CN114434418A - An industrial robot with the ability to heat up and keep warm - Google Patents

Abstract

The invention relates to an industrial robot with heating and heat preservation capabilities. The industrial robot includes a connecting rod, a plurality of joints connecting the connecting rods, a control system and a transmission system, the joints include a driving motor, and the control system Including: motor control module, used to output torque current to rotate the motor, and output heating current to raise/maintain the temperature of the transmission system; temperature detection module, used to detect the motor temperature; the control system is used for detection after the robot is powered on When the motor temperature is lower than the first threshold, control the robot to run at low speed and output a heating current to increase the motor temperature; when the detected motor temperature exceeds the first threshold, control the robot to run normally to perform the work task, and the speed of the robot during normal operation is greater than all Describe the speed of the robot when it is running at low speed. The beneficial effects of the invention are that the industrial robot can maintain a proper temperature and has good working performance.

Description

An industrial robot with the ability to heat up and keep warm

technical field

The invention relates to the field of robots, in particular to an industrial robot.

Background technique

Industrial robots are a class of robots that are widely used in industrial environments. They are usually used in automotive manufacturing, parts inspection, loading and unloading and other work scenarios. With the continuous changes in technology and changes in people's needs, industrial robots are developing more application scenarios. When an industrial robot is used for outdoor work, the outdoor temperature changes relatively large, and the robot still needs to maintain a proper temperature, otherwise it will affect its work performance and even affect the work effect.

CN110877348 discloses an industrial robot with high and low temperature resistance, which enables the robot to work at a constant temperature by arranging a temperature control outer cover on the outside of the robot body. However, this method has high cost and is not suitable for different outdoor environments.

Therefore, it is necessary to design an industrial robot that is easy to implement and has good heating and thermal insulation performance.

SUMMARY OF THE INVENTION

In view of this, the purpose of the present invention is to provide an industrial robot that is easy to implement and has good heating and heat preservation performance.

The present invention can adopt the following technical solutions: an industrial robot includes a connecting rod, a plurality of joints connecting the connecting rods, a control system and a transmission system, the joints include a drive motor, and the control system includes: a motor control module, It is used to output torque current to rotate the motor, and output heating current to raise/maintain the temperature of the robot transmission system; the temperature detection module is used to detect the motor temperature; the control system is used to detect that the motor temperature is lower than the first after the robot is powered on When the threshold is reached, control the robot to run at low speed and output a heating current to increase the temperature of the motor; when it is detected that the temperature of the motor exceeds the first threshold, control the robot to run normally to perform work tasks, and the speed of the robot during normal operation is greater than that of the robot when the robot runs at low speed. speed.

Further, the speed of the robot when running at low speed is 1% to 10% of the normal running speed of the robot.

Further, the control system is configured to reduce the heating current to increase/maintain the temperature of the transmission system when it is detected that the temperature of the motor exceeds the first threshold.

Further, the control system is configured to, when detecting that the temperature of the motor exceeds the first threshold, reduce the heating current as the temperature of the motor increases, so as to increase/maintain the temperature of the transmission system.

Further, the control system is configured to stop outputting the heating current when it is detected that the temperature of the motor exceeds a second threshold, and the second threshold is greater than the first threshold.

Further, the control system is used to set the rotation center point of the industrial robot, and the controlling the robot to run at a low speed includes: controlling the robot to run at a low speed around the rotation center point.

Further, the rotation center point is the tool center point of the industrial robot.

Further, the industrial robot is a collaborative robot, or the industrial robot is a six-axis collaborative robot.

The present invention can also adopt the following technical solutions: a heating control method for an industrial robot, the industrial robot includes a connecting rod, a plurality of joints connecting the connecting rods, and a control system, the joints include a driving motor, and the control method Including: when the robot is powered on and detects that the motor temperature is lower than the first threshold, controlling the robot to run at a low speed and outputting a heating current to increase the motor temperature; when detecting that the motor temperature exceeds the first threshold, controlling the robot to run normally to perform work tasks, the robot The speed during normal operation is greater than the speed during low speed operation of the robot.

Further, the control method includes: when it is detected that the temperature of the motor exceeds the first threshold value, reducing the heating current to increase/maintain the temperature of the robot transmission system.

