An industrial robot with heating and heat preservation capabilities

Abstract

The present invention relates to an industrial robot with heating and heat preservation capabilities, the industrial robot comprising: a connecting rod, a plurality of joints connecting the connecting rod, a control system and a transmission system, the joint comprising a driving motor, the control system comprising: a motor control module for outputting a torque current to rotate the motor, and outputting a heating current to increase / maintain the temperature of the transmission system; a temperature detection module for detecting the motor temperature; the control system is used to control the robot to run at a low speed and output a heating current to increase the motor temperature when the motor temperature is detected to be less than a first threshold after the robot is powered on; when the motor temperature is detected to exceed the first threshold, the robot is controlled to run normally to perform a work task, and the speed of the robot when it runs normally is greater than the speed of the robot when it runs at a low speed. The beneficial effects of the present invention are that the industrial robot can maintain an appropriate temperature and has good working performance.

Description

Technical Field

[0001] The present invention relates to the field of robots, in particular to an industrial robot. Background Art

[0002] Industrial robots are a type of robot widely used in industrial environments, usually in automotive manufacturing, parts inspection, loading and unloading, and other work scenarios. With the continuous change of technology and the change of people's needs, industrial robots are opening up more application scenarios. When industrial robots are used for outdoor work, the outdoor temperature changes relatively greatly, and the robot still needs to maintain an appropriate temperature, otherwise it will affect its working performance and even affect the work effect.

[0003] CN110877348 discloses an industrial robot resistant to high and low temperatures, which allows the robot to work at a constant temperature by arranging a temperature-controlled outer cover outside the robot body. However, this method is costly and not adaptable enough to different outdoor environments.

[0004] Therefore, it is necessary to design an industrial robot that is easy to implement and has good heating and heat preservation performance. Summary of the invention

[0005] In view of this, an object of the present invention is to provide an industrial robot which is easy to implement and has good heating and heat preservation performance.

[0006] The present invention can adopt the following technical scheme: 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 driving motor, and the control system includes: a motor control module, used to output torque current to rotate the motor, and output heating current to increase / maintain the temperature of the robot transmission system; a temperature detection module, used to detect the motor temperature; the control system is used to control the robot to run at a low speed and output a heating current to increase the motor temperature when the motor temperature is detected to be less than a first threshold after the robot is powered on; when the motor temperature is detected to exceed the first threshold, the robot is controlled to run normally to perform a work task, and the speed of the robot when running normally is greater than the speed of the robot when running at a low speed.

[0007] Furthermore, the speed of the robot during low-speed operation is 1% to 10% of the normal operating speed of the robot.

[0008] Furthermore, the control system is used to reduce the heating current to increase / maintain the temperature of the transmission system when detecting that the motor temperature exceeds a first threshold.

[0009] Furthermore, the control system is used to, when detecting that the motor temperature exceeds a first threshold, reduce the heating current as the motor temperature increases to increase / maintain the temperature of the transmission system.

[0010] Furthermore, the control system is used to stop outputting heating current when it detects that the motor temperature exceeds a second threshold, and the second threshold is greater than the first threshold.

[0011] Furthermore, the control system is used to set a rotation center point of the industrial robot, and controlling the robot to run at a low speed includes: controlling the robot to run at a low speed around the rotation center point.

[0012] Furthermore, the rotation center point is the tool center point of the industrial robot.

[0013] Furthermore, the industrial robot is a collaborative robot, or the industrial robot is a six-axis collaborative robot.

[0014] The present invention can also adopt the following technical scheme: a temperature control method for an industrial robot, the industrial robot includes a connecting rod, a plurality of joints connecting the connecting rod and a control system, the joint includes a drive motor, and the control method includes: when the robot is powered on and the motor temperature is detected to be less than a first threshold, the robot is controlled to run at a low speed and output a heating current to increase the motor temperature; when the motor temperature is detected to exceed the first threshold, the robot is controlled to run normally to perform the work task, and the speed of the robot when running normally is greater than the speed of the robot when running at a low speed.

