JP2006275470A - Industrial equipment and its cooling method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide industrial equipment such as an industrial robot to effectively prevent its rise in temperature, and to provide its cooling method. <P>SOLUTION: The industrial equipment 1 has a gas flow path 3 formed inside and connected to a gas intake port 4 and an exhaust port 5. In the flow path 3 between the intake port 4 and the exhaust port 5, a plurality of heating sources such as motors 2A-2D are arranged to constitute the industrial equipment 1. The intake port 4 is connected to an air compressing system 11 for a factory, from which compressed air is introduced into the intake port 4, distributed through the flow path 3 and exhausted from the exhaust port 5. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to industrial equipment such as robots, and more particularly to cooling or heat dissipation thereof.

  Various industrial equipments used in factories and the like include a plurality of heat sources constituting the industrial equipment. For example, in the case of an industrial robot, which is one of industrial equipment, a plurality of motors are arranged inside as a drive source, and these motors also act as a heat source. For this reason, the technique which cools the heat which generate | occur | produced in those motors by the heat radiation using a fan or the local heat radiation using an air hose is known (for example, patent document 1 or patent document 2).

JP-A-7-112394 Japanese Unexamined Patent Publication No. 7-246587

However, there are cases where it is difficult to install a fan due to the mechanism of industrial equipment. In such a case, temperature rise is mainly prevented by heat conduction or natural heat dissipation. However, they have poor heat dissipation efficiency. For example, since the motor temperature reaches the specification limit value, it is necessary to limit the performance of the device to prevent the motor temperature from rising.
In addition, in local cooling of industrial equipment, heat is transferred from the heat source to other metal parts, and this part thermally expands, thereby causing a problem that the operation accuracy of the equipment is lowered.

  The present invention has been made to solve the above-described problems, and proposes a configuration and a cooling method that can effectively prevent an increase in temperature of industrial equipment. And, by effectively preventing the temperature rise of industrial equipment, we will try to improve the performance of equipment that is limited by temperature, extend the life of equipment, or avoid the degradation of operation accuracy caused by thermal expansion. To do.

In the industrial device of the present invention, a gas flow path is formed inside the industrial device, and the flow path is connected to a gas intake port and a discharge port, and between the intake port and the discharge port. A plurality of heat sources constituting the industrial equipment are disposed in the flow path. According to this, by flowing compressed air or the like through the flow path, it is possible to cool the entire industrial equipment including the heat generation source. Therefore, the temperature rise of the motor, which is a heat generation source, is suppressed, and the performance can be improved, the life of the device can be extended, the operation accuracy can be secured by avoiding the thermal expansion of the device, and the like.
In addition, it is preferable that the said flow path is formed along the outline shape of the said industrial equipment. This is because the entire industrial device can be cooled.
Moreover, it is preferable that the intake port is connected to a compressed air system installed in a factory where the industrial equipment is placed. This is because it is not necessary to provide a special pneumatic system.

  Further, at least one of the plurality of heat generation sources is a motor. In this case, the motor is preferably a hollow motor having an open central portion. This is because the adoption of the hollow motor can sufficiently secure the flow rate of the cooling gas and can efficiently cool the industrial equipment.

The industrial equipment of the present invention further includes a flow rate control device that adjusts the flow rate of the gas flowing in the flow path, a temperature detection device that detects the temperatures of the plurality of heat sources or the vicinity of the heat sources, respectively. And a cooling control device that controls the flow rate control device based on the temperature detected by the temperature detection device.
In addition, the apparatus includes a flow rate control device that adjusts the flow rate of the gas flowing in the flow path, and a cooling control device that controls the flow rate control device based on information representing operating states of the plurality of heat sources. .
These devices enable automatic cooling of the entire industrial equipment including the heat source.

The industrial equipment cooling method of the present invention includes a gas intake port and a discharge port, and the industrial device is provided between the intake port and the discharge port of a flow path formed inside the industrial device. A plurality of heat generating sources are arranged, the intake port is connected to a gas pumping device, information representing an operating status of the plurality of heat generating sources is detected, and the flow path is based on the operating status information The flow rate of the gas flowing through is adjusted.
Further, the temperature of each heat source is detected as the operation status information of the heat source, and the flow rate of the gas flowing through the flow path is adjusted based on the maximum value of the detected temperature.
By these methods, it is possible to cool the entire industrial equipment including the heat source under a safer condition, and the temperature of the heat source can be kept within an allowable value.