Further, the control method includes: setting a rotation center point of the industrial robot, and the controlling the robot to run at a low speed includes controlling the robot to run at a low speed around the rotation center point.

Compared with the prior art, the beneficial effect of the specific embodiment of the present invention is: the industrial robot adjusts the heating current of the motor in time according to the temperature of the motor, so that the robot transmission system can be heated without adding additional components, so as to ensure that the robot is at an ambient temperature. low performance. At the same time, the heating current of the motor can be adjusted in time according to the different temperatures of the motor, so that the robot can always maintain an appropriate temperature, and the industrial robot has good working performance.

Description of drawings

The above-mentioned purposes, technical solutions and beneficial effects of the present invention can be achieved through the following accompanying drawings:

1 is a schematic diagram of an industrial robot according to an embodiment of the present invention

Fig. 2 is a working flow chart of an industrial robot according to an embodiment of the present invention

FIG. 3 is a working flow chart of an industrial robot according to another embodiment of the present invention.

FIG. 4 is a working flow chart of an industrial robot according to another embodiment of the present invention.

5 is a graph of the relationship between the motor temperature and the heating current according to an embodiment of the present invention

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are of the present invention. some but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

The present invention protects an industrial robot. Referring to FIG. 1 , FIG. 1 schematically shows a schematic diagram of an industrial robot 10 according to an embodiment of the present invention. The industrial robot includes a connecting rod 2, a plurality of joints 4 connecting the connecting rods, a control system and a transmission system. The joint includes a drive motor (not shown) as a power source for the joint 4, which provides the industrial robot 10. work motivation. The transmission system conducts the power of the motor, so that the industrial robot can perform various tasks. Only when the robot maintains an appropriate temperature can ensure the work performance. Further, it is more important to maintain the temperature of the transmission system. The industrial robot 10 can be applied to various environments, and the industrial robot protected by the present invention can be applied to an outdoor environment, has good adaptability to the temperature of the outdoor environment, and can maintain good working performance.

The control system of the industrial robot 10 includes a motor control module for outputting a torque current to rotate the motor, and outputting a heat current to raise/maintain the temperature of the robot drive system, the motor usually includes a torque current and a heat current, the torque current is used to make the motor Rotation generates power. Usually, in order to ensure the efficiency of the motor, the heating current is kept as 0 as possible. After the current of the motor is transformed, the d-axis current and the q-axis current can be obtained. The d-axis current is the heating current, and the q-axis current is the torque current. , the motor heats up by increasing the d-axis current. When the industrial robot works in an outdoor environment, the robot 10 itself needs to ensure a suitable working temperature to ensure the performance of the robot. By increasing the heating current, the motor can be heated, thereby ensuring the working temperature of the industrial robot. The driving motor is based on the torque current and The heating current performs the corresponding rotation and heating action. The control system includes a temperature detection module for detecting the motor temperature. Referring to FIG. 2, FIG. 2 is a working flowchart of an industrial robot according to an embodiment of the present invention. The control system is used to control the robot to run at a low speed and output a heating current to increase when the motor temperature is less than a first threshold after the robot is powered on. Motor temperature; when the detected motor temperature exceeds the first threshold, the robot is controlled to run normally to perform the work task, and the speed of the robot in normal operation is greater than the speed of the robot in low-speed operation. When the robot is powered on, if the temperature does not meet the working requirements, first make it run at a low speed and heat the motor at the same time. Only when the temperature of the robot meets various requirements, control its normal operation, so that the robot can work in a suitable temperature state. , the performance of industrial robots is better.

