WO2019079956A1 - 机器人的温升检测装置、机器人的温升检测方法 - Google Patents

机器人的温升检测装置、机器人的温升检测方法

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Publication number
WO2019079956A1
WO2019079956A1 PCT/CN2017/107421 CN2017107421W WO2019079956A1 WO 2019079956 A1 WO2019079956 A1 WO 2019079956A1 CN 2017107421 W CN2017107421 W CN 2017107421W WO 2019079956 A1 WO2019079956 A1 WO 2019079956A1
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WO
WIPO (PCT)
Prior art keywords
robot
temperature rise
temperature
resistance value
motor winding
Prior art date
Application number
PCT/CN2017/107421
Other languages
English (en)
French (fr)
Inventor
于文轩
孙欣然
王春辉
Original Assignee
深圳配天智能技术研究院有限公司
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Application filed by 深圳配天智能技术研究院有限公司 filed Critical 深圳配天智能技术研究院有限公司
Priority to CN201780036080.8A priority Critical patent/CN109496269A/zh
Priority to PCT/CN2017/107421 priority patent/WO2019079956A1/zh
Publication of WO2019079956A1 publication Critical patent/WO2019079956A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
    • G01J5/0096—Radiation pyrometry, e.g. infrared or optical thermometry for measuring wires, electrical contacts or electronic systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
    • G01K3/00—Thermometers giving results other than momentary value of temperature
    • G01K3/02—Thermometers giving results other than momentary value of temperature giving means values; giving integrated values
    • G01K3/04—Thermometers giving results other than momentary value of temperature giving means values; giving integrated values in respect of time
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M99/00—Subject matter not provided for in other groups of this subclass
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M99/00—Subject matter not provided for in other groups of this subclass
    • G01M99/002—Thermal testing
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/34—Testing dynamo-electric machines
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/34—Testing dynamo-electric machines
    • G01R31/346—Testing of armature or field windings

Definitions

  • the invention relates to the field of temperature rise testing, in particular to a temperature rise detecting device for a robot and a temperature rise detecting method for the robot.
  • Temperature measurement methods for industrial field applications can be divided into contact and non-contact types.
  • the temperature measurement original of the contact type temperature measurement method is in contact with the measured object for heat conduction, and indirectly measures the temperature of the measured object according to the principle that the physical property of the temperature measuring element changes with temperature, such as a mercury thermometer that measures temperature by using the principle of thermal expansion, and measures the thermoelectric potential principle. Warm thermocouples, etc.
  • the non-contact temperature measurement method usually uses the principle of thermal radiation to measure the temperature, and the temperature measuring element does not directly contact the object to be measured. The measurement accuracy, temperature range and applicable environment of different methods are different.
  • the industrial site usually selects the appropriate temperature measurement method according to the characteristics of the measured object.
  • Both contact and non-contact temperature measurement methods are used in industrial motor temperature measurement. If the contact temperature measurement method is adopted, the temperature measuring element (thermocouple, thermal resistance, etc.) is usually fixed at the position where the robot is close to the motor, the robot is started and runs to a steady state, and the temperature of the temperature measurement point is read by the secondary meter. If the non-contact temperature measurement method is adopted, the robot is usually first operated to a steady state, and then the surface temperature of the robot is measured.
  • the temperature measuring element thermocouple, thermal resistance, etc.
  • the technical problem mainly solved by the present invention is to provide a temperature rise detecting device for a robot and a temperature rise detecting method thereof, which can improve the accuracy of the temperature rise detection, thereby better reflecting the performance of the robot motor.
  • the first technical solution adopted by the present invention is to provide a temperature rise detecting device for a robot, the temperature rise detecting device comprising: an acquisition circuit, a controller, a switch; the controller and the An acquisition circuit is connected; one end of the switch is connected to the robot, and the other end of the switch is respectively connected to the acquisition circuit and the driver of the robot; the acquisition circuit is used to be in a cold state of the robot Collecting a cold resistance value R 1 and a cold ambient temperature t 1 of the motor winding of the robot; the collecting circuit is further configured to collect a hot state corresponding to the stopping moment of the robot when the robot is in a hot state Ambient temperature t 2 , and collecting a thermal resistance value of the motor winding of the robot according to a preset frequency and a preset sampling time within a predetermined time after stopping; the controller is configured to determine the thermal resistance value according to the thermal resistance value a curve of the thermal resistance value of the motor winding and the time; and determining, according to the
  • the second technical solution adopted by the present invention is to provide a temperature rise detecting method for a robot, and the temperature rise detecting method includes: the temperature rise detecting device collects when the robot is in a non-working state. a cold resistance value R 1 and a cold ambient temperature t 1 of the motor winding of the robot; wherein the motor winding is located inside the robot; the robot is started to enter an operating mode; when the robot stops working, Collecting a hot environment temperature t 2 corresponding to the stopping time of the robot, and collecting a thermal resistance value of the motor winding of the robot according to the preset frequency and a preset sampling time within a predetermined time after stopping, according to the hot state
  • the resistance value determines a fitting curve of the thermal resistance value of the motor winding and the time; determining a thermal resistance value R 2 of the motor winding at the stopping moment of the robot according to the fitting curve; according to the cold state
  • the invention has the beneficial effects that the temperature rise detecting device of the invention comprises an acquisition circuit, a controller and a switch, and correspondingly detects the resistance value of the motor winding of the robot and the corresponding ambient temperature under different working states, thereby determining the motor of the robot. Winding temperature rise condition, high accuracy, and is not easily interfered by external environmental factors, can better reflect the performance of the robot's motor.
