current and a q-axis current, wherein the d-axis current is the heating current, the q-axis current is the torque current, and the motor is heated by increasing the d-axis current. When industrial robot work in outdoor environment, robot 10 self need guarantee the temperature of suitable work in order to guarantee the performance of robot, can make the motor generate heat through rising the electric current that generates heat, and then guarantee the temperature of industrial robot work, driving motor carries out corresponding rotation and the action of generating heat according to torque current and the electric current that generates heat. The control system comprises a temperature detection module for detecting the temperature of the motor. Referring to fig. 2, fig. 2 is a work flow chart of an industrial robot according to an embodiment of the present invention, where the control system is configured to control the robot to operate at a low speed and output a heating current to raise a motor temperature when the detected motor temperature is less than a first threshold value after the robot is powered on; and when the temperature of the motor is detected to exceed a first threshold value, controlling the robot to normally run to execute a work task, wherein the speed of the robot in normal running is higher than the speed of the robot in low-speed running. After the robot is powered on, if the temperature does not meet the working requirements, the robot is firstly enabled to run at a low speed, and meanwhile, the motor is heated, and only when the temperature of the robot meets various requirements, the normal running of the robot is controlled, so that the robot can work in a proper temperature state, and the working performance of the industrial robot is good.
In one embodiment of the invention, the speed of the robot in low-speed running is 1% -10% of the normal running speed, and the robot can perform preparation work such as inspection and the like when running at low speed so as to start working immediately when the temperature meets the working requirement. Referring to fig. 3, fig. 3 is a workflow diagram of an industrial robot according to another embodiment of the present invention. The control system is used for reducing the heating current to increase/maintain the temperature of the robot transmission system when the temperature of the motor exceeds a first threshold value. That is, when the motor temperature exceeds the first threshold value, the temperature of the industrial robot can be satisfiedAnd the work requirement is close to or at the moment, the heating current is reduced to increase the temperature of the motor in a small amplitude so as to increase/maintain the temperature of the transmission system, and therefore the robot is kept at a proper temperature. Further, when the detected motor temperature exceeds the first threshold value, the heating current is reduced along with the rise of the motor temperature so as to raise/maintain the temperature of the robot transmission system, namely when the motor temperature exceeds the first threshold value, the higher the motor temperature is, the corresponding heating current is relatively reduced, namely the heating current shows a gradually-reduced trend along with the rise trend of the motor temperature, further, the heating current is in linear proportion to the motor temperature, and then the heating current is dynamically adjusted according to the motor temperature so as to ensure that the robot can maintain proper temperature. Further, referring to fig. 4, fig. 4 shows a work flow diagram of an industrial robot according to another embodiment of the present invention, where the control system is configured to stop outputting the heating current when detecting that the temperature of the motor exceeds a second threshold, where the second threshold is greater than the first threshold, that is, when the temperature of the motor exceeds the second threshold, it indicates that the motor has generated enough heat, and at this time, the motor does not heat any more, that is, the transmission system is not heated/kept at the temperature, so that the robot keeps the proper temperature. Different control logics of the robot to the heating current in different temperature intervals are set, so that the robot can always keep a proper temperature. Referring to fig. 5, fig. 5 is a graph showing the relationship between the heating current and the motor temperature, i.e. when the motor temperature T is less than the first threshold T1, the heating current heats up to raise the motor temperature, and at this time, the heating current IdThe temperature of the motor is increased rapidly, so that the temperature of the robot transmission system is increased rapidly; when the motor temperature T exceeds a first threshold value T1, the heating current I increases with the increase of the motor temperaturedReducing to slow the heating speed of the motor, further, slowing the heating speed of the transmission system, or keeping the temperature of the transmission system, preferably, the heating current and the motor temperature are in a linear relation; when the temperature of the robot exceeds the second threshold value T2, the motor does not need to be heated again at this time, and the output of the heating current is stopped.
In one embodiment of the invention, the control system is used for setting a rotation center point of the industrial robot, and the control system controls the robot to run at a low speed comprises controlling the robot to run at a low speed around the rotation center point. When the robot runs at a low speed around the rotation central point, the movement range of the robot is smaller relative to the mode of independent movement of each joint. Preferably, the rotation center point is a tool center point of the robot, when the robot moves around the tool center point, the movement range of the robot is small, all joints can move, the robot can perform works such as brake release, and in the process of brake release of the robot, the motors of the joints are heated simultaneously, so that the robot can immediately start to perform the works after performing preparation works such as brake release. Further, the rotation angle of the robot in low-speed motion is gradually increased after the beginning of a new motion cycle, and the rotation angle is smaller than the angle threshold value, so as to avoid safety risks.
Industrial robots protected by the present invention include various types such as conventional industrial robots, and novel collaborative robots, further, six-axis collaborative robots. Further, the industrial robot is a robot for outdoor work.
The beneficial effects of the above preferred embodiment are: the industrial robot is at low-speed operation and to the motor intensification after the electricity, and the temperature of motor conducts for the robot can keep suitable temperature, simultaneously, to the different situations of robot temperature, carries out dynamic adjustment to motor intensification electric current, makes the robot can keep suitable temperature all the time.
The present invention also provides a temperature rise control method for an industrial robot including a connecting rod, a plurality of joints connecting the connecting rod, the joints including a drive motor, and a control system, the control method including: when the detected motor temperature is lower than a first threshold value after the robot is powered on, controlling the robot to run at a low speed and outputting heating current to raise the motor temperature; and when the temperature of the motor is detected to exceed a first threshold value, controlling the robot to normally run to execute a work task, wherein the speed of the robot in normal running is higher than the speed of the robot in low-speed running.