  FIG. 1 is a conceptual diagram showing the overall configuration of an industrial device 1 according to an embodiment of the present invention. The industrial device 1 of the present invention includes a plurality of motors 2A to 2D constituting the industrial device 1, and these motors 2A to 2D are gas flow paths formed inside the industrial device 1. 3 is arranged. The flow path 3 is connected to the gas inlet 4 and the outlet 5, and the motors 2 </ b> A to 2 </ b> D are arranged in the flow path 3 between the inlet 4 and the outlet 5. In addition, the flow path 3 has penetrated from the one end side to the other end side along the outline shape of the industrial apparatus 1. FIG. Moreover, you may form the flow path 3 partially or entirely using the outer wall of the industrial apparatus 1. FIG.

  The intake 4 is connected via an air tube 6 to a compressed air device capable of sending compressed air as a cooling gas, such as a compressed air system 11 installed in a factory. Further, temperature detection devices 7A to 7D are respectively arranged in the motors 2A to 2D or in the vicinity thereof, and the temperature detection devices 7A to 7D are connected to the cooling control device 9 through a signal cable 8A. Further, a flow rate control device 10 that adjusts the amount of gas introduced into the flow path 3 is disposed in the vicinity of the intake port 4, and is connected to the cooling control device 9 via a signal cable 8B.

The temperature detection devices 7A to 7D can be configured from various temperature sensors or thermometers.
The cooling control device 9 is for adjusting the flow rate of the gas introduced into the flow path 3 by controlling the flow rate control device 10 based on the temperature information from the temperature detection devices 7A to 7D. The cooling control device 9 is composed of a CPU (central processing unit) and a memory, or a microcomputer having functions of both of them, and has a functional unit for performing calculation and control as shown in FIG. 2, as shown in FIG. A program that prescribes such a processing procedure is incorporated.
The flow control device 10 includes, for example, a throttle device and a valve whose opening degree can be adjusted, and a drive unit that adjusts the opening degree, and the drive unit is controlled by a control signal from the cooling control device 9. It is like that.

FIG. 2 is a block diagram showing an example of a functional configuration of the cooling control device 9 of FIG. As already described, the cooling control device 9 is composed of a microcomputer and the like, and includes functional blocks of a temperature information fetching unit 91, a temperature comparing unit 92, an air volume determining unit 93, and an air volume control signal sending unit 94.
The temperature information capturing unit 91 captures temperature information from the temperature detection devices 7A to 7D at predetermined intervals.
The temperature comparison unit 92 compares the temperatures of the motors 2A to 2D based on the temperature information acquired by the temperature information acquisition unit 91 with the preset allowable upper limit temperature (specified value).
The air volume determination unit 93 determines, for example, the valve opening degree in the flow rate control device 10, and for example, the difference between the maximum temperature and the allowable upper limit temperature (specified value) in the temperature measured by the temperature detection devices 7A to 7D. Accordingly, the opening degree of the valve appropriate for passing the cooling gas is set and stored in advance, and the opening degree of the valve is determined according to the actual temperature difference based on the opening degree. It should be noted that the valve opening degree of the flow control device 10 may be selected and determined only between the two of fully open or fully closed.
The air amount control signal sending unit 94 is a part that sends a signal for controlling the flow rate control device 10 to the flow rate control device 10 so that the opening degree or the flow rate determined by the air amount determination unit 93 is obtained.

Next, an example of the cooling control of the industrial equipment 1 performed according to the control program of the cooling control device 9 will be described. FIG. 3 is a flowchart showing an example of the cooling control.
When the industrial equipment 1 starts operation, temperature information is taken in from the temperature detection devices 7A to 7D at predetermined intervals, and their temperatures are detected (S1). Next, the maximum temperature among the temperatures obtained from the temperature detection devices 7A to 7D is compared with a preset allowable upper limit temperature (specified value) (S2). In S2, when the maximum temperature is equal to or lower than the predetermined value, the air flow into the flow path 3 is not performed (S3). On the other hand, when the maximum temperature exceeds a predetermined value, the flow rate of the flow control device 10 or an appropriate opening degree of the valve is determined in order to keep the maximum temperature within a specified value (S4). And the flow control apparatus 10 is controlled to the state determined by S4, and the gas for cooling is distribute | circulated in the flow path 3 (S5). By repeating the processes of S1 to S5, the industrial device 1 is appropriately cooled.

The allowable upper limit temperature (specified value) is preferably set slightly lower than the specification upper limit temperature determined by the motor standard, for example, by 2 to 3 degrees lower.
Further, from the viewpoint of cooling or heat dissipation efficiency, the motors 2A to 2D are preferably hollow motors whose central portions are open.