  • FIG. 1 is a schematic structural view of an embodiment of a temperature rise detecting device of a robot of the present invention
  • FIG. 2 is a schematic structural view of another embodiment of a temperature rise detecting device of the robot of the present invention.
  • FIG. 3 is a schematic flow chart of an embodiment of a temperature rise detecting method of the robot of the present invention.
  • the present invention provides a temperature rise detecting device for a robot and a temperature rise detecting method for a robot.
  • a temperature rise detecting device for a robot and a temperature rise detecting method for a robot.
  • FIG. 1 is a schematic structural view of an embodiment of a temperature rise detecting device of a robot according to the present invention.
  • the temperature rise detecting device 110 includes a switch 111, an acquisition circuit 112, and a controller 113.
  • One end of the switch 111 is connected to the robot 120 to be tested, and the other end of the switch 111 is connected to the driver 130 corresponding to the acquisition circuit 112 and the robot 120, respectively.
  • the acquisition circuit 112 is also connected to the controller 113.
  • the switch 111 is at least two channel switching switches. When one of the channels of the switch 111 is turned on, the driver 130 and the switch 111 form a power circuit; when the other channel of the switch 111 is turned on, the collecting circuit 112, The controller 113 and the switch 111 form a measurement loop.
  • the function of controlling the power circuit or the measuring circuit to be turned on and off is realized by controlling the on and off of the channel corresponding to the switch 111.
  • the driver 130 controls the robot 120 to operate according to a preset operating condition; when the measuring circuit is turned on, the collecting circuit 112 is configured to collect the resistance values and corresponding values of the motor windings of the robot 120 in different states. Ambient temperature.
  • the acquisition circuit 112 is configured to acquire the cold resistance value R 1 and the cold ambient temperature t 1 of the motor winding of the robot 120 when the robot 120 is in a cold state; the acquisition circuit 112 is also used in the robot When the 120 is in the hot state, the collecting robot 120 stops the hot environment temperature t 2 corresponding to the time, and collects the hot resistance value of the motor winding of the robot 120 according to the preset frequency and the preset sampling time within a predetermined time after stopping.
  • the cold state indicates a state in which the robot 120 is located, and refers to the state in which the robot 120 is placed in the cooling medium to a temperature stable state, and the temperature of each part of the robot 120 and the temperature of the cooling medium. The temperature difference between them is no more than 2 degrees Celsius.
  • the hot state indicates another state in which the robot 120 is located, which means that the robot 120 operates to a temperature stable state according to a preset working condition, and the temperature change of each part of the robot 120 within 30 minutes is not more than 1 degree Celsius.
  • the controller 113 receives the acquisition result of the acquisition circuit 112, and determines a fitting curve of the thermal resistance value of the motor winding and the time according to the thermal resistance value. Thereby, the thermal resistance value R 2 corresponding to the motor winding at the time when the robot 120 is stopped is determined according to the fitting curve.
  • the controller 113 is further configured to determine the temperature rise ⁇ T of the robot 120 based on the cold resistance value R 1 , the cold ambient temperature t 1 , the hot ambient temperature t 2 , and the hot resistance value R 2 .
  • the switch includes the first switch and the second switch as an example for explanation. Further, referring to FIG. 2, FIG. 2 is a machine of the present invention. A schematic structural view of another embodiment of a human temperature rise detecting device.
  • the temperature rise detecting device 210 of the present embodiment is mainly used for the temperature rise test of the robot 220.
  • the robot 220 is driven by a servo motor, and the driver is not integrated inside the body of the robot 220.
  • the robot 220 usually includes a plurality of motors.
  • the motor is the power core of the robot 220 and the main heat source.
  • the temperature during operation not only directly affects the performance of the motor itself, but also affects other components in the body of the robot 220. Therefore, measuring the temperature rise of the motor is an important part of evaluating the temperature rise of the robot 220.
  • a test pin can be set in the robot 220, and the test is passed.
  • the pin connects the robot 220 to the driver 230 and the temperature rise detecting device 210.
  • the power line and the control line corresponding to the motor winding of the robot 220 are taken out from the inside of the body of the robot 220 through the test pin and the test pin is set.
  • the temperature rise detecting device 210 further includes an interface circuit 211.
  • the input end of the interface circuit 211 is connected to the robot 220, and the output end of the interface circuit 211 is connected to the switch 212.
  • the interface circuit 211 may be a socket or a cable that matches the test pin set on the robot 220.
  • the switch 212 includes a first switch 2121 and a second switch 2122.
  • the first switch 2121 and the second switch 2122 may be multi-pole multi-throw switches, and may also include a plurality of single-pole single-throw switches, respectively.
  • the fixed end of the first switch 2121 is connected to the output end of the interface circuit 211, the free end of the first switch 2121 is connected to the corresponding driver 230 of the robot 220; the fixed end of the second switch 2122 and the interface circuit
  • the output of the second switch 2122 is connected to the acquisition circuit 213.
  • the input end of the interface circuit 211 is used for connecting with a power line corresponding to a certain motor of the robot 220, so that the temperature rise detecting device 210 of the present embodiment establishes a connection with the robot 220; the power line of other motors of the robot 220 and
  • the control line is coupled to the driver 230 to enable the driver 230 to drive the robot 220 to operate in accordance with a predetermined operating condition.
  • the robot 220 of the present embodiment is mainly used in industry, and is generally powered by a three-phase power line. Therefore, the interface circuit 211 of the temperature rise detecting device 210 includes a first input end, a second input end, and a third input end, which are respectively connected to the three-phase power lines of a certain motor of the robot 220.