In one embodiment of the present invention, the control method includes: when the detected motor temperature exceeds a first threshold value, the heating current is reduced to raise/maintain the temperature of the robot transmission system.
In one embodiment of the invention, the speed of the robot in low-speed operation is 1% to 10% of the normal operation speed of the robot.
In one embodiment of the present invention, the control method includes: when the detected motor temperature exceeds a first threshold, the heating current is reduced to raise/maintain the temperature of the transmission system. Further, when the temperature of the motor is detected to exceed a first threshold value, reducing the heating current to raise/maintain the temperature of the transmission system; further, the heating current and the motor temperature are in a linear relation.
In one embodiment of the present invention, the control method includes: and when the temperature of the motor exceeds a second threshold value, stopping outputting the heating current, wherein the second threshold value is larger than the first threshold value. The heating current is dynamically adjusted according to the temperature of the motor, so that the robot can always keep a proper temperature.
In one embodiment of the present invention, the control method includes: setting a rotation central point of the robot, wherein the control of the low-speed operation of the robot comprises the following steps: and controlling the robot to run at a low speed around the rotating central point. When the robot is powered on and then runs around a rotating central point, the motion range of the robot is small, preferably, the rotating central point is a tool central point, the industrial robot moves around the tool central point to execute preparation work such as brake release, and meanwhile, the motor outputs heating current to prepare for formal work so as to start working in time when the temperature of the motor meets the working requirement. The method of the embodiments is similar to the above description, and the description is omitted here for brevity.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (11)
1. An industrial robot comprising a connecting rod, a plurality of joints connecting the connecting rod, a control system and a transmission system, the joints comprising drive motors, characterized in that the control system comprises:
a motor control module for outputting a torque current to rotate the motor and a heating current to raise/maintain a temperature of the drive train;
the temperature detection module is used for detecting the temperature of the motor;
the control system is used for controlling the robot to run at a low speed and outputting heating current to raise the temperature of the motor when the temperature of the motor detected after the robot is powered on is less than a first threshold value; and when the temperature of the motor is detected to exceed a first threshold value, controlling the robot to normally run to execute a work task, wherein the speed of the robot in normal running is higher than the speed of the robot in low-speed running.
2. An industrial robot according to claim 1, characterized in that the speed at which the robot runs at low speed is 1-10% of the normal running speed of the robot.
3. An industrial robot according to claim 1, characterized in that the control system is adapted to reduce the heating current to raise/maintain the temperature of the drive train upon detecting that the motor temperature exceeds a first threshold value.
4. An industrial robot according to claim 3, characterized in that the control system is adapted to reduce the heating current to increase/maintain the temperature of the drive train as the temperature of the motor increases when it is detected that the temperature of the motor exceeds a first threshold value.
5. An industrial robot according to claim 3, characterized in that the control system is adapted to stop the output of the heating current upon detecting that the motor temperature exceeds a second threshold value, which is larger than the first threshold value.
6. An industrial robot according to claim 1, characterized in that the control system is adapted to set a centre point of rotation of the industrial robot, and that controlling the robot to run at a low speed comprises: and controlling the robot to run at a low speed around the rotation central point.
7. An industrial robot according to claim 6, characterized in that said centre of rotation point is a tool centre point of the industrial robot.
8. An industrial robot according to claim 1, characterized in that the industrial robot is a cooperative robot or the industrial robot is a six axis cooperative robot.
9. A temperature rise control method of an industrial robot including a connecting rod, a plurality of joints connecting the connecting rod, a control system, and a transmission system, the joints including a drive motor, characterized by comprising:
when the detected motor temperature is lower than a first threshold value after the robot is powered on, controlling the robot to run at a low speed and outputting heating current to raise the motor temperature;
and when the temperature of the motor is detected to exceed a first threshold value, controlling the robot to normally run to execute a work task, wherein the speed of the robot in normal running is higher than the speed of the robot in low-speed running.
10. The control method according to claim 1, characterized by comprising: when the detected motor temperature exceeds a first threshold, the heating current is reduced to raise/maintain the temperature of the transmission system.
11. The control method according to claim 1, characterized by comprising: and setting a rotation central point of the industrial robot, wherein the control of the robot at a low speed comprises the control of the robot around the rotation central point at a low speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011213992.8A CN114434418A (en) | 2020-11-04 | 2020-11-04 | Industrial robot with intensification and heat preservation ability |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011213992.8A CN114434418A (en) | 2020-11-04 | 2020-11-04 | Industrial robot with intensification and heat preservation ability |
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| Publication Number | Publication Date |
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| CN114434418A true CN114434418A (en) | 2022-05-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011213992.8A Pending CN114434418A (en) | 2020-11-04 | 2020-11-04 | Industrial robot with intensification and heat preservation ability |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116872213A (en) * | 2023-08-16 | 2023-10-13 | 北京瑞祺皓迪技术股份有限公司 | Preheating method and device of optical fiber wiring robot and electronic equipment |
-
2020
- 2020-11-04 CN CN202011213992.8A patent/CN114434418A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116872213A (en) * | 2023-08-16 | 2023-10-13 | 北京瑞祺皓迪技术股份有限公司 | Preheating method and device of optical fiber wiring robot and electronic equipment |
| CN116872213B (en) * | 2023-08-16 | 2023-12-19 | 北京瑞祺皓迪技术股份有限公司 | Preheating method and device of optical fiber wiring robot and electronic equipment |
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