  With the above cooling control, the industrial device 1 can keep the temperatures of the motors 2A to 2D within the allowable values. Therefore, overheating of the motors 2A to 2D is prevented, and the industrial device 1 can be operated regardless of the temperature limitation of the motors 2A to 2D. In addition, the life of the motors 2A to 2D is extended. Furthermore, since the whole of the industrial device 1 including the motors 2A to 2D is cooled, thermal expansion is prevented even if the industrial device 1 is operated for a long time, and the position accuracy and operation accuracy of the industrial device 1 are prevented. Can be maintained.

  By the way, in the above, control of the flow control device 10 is performed based on the temperature information of the heat source, but it is also possible to perform it based on information representing an operation state that affects the heat generation of the heat source. For example, when the heat generation source is a motor, the control can be performed based on the rotational speed or rotational resistance of the motor. If the heat source is a power supply circuit or control circuit, control based on the power consumption of the power source, the lighting time if the heat source is a lamp, or the number of operations or operating resistance if the heat source is an actuator. Can do. In those cases, for example, the reference numeral 91 shown in FIG. 2 becomes each operation status information acquisition unit, and the reference numeral 92 shown in FIG. 2 indicates the association data with the preset temperature of the acquired operation status information. What is necessary is just to make it a function part which converts into temperature based on it and compares it with regulation temperature. In addition, the control aspect of the flow control apparatus 10 based on the operation status information of the heat generation source is not limited to the method illustrated here, and other various aspects may be taken.

  FIG. 4 shows a six-axis control robot 20 which is an example of the industrial equipment 1 and also shows the arrangement of motors provided therein. 4A is a top view, FIG. 4B is a side view, and FIG. 4C is a rear view. The six-axis control robot 20 includes a base J0 that supports the entire robot, and six arms J1 to J6 connected in order on the base J0. Inside each arm J1 to J6, air flow paths are formed along the outline of the arms J1 to J6, and motors M1 to M6 for driving the arms J1 to J6 are arranged in the flow paths. Yes. Further, the robot 20 is controlled by a control device (not shown) to drive each of M1 to M6, so that high-speed and high-precision positioning and precise trajectory control are possible.

  The motors M1 to M6 incorporated in the six-axis control robot 20 also act as a heat source during operation. Therefore, as shown by the arrow in FIG. 5, the compressed air is taken in from the intake port provided in the base J0, and the air passes through the flow path configured in the arms J1 to J6, and then provided in the arm J6. Cooling exhausted from the outlet. The cooling control in this case can be performed in the same manner as described in FIG. Note that the positions of the intake port and the discharge port may be reversed.

  As described above, the motor M1 to M6 is cooled by introducing the compressed air into the flow path configured in the arms J1 to J6 in which the motors M1 to M6 are built, and cooling the 6-axis control robot 20. The temperature can be kept below the allowable value. Therefore, overheating of the motors M1 to M6 is prevented, and the robot can be operated regardless of the temperature limitation of the motors M1 to M6. In addition, the life of the motors M1 to M6 is extended. In this case, since the entire arms J1 to J6 including the motors M1 to M6 of the six-axis control robot 20 are cooled, thermal expansion is prevented even if the robot 20 is operated for a long time. Thus, it is possible to maintain the position accuracy and the operation accuracy.

For example, when the load on the motors M4 to M6 is relatively small and the temperature rise due to their heat generation does not affect the operation of the motors M4 to M6, the air flow as indicated by the arrows in FIG. The 6-axis control robot 20 may be cooled. In FIG. 6, the compressed air is taken in from the intake port provided in the base J0, and the air is sent to the inside of the arm J3 through the forward flow path formed in the arms J1 to J3. The air is exhausted from a discharge port provided in the base J0 through a return flow path formed inside the base. In addition, without providing the forward flow path and the return flow path as described above, the compressed air is taken in from the intake port provided in the base J0, and the air passes through the flow path configured inside the arms J1 to J3. You may make it exhaust from the discharge port provided in J3. That is, the position of the intake port and the discharge port is not particularly limited as long as the compressed air can pass through the flow path necessary for cooling.
According to the configuration shown in FIG. 6, the temperatures of the motors M1 to M3 can be kept within an allowable value by the cooling control. Therefore, overheating of the motors M1 to M3 is prevented, and the robot 20 can be operated regardless of the temperature limitation of the motors M1 to M3. In addition, the life of the motors M1 to M3 is extended. In this case, since the entire arms J1 to J3 including the motors M1 to M3 of the six-axis control robot 20 are cooled, thermal expansion is prevented even if the robot 20 is operated for a long time, and the positional accuracy of the robot 20 And operation accuracy is maintained.