  • the interface circuit 211 includes a first output end, a second output end, and a third output end, wherein the first output end, the second output end, and the third output end are respectively connected to the switch 212.
  • the first output end, the second output end, and the third output end are respectively connected to the fixed ends of the first switch 2121; the second output end and the third output end are respectively connected to the fixed ends of the second switch 2122.
  • the three-phase power line of the robot 220 is connected to the driver 230 corresponding to the robot 220 through the temperature rise detecting device 210, that is, the power circuit of the temperature rise detecting device 210.
  • the robot 220 can operate according to the set operating conditions.
  • the collecting circuit 213 is connected to the motor winding of the robot 220, that is, the test loop of the temperature rise detecting device 210 is turned on, and the resistance of the motor winding of the robot 220 can be collected. And the corresponding ambient temperature.
  • the switching function of the power circuit and the measuring circuit can be realized by manually controlling the conduction or disconnection of the first switch 2121 and the second switch 2122.
  • the controller 214 is also connected to the switch 212, and the first switch 2121 and the second switch 2122 are controlled to be turned on or off by the controller 214 to realize the power. Switching function of loop and measuring loop.
  • the first switch 2121 and the second switch 2122 form an interlock to prevent the power circuit and the test circuit from being simultaneously turned on to cause damage to the temperature rise detecting device 210.
  • the acquisition circuit 213 includes a temperature measuring device 2131 and a resistance meter 2132.
  • the temperature measuring device 2131 is configured to collect the ambient temperature, and the temperature measuring device 2131 can be an infrared thermometer; the free end of the second switch 2122 is connected to the resistance meter 2132, and when the test circuit is turned on, the resistance meter 2132 is used to collect the robot 220.
  • the resistance value of the motor winding is configured to collect the ambient temperature, and the temperature measuring device 2131 can be an infrared thermometer; the free end of the second switch 2122 is connected to the resistance meter 2132, and when the test circuit is turned on, the resistance meter 2132 is used to collect the robot 220.
  • the resistance value of the motor winding is configured to collect the ambient temperature, and the temperature measuring device 2131 can be an infrared thermometer; the free end of the second switch 2122 is connected to the resistance meter 2132, and when the test circuit is turned on, the resistance meter 2132 is used to collect the robot 220.
  • the acquisition circuit 213 is configured to collect the cold resistance value R 1 and the cold ambient temperature t 1 of the motor winding of the robot 220 when the test loop is turned on.
  • the collecting circuit 213 is used when the test circuit is turned on.
  • the collecting robot 220 stops the hot environment temperature t 2 corresponding to the time, and collects the hot resistance value of the motor winding of the robot 220 according to the preset frequency and the preset sampling number.
  • the acquisition circuit 213 is also coupled to the controller 214 to cause the controller 214 to determine the temperature rise ⁇ T of the robot 220 based on the acquisition result of the acquisition circuit 213.
  • the controller 214 can be an integrated chip or an external host computer, such as a computer. In one of the embodiments, when the controller 214 is an external host computer, the acquisition circuit 213 establishes a connection with the controller 214 via an RS-485 communication line.
  • the controller 214 is configured to determine a fitting curve of the thermal resistance value of the motor winding and the time according to the thermal resistance value; and determine a thermal resistance value R 2 of the motor winding at the time when the robot 220 stops according to the fitting curve. .
  • the controller 214 is further configured to determine the temperature rise ⁇ T of the robot 220 based on the cold resistance value R 1 , the cold ambient temperature t 1 , the hot ambient temperature t 2 , and the hot resistance value R 2 . Specifically, the temperature rise ⁇ T of the robot is determined according to formula (1):
  • k is the reciprocal of the temperature coefficient of resistance of the conductor material of the motor winding at 0 degrees Celsius.
  • k is the reciprocal of the temperature coefficient of resistance of the conductor material of the motor winding at 0 degrees Celsius.
  • the temperature rise detecting device of the embodiment includes an acquisition circuit, a controller, and a switch, and respectively determines the resistance value of the motor winding of the robot and the corresponding ambient temperature under different working states, thereby determining the motor of the robot. Winding temperature rise condition, high accuracy, and is not easily interfered by external environmental factors, can better reflect the performance of the robot's motor.
  • FIG. 3 is a schematic flow chart of an embodiment of a temperature rise detecting method of a robot according to the present invention.
  • the temperature rise detecting method of the robot of the present embodiment is applied to the temperature rise detecting device of any of the above embodiments.
  • the temperature rise detecting device collects the cold resistance value R 1 and the cold ambient temperature t 1 of the motor winding of the robot when the robot is in a non-working state; wherein the motor winding is located inside the robot.
  • the robot is placed in the cooling medium to a temperature stable state, and the temperature difference between the temperature of each part of the robot and the temperature of the cooling medium is not more than 2 degrees Celsius, and then the cold resistance of the motor winding of the robot is collected. value.
  • the robot is connected to the temperature rise detecting device, and it is determined that the temperature rise detecting device starts up the meter and the program confirms whether it can work normally; if the temperature rise detecting device fails to work normally, the temperature rise detecting device is adjusted.
  • the temperature rise detecting device can work normally, the temperature rise detecting device turns on the test circuit, and when the robot is in a non-working state, collects the cold resistance value R 1 of the motor winding of the robot through the resistance meter; and collects the corresponding moment through the temperature measuring device.
  • Cold ambient temperature t 1 the temperature measuring device comprises an infrared thermometer.