In an embodiment of the present invention, the speed of the robot when running at low speed is 1%-10% of the normal running speed. When the robot is running at low speed, preparatory work such as inspection can be performed on the robot, so that it can start immediately when the temperature meets the work requirements. Work. Referring to FIG. 3 , FIG. 3 is a working flowchart of an industrial robot according to another embodiment of the present invention. The control system is used to reduce the heating current to increase/maintain the temperature of the robot transmission system when the temperature of the motor is detected to exceed the first threshold. That is, when the temperature of the motor exceeds the first threshold, the temperature of the industrial robot can meet the working requirements or is close to the working requirements. At this time, the heating current is reduced to increase the temperature of the motor by a small amount, so as to increase/maintain the temperature of the transmission system, thereby making The robot maintains the proper temperature. Further, when it is detected that the motor temperature exceeds the first threshold, the heating current is reduced as the motor temperature increases to increase/maintain the temperature of the robot transmission system, that is, when the motor temperature exceeds the first threshold, the higher the motor temperature, the corresponding The heating current of the motor is relatively reduced, that is, the heating current shows a gradually decreasing trend with the increasing trend of the motor temperature. Further, the heating current is linearly proportional to the motor temperature, so that the heating current is dynamically adjusted according to the motor temperature, so that the Make sure the robot can maintain the proper temperature. Further, referring to FIG. 4, FIG. 4 shows a schematic diagram of the work flow of the industrial robot according to another embodiment of the present invention. The control system is used to detect that the motor temperature exceeds a second threshold, and stop outputting the heating current, and the second The threshold value is greater than the first threshold value, that is, when the motor temperature exceeds the second threshold value, it indicates that the current motor has generated enough heat, and the motor no longer generates heat at this time, that is, the transmission system is no longer heated/maintained temperature, to keep the robot at the proper temperature. By setting different control logics for the heating current of the robot in different temperature ranges, the robot can always maintain an appropriate temperature. Referring to FIG. 5, FIG. 5 shows a graph of the relationship between the heating current and the motor temperature according to an embodiment of the present invention, that is, when the motor temperature T is less than the first threshold T1, the heating current generates heat to increase the motor temperature, and at this time, the heating is generated. The current I _d is large to rapidly increase the temperature of the motor, thereby rapidly increasing the temperature of the robot transmission system; when the motor temperature T exceeds the first threshold T1, with the increase of the motor temperature, the heating current I _d decreases to slow down the motor The heating speed, further, slowing down the heating speed of the transmission system, or maintaining the temperature of the transmission system, preferably, the heating current has a linear relationship with the temperature of the motor; when the temperature of the robot exceeds the second threshold T2, At this time, the motor does not need to heat up again, and stops outputting the heating current.

In an embodiment of the present invention, the control system is used to set the rotation center point of the industrial robot, and the control system controlling the robot to run at a low speed includes controlling the robot to run around the rotation center point at a low speed. When the robot runs at a low speed around the center of rotation, the range of motion of the robot is small compared to the way each joint moves independently. Preferably, the rotation center point is the tool center point of the robot. When the robot moves around the tool center point, the movement range of the robot is small, and each joint can be moved at the same time. The robot can perform work such as releasing the brake. During the braking process, the motor of the joint is heated up at the same time, so that the robot can start the work immediately after completing the preparations such as releasing the braking. Further, the rotation angle of the robot when the robot moves at a low speed gradually increases after a new action cycle starts, and the rotation angle is smaller than the angle threshold to avoid safety risks.

The industrial robots protected by the present invention include various types, such as traditional industrial robots and new types of collaborative robots. Further, the collaborative robots are six-axis collaborative robots. Further, the industrial robot is a robot for outdoor work.

The beneficial effects of the above preferred embodiments are: after the industrial robot is powered on, it runs at a low speed and heats up the motor, and the temperature of the motor is conducted, so that the robot can maintain an appropriate temperature. Dynamic adjustments are made so that the robot can always maintain the proper temperature.

The present invention also protects a heating control method for an industrial robot, the industrial robot includes a connecting rod, a plurality of joints connecting the connecting rods, and a control system, the joints include a driving motor, and the control method includes: powering on the robot After detecting that the motor temperature is lower than the first threshold, control the robot to run at a low speed and output a heating current to increase the motor temperature; when the detected motor temperature exceeds the first threshold, control the robot to run normally to perform work tasks, and the speed of the robot during normal operation greater than the speed at which the robot runs at low speed.

In an embodiment of the present invention, the control method includes: when it is detected that the temperature of the motor exceeds a first threshold value, reducing the heating current to increase/maintain the temperature of the robot transmission system.

In an embodiment of the present invention, the speed of the robot at low speed is 1% to 10% of the normal speed of the robot.