From the viewpoint of cooling the entire industrial equipment, as shown in FIG. 5, the heat sources such as motors built in the industrial equipment are all arranged in the flow path through which the cooling gas passes. Is preferred. However, as shown in FIG. 6, it is not always necessary to dispose a heat generation source whose temperature rise caused by heat generation does not affect the operation in the flow path through which the cooling gas passes.
In the case of the 6-axis control robot 20, the flow paths configured in the arms J1 to J3 and the flow paths configured in the arms J4 to J6 are independently configured, and these flow paths are configured. A cooling method may be employed in which the cooling gas flowing through each is independently controlled.

As mentioned above, although this invention was demonstrated based on embodiment, this invention is not limited to the content of the said embodiment, The following aspects are also possible.
The industrial device of the present invention is not limited to a 6-axis control industrial robot, but includes other articulated robots, SCARA robots, and various machine tools.
-Heat sources built in industrial equipment are not limited to motors, but include various components and equipment that themselves generate heat. As such a thing, a power supply circuit, a control circuit, a lamp | ramp, an actuator etc. are mentioned, for example.
-The pneumatic device for sending the cooling gas into the flow path inside the industrial equipment is not limited to the pneumatic system provided in the factory, and may be a pump or the like prepared for each industrial equipment. Further, the cooling gas is not limited to air, and may be another gas that does not adversely affect the device.
・ The flow rate control device that adjusts the flow rate of gas passing through the flow path inside industrial equipment is not limited to the gas intake port of industrial equipment, but also the air tube connecting the compressed air device to the intake port and the gas of industrial equipment You may provide in a discharge port.

The conceptual diagram which shows the whole structure of the industrial apparatus which concerns on embodiment of this invention. The block diagram which shows the function structural example of the cooling control apparatus of FIG. The flowchart which shows an example of the cooling control of the industrial equipment of FIG. The 6-axis control robot which shows an example of industrial equipment, and its motor arrangement | positioning figure. FIG. 5 is a first explanatory diagram showing an example of cooling or heat dissipation of the 6-axis control robot of FIG. 4. FIG. 5 is a second explanatory diagram showing an example of cooling or heat dissipation of the 6-axis control robot of FIG. 4.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Industrial equipment, 2A-2D ... Motor, 3 ... Flow path, 4 ... Intake port, 5 ... Discharge port, 6 ... Air tube, 7A-7D ... Temperature detection apparatus, 8A, 8B ... Signal cable, 9 ... Cooling control device, 10 ... flow control device, 11 ... factory pneumatic system, 20 ... 6-axis control robot, J0 ... base, J1-J6 ... arm, M1-M6 ... motor.

Claims (9)

  A gas flow path is formed inside an industrial device, and the flow path is connected to a gas intake port and a discharge port, and the industry is in the flow channel between the intake port and the discharge port. Industrial equipment, characterized in that a plurality of heat sources constituting the industrial equipment are arranged.   The industrial device according to claim 1, wherein the flow path is formed along an outline shape of the industrial device.   The industrial equipment according to claim 1 or 2, wherein the intake port is connected to a compressed air system installed in a factory where the industrial equipment is placed.   The industrial device according to claim 1, wherein at least one of the plurality of heat generation sources is a motor.   The industrial device according to claim 4, wherein at least one of the motors is a hollow motor having an open central portion.   A flow rate control device that adjusts the flow rate of the gas flowing in the flow path, a temperature detection device that detects temperatures of the plurality of heat generation sources or in the vicinity of the plurality of heat generation sources, and a temperature detected by the temperature detection device The industrial device according to claim 1, further comprising a cooling control device that controls the flow control device based on the cooling control device.   A flow rate control device that adjusts the flow rate of the gas flowing in the flow path, and a cooling control device that controls the flow rate control device based on information representing operating states of the plurality of heat sources. The industrial device according to any one of claims 1 to 5. A plurality of heat sources constituting the industrial device are arranged between the intake port and the discharge port of the flow path formed inside the industrial device with a gas intake port and a discharge port. , The intake port is connected to a gas pumping device,
A method for cooling industrial equipment, comprising: detecting information representing an operation status of the plurality of heat generation sources; and adjusting a flow rate of a gas flowing through the flow path based on the operation status information. 9. The industrial use according to claim 8, wherein the temperature of each heat source is detected as the operation status information of the heat source, and the flow rate of the gas flowing through the flow path is adjusted based on the maximum value of the detected temperature. How to cool the equipment.

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