  • the motor winding is located inside the robot, and the electric power is collected by the above method.
  • the resistance of the winding of the machine can avoid damage to the outer casing of the robot and change the heat dissipation condition of the robot during operation, and the accuracy of the measurement is high.
  • the temperature rise detecting device turns off the measuring loop and turns on the power loop to make the robot enter the working mode and control The robot operates according to the preset conditions.
  • the temperature rise detecting device turns off the power circuit, and opens the test circuit to collect the hot environment temperature t 2 corresponding to the stopping time of the robot and records the time of the stop time.
  • the hot resistance value of the motor winding is collected, but during the process of stopping the movement of the robot to the opening of the test circuit, the thermal resistance value of the winding of the robot motor has changed, and the hot resistance value corresponding to the stopping moment of the robot cannot be directly measured.
  • the fitting curve of the hot resistance value and the time is determined by means of multiple sampling, so that the hot resistance value corresponding to the stopping time of the robot is determined according to the fitting curve.
  • the temperature rise detecting device collects the hot resistance value of the motor winding of the robot according to the preset frequency and the preset sampling time within a predetermined time after the robot stops.
  • the preset frequency is 2 times/minute
  • the preset number of sampling times is 6 times. That is, the temperature rise detecting device performs sampling six times at equal time intervals of 30 seconds, thereby determining a fitting curve of the thermal resistance value of the motor winding and time.
  • the preset time is a preset specific time value, which may be 30 minutes or 40. Minute; the set value is a preset temperature change value, which can be 1 degree Celsius or 2 degrees Celsius. Can be set according to the actual situation.
  • the temperature of the outer casing of the robot is collected during the running of the robot, for example, the temperature of the outer casing of the robot is collected by an infrared thermometer, and the temperature of the outer casing temperature of the robot is determined within 30 minutes. Whether the change value exceeds 1 degree Celsius.
  • the external drive controls the robot to stop moving, the temperature rise detection device closes the power circuit, and opens the test circuit to collect the hot ambient temperature corresponding to the stop time of the robot. 2 and record the time of the stop time.