In an embodiment of the present invention, the control method includes: when it is detected that the temperature of the motor exceeds a first threshold, reducing the heating current to increase/maintain the temperature of the transmission system. Further, when it is detected that the temperature of the motor exceeds the first threshold, the heating current is reduced to increase/maintain the temperature of the transmission system; further, the heating current has a linear relationship with the temperature of the motor.

In an embodiment of the present invention, the control method includes: when it is detected that the temperature of the motor exceeds a second threshold, the output of the heating current is stopped, and the second threshold is greater than the first threshold. By dynamically adjusting the heating current according to the motor temperature, the robot can always maintain an appropriate temperature.

In an embodiment of the present invention, the control method includes: setting a rotation center point of the robot, and the controlling the robot to run at a low speed includes: controlling the robot to run at a low speed around the rotation center point. When the robot runs around the rotation center point after power-on, the movement range of the robot is small. Preferably, the rotation center point is the tool center point, and the industrial robot moves around the tool center point to perform preparations such as releasing the brake. At the same time, the motor Output heating current to prepare for formal work, and start work in time when the motor temperature meets the work requirements. The execution method of the specific embodiment is similar to the foregoing, and the foregoing has been described, and will not be repeated here.

The above-mentioned embodiments only represent several embodiments of the present invention, and the descriptions thereof are specific and detailed, but should not be construed as a limitation on the scope of the invention patent. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can also be made, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention should be subject to the appended claims.

Claims (11)

1. An industrial robot, comprising a connecting rod, a plurality of joints connecting the connecting rods, a control system and a transmission system, wherein the joint comprises a drive motor, wherein the control system comprises: a motor control module for outputting torque current to rotate the motor, and outputting heat current to raise/maintain the temperature of the driveline; The temperature detection module is used to detect the motor temperature; The control system is used for detecting that the motor temperature is lower than the first threshold after the robot is powered on, controlling the robot to run at a low speed and outputting a heating current to increase the motor temperature; when detecting that the motor temperature exceeds the first threshold, controlling the robot to run normally to perform work tasks , the speed of the robot during normal operation is greater than the speed of the robot during low-speed operation. 2 . The industrial robot according to claim 1 , wherein the speed of the robot during low-speed operation is 1% to 10% of the normal operation speed of the robot. 3 . 3 . The industrial robot according to claim 1 , wherein the control system is configured to reduce the heating current to increase/maintain the temperature of the transmission system when the detected motor temperature exceeds the first threshold. 4 . 4 . The industrial robot according to claim 3 , wherein the control system is configured to, when detecting that the temperature of the motor exceeds the first threshold, reduce the heating current as the temperature of the motor increases to increase/maintain the transmission system. 5 . temperature. 5 . The industrial robot according to claim 3 , wherein the control system is configured to stop outputting the heating current when the detected motor temperature exceeds a second threshold, the second threshold being greater than the first threshold. 6 . 6 . The industrial robot according to claim 1 , wherein the control system is used to set a rotation center point of the industrial robot, and the controlling the robot to run at a low speed comprises: controlling the robot to run at a low speed around the rotation center point. 7 . 7 . The industrial robot according to claim 6 , wherein the rotation center point is a tool center point of the industrial robot. 8 . 8 . The industrial robot according to claim 1 , wherein the industrial robot is a collaborative robot, or the industrial robot is a six-axis collaborative robot. 9 . 9. A heating control method for an industrial robot, the industrial robot comprising a connecting rod, a plurality of joints connecting the connecting rods, a control system and a transmission system, the joints comprising a drive motor, wherein the control method include: After the robot is powered on and detects that the motor temperature is lower than the first threshold, control the robot to run at a low speed and output a heating current to increase the motor temperature; When it is detected that the temperature of the motor exceeds the first threshold, the robot is controlled to run normally to perform the work task, and the speed of the robot in normal operation is greater than the speed of the robot in low-speed operation. 10 . The control method according to claim 1 , wherein the control method comprises: when detecting that the temperature of the motor exceeds a first threshold, reducing the heating current to increase/maintain the temperature of the transmission system. 11 . 11 . The control method according to claim 1 , wherein the control method comprises: setting a rotation center point of the industrial robot, and controlling the robot to run at a low speed includes controlling the robot to run around the rotation center point at a low speed. 12 .

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