  • the hot resistance value of the motor winding of the robot is collected according to the preset frequency and the preset sampling times, and the fitting curve of the thermal resistance value of the motor winding and the time is determined according to the thermal resistance value.
  • the temperature rise detecting means determines the hot resistance value R 2 of the motor winding at the time of stopping the robot based on the fitting curve.
  • the temperature rise detecting device starts a software calculation function, and determines a thermal resistance value R 2 of the motor winding at the robot stop time according to the fitting curve.
  • the temperature measuring device determines the temperature rise ⁇ T of the robot based on the cold resistance value R 1 , the cold ambient temperature t 1 , the hot ambient temperature t 2 , and the hot resistance value R 2 .
  • the temperature rise ⁇ T of the robot is determined according to the following formula (1):
  • K is the reciprocal of the temperature coefficient of resistance of the conductor material of the motor winding at 0 degrees Celsius.
  • the present embodiment adopts a temperature rise detecting device to detect the resistance value of the motor winding in different states and the corresponding ambient temperature, thereby determining the temperature rise condition of the motor winding of the robot, which has high accuracy and is not susceptible to The interference of external environmental factors can better reflect the performance of the robot's motor.

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Abstract

一种机器人（120）的温升检测装置，包括：采集电路（112）、控制器（113）、开关（111）；开关（111）用于控制相应回路的通断；采集电路（112）用于采集机器人（120）在不同状态下对应的电机绕组的电阻值和环境温度；控制器（113）用于电机绕组的热态电阻值与时间的拟合曲线确定电机绕组在机器人（120）停止时刻的热态电阻值（R 2）；从而确定机器人（120）的温升⊿T。通过该机器人（120）的温升检测装置（110），能够提高温升检测的准确度，从而更好的反映机器人（120）电机的性能。还公开了该装置的温升检测方法。

Description

机器人的温升检测装置、机器人的温升检测方法 【技术领域】
本发明涉及温升测试领域，特别是涉及一种机器人的温升检测装置、机器人的温升检测方法。
【背景技术】
工业现场应用的温度测量方法可分为接触式和非接触式两大类。接触式测温法的测温原件与被测物体接触进行热传导，根据测温元件物理特性随温度变化的原理间接测量被测物体温度，如利用热膨胀原理测温的水银温度计，利用热电势原理测温的热电偶等。非接触测温法通常利用热辐射原理进行温度测量，测温元件不与被测物体直接接触。不同方法的测量精度、测温范围及适用环境都有所不同，工业现场通常根据被测物体的特性选择合适的温度测量方法。
接触式和非接触式测温法在工业电机测温时均有应用。若采用接触式测温法，通常是将测温元件(热电偶，热电阻等)固定于机器人靠近电机的位置，启动机器人并运行至稳定状态，通过二次仪表读取测温点温度。若采用非接触测温法，通常先将机器人运行至稳定状态，再测量机器人表面温度。
目前，采用上述方式所确定的温升误差较大。
【发明内容】
本发明主要解决的技术问题是提供一种机器人的温升检测装置及其温升检测方法，能够提高温升检测的准确度，从而更好的反映机器人电机的性能。
为解决上述技术问题，本发明采用的第一个技术方案是：提供一种机器人的温升检测装置，所述温升检测装置包括：采集电路、控制器、开关；所述控制器与所述采集电路连接；所述开关的一端用于与所述机器人连接，所述开关的另一端分别与所述采集电路和所述机器人的驱动器连接；所述采集电路用于在所述机器人处于冷态时，采集所述机器人的电机绕组的冷态电阻值R1以及冷态环境温度t1；所述采集电路还用于在所述机器人处于热态时，采集所述机器人停止时刻对应的热态环境温度t2，以及在停止后预定时间内按照预设频率及预设的采样次数采集所述机器人的电机绕组的热态电阻值；所述控制器用于根 据所述热态电阻值确定所述电机绕组的热态电阻值与时间的拟合曲线；并根据所述拟合曲线确定所述电机绕阻在所述机器人停止时刻对应的热态电阻值R2；所述控制器还用于根据所述冷态电阻值R1、所述冷态环境温度t1、所述热态环境温度t2以及所述热态电阻值R2确定所述机器人的温升ΔT。
为解决上述技术问题，本发明采用的第二个技术方案是：提供一种机器人的温升检测方法，所述温升检测方法包括：温升检测装置在所述机器人处于非工作状态时，采集所述机器人的电机绕组的冷态电阻值R1和冷态环境温度t1；其中，所述电机绕组位于所述机器人的内部；启动所述机器人进入工作模式；在所述机器人停止工作时，采集所述机器人停止时刻对应的热态环境温度t2，以及在停止后预定时间内按照预设频率及预设的采样次数采集所述机器人的电机绕组的热态电阻值，根据所述热态电阻值确定所述电机绕组的热态电阻值与时间的拟合曲线；根据所述拟合曲线确定所述电机绕阻在所述机器人停止时刻的热态电阻值R2；根据所述冷态电阻值R1、所述冷态环境温度t1、所述热态环境温度t2以及所述热态电阻值R2确定所述机器人的温升ΔT。
本发明的有益效果是：本发明的温升检测装置包括采集电路、控制器、开关，在不同的工作状态下分别对应检测机器人的电机绕组的阻值和对应的环境温度，从而确定机器人的电机绕组温升状况，准确度高，且不易受到外界环境因素的干扰，能够更好的反映机器人的电机的性能。
【附图说明】
图1是本发明机器人的温升检测装置一实施方式的结构示意图
图2是本发明机器人的温升检测装置另一实施方式的结构示意图；
图3是本发明机器人的温升检测方法一实施方式的流程示意图。
【具体实施方式】
本发明提供一种机器人的温升检测装置及机器人温升检测方法，为使本发明的目的、技术方案和技术效果更加明确、清楚，以下对本发明进一步详细说明，应当理解此处所描述的具体实施条例仅用于解释本发明，并不用于限定本发明。
参阅图1，图1是本发明机器人的温升检测装置一实施方式的结构示意图。如图1所示，在本实施方式中，温升检测装置110包括开关111、采集电路112和控制器113。
其中，开关111的一端用于与被测机器人120连接，开关111的另一端分别与采集电路112和机器人120所对应的驱动器130连接。同时，采集电路112还与控制器113连接。
在本实施方式中，开关111为至少两通道切换开关，当开关111的其中一个通道导通时，驱动器130和开关111形成动力回路；当开关111的另一个通道导通时，采集电路112、控制器113和开关111形成测量回路。通过控制开关111对应的通道的通断，实现控制动力回路或测量回路通断的功能。
具体地，当动力回路导通时，驱动器130控制机器人120按照预设的工况运行；当测量回路导通时，采集电路112用于采集不同状态下，机器人120的电机绕组的电阻值和对应环境温度。在其中的一个实施方式中，采集电路112用于在机器人120处于冷态时，采集机器人120的电机绕组的冷态电阻值R1以及冷态环境温度t1；采集电路112还用于在机器人120处于热态时，采集机器人120停止时刻对应的热态环境温度t2，以及在停止后预定时间内按照预设频率及预设的采样次数采集机器人120的电机绕组的热态电阻值。
在此，需要说明的是，冷态表示的是机器人120所处于的一种状态，指的是机器人120于冷却介质中放置至温度稳定的状态，且机器人120各部分的温度与冷却介质的温度之间的温差均不大于2摄氏度。
热态表示的是机器人120所处于的另一种状态，指的是机器人120按照预设的工况运行至温度稳定状态，机器人120各部分30分钟内温度变化均不大于1摄氏度。
进一步地，控制器113接收采集电路112的采集结果，并根据热态电阻值确定电机绕组的热态电阻值与时间的拟合曲线。从而，根据拟合曲线确定电机绕阻在机器人120停止时刻对应的热态电阻值R2。控制器113还用于根据冷态电阻值R1、冷态环境温度t1、热态环境温度t2以及热态电阻值R2确定机器人120的温升ΔT。
为了清楚的说明上述实施方式温升检测装置的结构和工作过程，以开关包括第一开关和第二开关为例解释说明。进一步地，参阅图2，图2是本发明机器 人的温升检测装置另一实施方式的结构示意图。
本实施方式的温升检测装置210主要用于机器人220的温升测试。机器人220采用伺服电机驱动，且驱动器未集成在机器人220的本体内部。机器人220中通常包含多个电机，电机是机器人220的动力核心及主要热源，其运行时的温度不仅直接影响电机本身的性能，还会对机器人220本体内的其他部件造成影响。因此，测量电机温升情况是评估机器人220的温升情况的重要环节。
在实际测试过程中，由于电机位于机器人220的内部，为了方便工业测试，并保证机器人220的本体不被破坏，在其中的一个实施方式中，可以在机器人220中设置测试引脚，通过该测试引脚将机器人220与驱动器230和温升检测装置210连接，比如，将机器人220电机绕组对应的动力线、控制线通过测试引脚从机器人220本体内部引出并设置测试引脚。
在本实施方式中，为了能够快速便捷的将被测机器人220与温升检测装置210建立连接，从而提高工业测试的速度。温升检测装置210还包括接口电路211，接口电路211的输入端用于与机器人220连接，接口电路211的输出端与开关212连接。其中，接口电路211可以是与机器人220上所设置的测试引脚相匹配的插座或排线。
在本实施方式中，开关212包括第一开关2121和第二开关2122。第一开关2121和第二开关2122可以为多刀多掷的开关，也可以分别包括若干个单刀单掷的开关。在其中的一个实施方式中，第一开关2121的固定端与接口电路211的输出端连接，第一开关2121的自由端与机器人220对应的驱动器230连接；第二开关2122的固定端与接口电路211的输出端连接，第二开关2122的自由端与采集电路213连接。
具体地，接口电路211的输入端用于与机器人220的某个电机对应的动力线连接，以使本实施方式的温升检测装置210与机器人220建立连接；机器人220的其他电机的动力线及控制线与驱动器230连接，以使驱动器230能够驱动机器人220按照预设的工况运行。
进一步地，本实施方式的机器人220主要用于工业中，一般通过三相动力线供电。因此，温升检测装置210的接口电路211包括第一输入端、第二输入端和第三输入端，分别与机器人220的某个电机的三相动力线对应连接。接口电路211包括第一输出端、第二输出端和第三输出端，其中，第一输出端、第二输出端和第三输出端分别与开关212对应连接。
具体地，第一输出端、第二输出端和第三输出端分别与第一开关2121的固定端对应连接；第二输出端和第三输出端分别与第二开关2122的固定端对应连接。当第一开关2121导通，第二开关2122断开时，机器人220的三相动力线通过温升检测装置210与机器人220对应的的驱动器230对应连接，即，温升检测装置210的动力回路导通，机器人220可以按照设置的工况运行。当第一开关2121断开，第二开关2122导通时，采集电路213与机器人220的电机绕组连接，即，温升检测装置210的测试回路导通，可以采集机器人220的电机绕组的阻值和对应的环境温度。
在工业测试中，在其中的一个实施方式中，为了节约成本和硬件资源，可以通过人工控制第一开关2121和第二开关2122的导通或断开，以实现动力回路和测量回路的切换功能。在另一个实施方式中，为了提高测试效率、提高自动化的程度，控制器214还与开关212连接，通过控制器214控制第一开关2121和第二开关2122的导通或断开，以实现动力回路和测量回路的切换功能。
同时，第一开关2121和第二开关2122形成互锁，避免动力回路和测试回路同时导通对温升检测装置210造成损坏。
其中，采集电路213包括测温装置2131和电阻仪2132。测温装置2131用于采集环境温度，测温装置2131可以为红外测温仪；第二开关2122的自由端与电阻仪2132连接，当测试回路导通时，电阻仪2132用于采集机器人220的电机绕组的电阻值。
具体地，当机器人220处于冷态，采集电路213用于在测试回路导通时，采集机器人220的电机绕组的冷态电阻值R1以及冷态环境温度t1。
当机器人220按照预设的工况运行至温度稳定状态，且机器人220各部分30分钟内温度变化均不大于2摄氏度，即机器人220处于热态，采集电路213用于在测试回路导通时，采集机器人220停止时刻对应的热态环境温度t2，并按照预设频率及预设的采样次数采集机器人220的电机绕组的热态电阻值。
在本实施方式中，采集电路213还与控制器214连接，以使控制器214根据采集电路213的采集结果确定机器人220的温升ΔT。其中，控制器214可以为一集成芯片，也可以为一个外部的上位机，如计算机。在其中的一个实施方式中，当控制器214为外部上位机时，采集电路213通过RS-485通讯线与控制器214建立连接。
具体地，控制器214用于根据热态电阻值确定电机绕组的热态电阻值与时间的拟合曲线；并根据拟合曲线确定电机绕阻在机器人220停止时刻的的热态电阻值R2。
控制器214还用于根据冷态电阻值R1、冷态环境温度t1、热态环境温度t2以及热态电阻值R2确定机器人220的温升ΔT。具体地，根据公式(1)确定所述机器人的温升ΔT：
Figure PCTCN2017107421-appb-000001
其中，k为电机绕组的导体材料在0摄氏度时电阻温度系数的倒数。当电机绕组的导体材料为铜时，k＝235；当电机绕组的导体材料为铝时，k＝225。
区别于现有技术，本实施方式的温升检测装置包括采集电路、控制器、开关，在不同的工作状态下分别对应检测机器人的电机绕组的阻值和对应的环境温度，从而确定机器人的电机绕组温升状况，准确度高，且不易受到外界环境因素的干扰，能够更好的反映机器人的电机的性能。
参阅图3，图3是本发明机器人的温升检测方法一实施方式的流程示意图。本实施方式的机器人的温升检测方法适用于上述任一实施方式的温升检测装置。
301：温升检测装置在机器人处于非工作状态时，采集机器人的电机绕组的冷态电阻值R1和冷态环境温度t1；其中，电机绕组位于机器人的内部。
在本实施方式中，将机器人于冷却介质中放置至温度稳定的状态，且机器人各部分的温度与冷却介质的温度之间的温差均不大于2摄氏度后再采集机器人的电机绕组的冷态电阻值。
具体地，将机器人与温升检测装置建立连接，并判断确定温升检测装置启动仪表和程序确认是否能够正常工作；如果温升检测装置不能正常工作，对温升检测装置进行调整。
如果温升检测装置能够正常工作，温升检测装置开启测试回路，在机器人处于非工作状态时，通过电阻仪采集机器人的电机绕组的冷态电阻值R1；并通过测温装置采集此刻对应的冷态环境温度t1。其中，测温装置包括红外测温仪。
在此，需要说明的是，电机绕组位于机器人的内部，通过上述方法采集电 机绕组的阻值，可以避免破坏机器人的外壳而改变机器人运行时的散热条件，同时测量的准确度较高。
302：启动机器人进入工作模式。
在本实施方式中，在采集完电机绕组的冷态电阻值R1和冷态环境温度t1后，温升检测装置断开测量回路，并开启动力回路，以使机器人进入工作模式，并控制机器人按照预设的工况运行。
303：在机器人停止工作时，采集机器人停止时刻对应的热态环境温度t2，以及在停止后预定时间内按照预设频率及预设的采样次数采集机器人的电机绕组的热态电阻值，根据热态电阻值确定电机绕组的热态电阻值与时间的拟合曲线。
具体地，当机器人运行至一段时间后，外部驱动器控制机器人停止运动后，温升检测装置关闭动力回路，并开启测试回路以采集机器人停止时刻对应的热态环境温度t2并记录停止时刻的时间。
进一步地，采集电机绕组的热态电阻值，但是从机器人停止运动到开启测试回路的过程中，机器人电机绕组的热态电阻值已发生变化，无法直接测量机器人停止时刻对应的热态电阻值。
因此，本实施方式通过多次采样的方式确定热态电阻值与时间的拟合曲线，从而根据该拟合曲线确定机器人停止时刻对应的热态电阻值。
具体地，温升检测装置在机器人停止后预定时间内按照预设频率及预设的采样次数采集机器人的电机绕组的热态电阻值。在其中的一个实施方式中，预设频率为2次/分钟，预设的采样次数为6次。即，温升检测装置以30秒的等时间间隔进行六次采样，以此确定电机绕组的热态电阻值与时间的拟合曲线。
在另一个实施方式中，为了使检测的温升情况更准确。在上述302步骤之后和上述303步骤之前还包括如下步骤：
判断机器人的外壳温度在预设时间内的温度变化值是否超过设定值；如果机器人的外壳温度在预设时间内的温度变化值未超过设定值，控制机器人停止工作，并采集机器人停止时刻对应的热态环境温度t2，并按照预设频率及预设的采样次数采集机器人的电机绕组的热态电阻值，根据热态电阻值确定电机绕组的热态电阻值与时间的拟合曲线。
其中，预设的时间为预先设置的具体时间值，可以为30分钟，也可以为40 分钟；设定值为预先设置的温度变化值，可以为1摄氏度，也可以为2摄氏度。均可根据实际情况设置。
具体地，当将机器人按照预设的工况运行，在机器人运行过程中采集机器人的外壳温度，比如，通过红外测温仪采集机器人的外壳温度，并判断机器人的外壳温度在30分钟内的温度变化值是否超过1摄氏度。
如果机器人的外壳温度在30分钟内的温度变化值不超过1摄氏度，外部驱动器控制机器人停止运动后，温升检测装置关闭动力回路，并开启测试回路以采集机器人停止时刻对应的热态环境温度t2并记录停止时刻的时间。并按照预设频率及预设的采样次数采集机器人的电机绕组的热态电阻值，根据热态电阻值确定电机绕组的热态电阻值与时间的拟合曲线。
304：根据拟合曲线确定电机绕阻在机器人停止时刻的热态电阻值R2。
在本实施方式中，温升检测装置根据拟合曲线确定电机绕组在机器人停止时刻的热态电阻值R2。
具体地，温升检测装置启动软件计算功能，根据拟合曲线确定机器人停止时刻的电机绕组的热态电阻值R2。
305：根据冷态电阻值R1、冷态环境温度t1、热态环境温度t2以及热态电阻值R2确定机器人的温升ΔT。
在本实施方式中，测温装置根据冷态电阻值R1、冷态环境温度t1、热态环境温度t2以及热态电阻值R2确定机器人的温升ΔT。
具体地，根据如下公式(1)确定所述机器人的温升ΔT：
Figure PCTCN2017107421-appb-000002
其中，K为电机绕组的导体材料在0摄氏度时电阻温度系数的倒数。当电机绕组的导体材料为铜时，k＝235；当电机绕组的导体材料为铝时，k＝225。
区别于现有技术，本实施方式采用温升检测装置，检测机器人在不同状态下的电机绕组的阻值和对应的环境温度，从而确定机器人的电机绕组温升状况，准确度高，且不易受到外界环境因素的干扰，能够更好的反映机器人的电机的性能。
以上所述仅为本发明的实施方式，并非因此限制本发明的专利保护范围，凡是 利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。

Claims (17)

  1. 一种机器人的温升检测装置，其中，所述温升检测装置包括：采集电路、控制器、开关；
    所述控制器与所述采集电路连接；
    所述开关的一端用于与所述机器人连接，所述开关的另一端分别与所述采集电路和所述机器人的驱动器连接；
    所述采集电路用于在所述机器人处于冷态时，采集所述机器人的电机绕组的冷态电阻值R1以及冷态环境温度t1；
    所述采集电路还用于在所述机器人处于热态时，采集所述机器人停止时刻对应的热态环境温度t2，以及在停止后预定时间内按照预设频率及预设的采样次数采集所述机器人的电机绕组的热态电阻值；
    所述控制器用于根据所述热态电阻值确定所述电机绕组的热态电阻值与时间的拟合曲线；并根据所述拟合曲线确定所述电机绕阻在所述机器人停止时刻对应的热态电阻值R2；
    所述控制器还用于根据所述冷态电阻值R1、所述冷态环境温度t1、所述热态环境温度t2以及所述热态电阻值R2确定所述机器人的温升ΔT。
  2. 根据权利要求1所述温升检测装置，其中，所述温升检测装置还包括接口电路；所述开关包括第一开关和第二开关；
    所述接口电路的输入端用于与所述机器人连接；
    所述第一开关的固定端与所述接口电路的输出端连接，所述第一开关的自由端与所述机器人的驱动器连接；所述第二开关的固定端与所述接口电路的输出端连接，所述第二开关的自由端与所述采集电路连接。
  3. 根据权利要求2所述温升检测装置，其中，所述接口电路的输入端包括第一输入端、第二输入端和第三输入端；所述第一输入端、所述第二输入端和所述第三输入端分别用于与所述机器人的三相动力线对应连接；
    所述接口电路的输出端包括第一输出端、第二输出端和第三输出端；所述第一输出端、所述第二输出端和所述第三输出端分别与所述开关对应连接。
  4. 根据权利要求1所述温升检测装置，其中，所述控制器为外部上位机；所 述采集电路通过RS-485通讯线与所述上位机连接。
  5. 根据权利要求1所述温升检测装置，其中，所述采集电路包括电阻仪和测温装置；
    所述电阻仪用于采集所述机器人的电机绕组的电阻值；
    所述测温装置用于采集环境温度。
  6. 根据权利要求5所述温升检测装置，其中，所述测温装置为红外测温仪。
  7. 根据权利要求1所述温升检测装置，其中，所述控制器用于根据如下公式(1)确定所述机器人的温升ΔT：
    Figure PCTCN2017107421-appb-100001
    其中，k为所述电机绕组的导体材料在0摄氏度时电阻温度系数的倒数。
  8. 根据权利要求7所述温升检测装置，其中，当所述电机绕组的导体材料为铜时，k＝235；当所述电机绕组的导体材料为铝时，k＝225。
  9. 一种机器人的温升检测方法，其中，所述温升检测方法包括：
    温升检测装置在所述机器人处于非工作状态时，采集所述机器人的电机绕组的冷态电阻值R1和冷态环境温度t1；其中，所述电机绕组位于所述机器人的内部；
    启动所述机器人进入工作模式；
    在所述机器人停止工作时，采集所述机器人停止时刻对应的热态环境温度t2，以及在停止后预定时间内按照预设频率及预设的采样次数采集所述机器人的电机绕组的热态电阻值，根据所述热态电阻值确定所述电机绕组的热态电阻值与时间的拟合曲线；
    根据所述拟合曲线确定所述电机绕阻在所述机器人停止时刻的热态电阻值R2；
    根据所述冷态电阻值R1、所述冷态环境温度t1、所述热态环境温度t2以及所述热态电阻值R2确定所述机器人的温升ΔT。
  10. 根据权利要求9所述的温升检测方法，其中，所述根据所述冷态电阻值R1、所述冷态环境温度t1、所述热态环境温度t2以及所述热态电阻值R2确定所述机器人的温升ΔT的步骤具体包括：
    根据如下公式(1)确定所述机器人的温升ΔT：
    Figure PCTCN2017107421-appb-100002
    其中，K为所述电机绕组的导体材料在0摄氏度时电阻温度系数的倒数。
  11. 根据权利要求10所述的的温升检测方法，其中，当所述电机绕组的导体材料为铜时，k＝235；当所述电机绕组的导体材料为铝时，k＝225。
  12. 根据权利要求9所述的温升检测方法，其中，在所述启动所述机器人进入工作模式的步骤之后，在所述在所述机器人停止工作的步骤之前，还包括：
    判断所述机器人的外壳温度在预设时间内的温度变化值是否超过设定值；
    如果所述机器人的外壳温度在预设时间内的温度变化值未超过设定值，执行所述采集所述机器人停止时刻对应的热态环境温度t2，并按照预设频率及预设的采样次数采集所述机器人的电机绕组的热态电阻值，根据所述热态电阻值确定所述电机绕组的热态电阻值与时间的拟合曲线的步骤。
  13. 根据权利要求12所述的温升检测方法，其中，所述预设时间为30分钟，所述设定值为1摄氏度。
  14. 根据权利要求9所述的温升检测方法，其中，所述预设频率2次/分钟，所述预设的采样次数为6次。
  15. 根据权利要求9所述的温升检测方法，其中，所述温升检测装置在所述机器人处于非工作状态时，采集所述机器人的电机绕组的冷态电阻值R1和冷态环境温度t1的步骤具体包括：
    在所述机器人处于非工作状态时，所述温升检测装置通过电阻仪采集机器人的电机绕组的冷态电阻值R1；
    通过测温装置采集冷态环境温度t1。
  16. 根据权利要求15所述的温升检测方法，其中，所述测温装置包括红外测温仪。
  17. 根据权利要求9所述的温升检测方法，其中，所述温升检测装置在所述机器人处于非工作状态时，采集所述机器人的电机绕组的冷态电阻值R1和冷态环境温度t1的步骤之前还包括：
    检测所述温升检测装置是否能够正常工作；
    如果所述检测装置能够正常工作，执行所述在所述机器人处于非工作状态时，采集机器人的电机绕组的冷态电阻值R1和冷态环境温度t1的步骤；如果所述检测装置不能正常工作，对所述检测装置进行调整。
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