[0015] Furthermore, the control method includes: when detecting that the motor temperature exceeds a first threshold, reducing the heating current to increase / maintain the temperature of the robot transmission system.

[0016] Furthermore, the control method includes: 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 at a low speed around the rotation center point.

[0017] Compared with the prior art, the beneficial effects of the specific implementation of the present invention are as follows: the industrial robot timely adjusts the heating current of the motor according to the motor temperature, so that the robot transmission system can be heated without adding additional components to ensure the working performance of the robot when the ambient temperature is low. At the same time, the motor heating current 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. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above-mentioned objectives, technical solutions and beneficial effects of the present invention can be achieved through the following drawings:

[0019] Figure 1 Schematic diagram of an industrial robot according to an embodiment of the present invention

[0020] Figure 2 This is a workflow diagram of an industrial robot according to an embodiment of the present invention.

[0021] Figure 3 This is a workflow diagram of an industrial robot according to another embodiment of the present invention.

[0022] Figure 4 This is a workflow diagram of an industrial robot according to another embodiment of the present invention.

[0023] Figure 5 Graph showing the relationship between motor temperature and heating current according to an embodiment of the present invention DETAILED DESCRIPTION

[0024] In order to make the purpose, technical scheme and advantages of the present invention clearer, the scheme in the embodiment of the present invention will be described clearly and completely in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention but not all of the embodiments. Based on the embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] The present invention protects an industrial robot, Figure 1 , Figure 1 A schematic diagram of an industrial robot 10 according to an embodiment of the present invention is given as an example. 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 joints include a driving motor (not shown) as a power source for the joints 4, and the joints 4 provide working power for the industrial robot 10. The transmission system transmits the power of the motor so that the industrial robot can perform various tasks. The robot maintains an appropriate temperature to ensure working performance. Furthermore, it is critical to maintain the temperature of the transmission system. The industrial robot 10 can be applied to a variety of environments. The industrial robot protected by the present invention can be applied to outdoor environments, has good adaptability to the temperature of outdoor environments, and can maintain good working performance.

[0026] The control system of the industrial robot 10 includes a motor control module, which is used to output torque current to rotate the motor, and output heating current to increase / maintain the temperature of the robot transmission system. The motor usually includes torque current and heating current. The torque current is used to rotate the motor to generate power. Usually, in order to ensure the efficiency of the motor, the heating current is kept as close to 0 as possible. The motor current can be transformed to obtain d-axis current and q-axis current, wherein the d-axis current is the heating current and the q-axis current is the torque current. The motor is heated 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 drive motor performs corresponding rotation and heating actions according to the torque current and the heating current. The control system includes a temperature detection module, which is used to detect the temperature of the motor. Figure 2 , Figure 2 This is a working flow chart of an industrial robot in 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 the motor temperature when the motor temperature is detected to be less than a first threshold after the robot is powered on; when the motor temperature is detected to exceed the first threshold, the robot is controlled to run normally to perform the work task, and the speed of the robot when it is running normally is greater than the speed of the robot when it is running at a low speed. When the robot is powered on, if the temperature does not meet the working requirements, it is first made to run at a low speed and the motor is heated at the same time. Only when the temperature of the robot meets various requirements, it is controlled to run normally, so that the robot can work at a suitable temperature state, and the working performance of the industrial robot is better.

[0027] In one embodiment of the present invention, the speed of the robot during low-speed operation is 1%-10% of the normal operating 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 working immediately when the temperature meets the working requirements. Figure 3 , Figure 3This is a workflow diagram 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 detecting that the motor temperature exceeds a first threshold. That is, when the motor temperature exceeds the first threshold, the temperature of the industrial robot can meet or approach the working requirements. At this time, the heating current is reduced to slightly increase the motor temperature to increase / maintain the temperature of the transmission system, thereby allowing the robot to maintain an appropriate 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 smaller the corresponding heating current. That is, the heating current shows a trend of gradually decreasing as the motor temperature increases. Furthermore, the heating current is linearly proportional to the motor temperature, thereby allowing the heating current to be dynamically adjusted according to the motor temperature to ensure that the robot can maintain an appropriate temperature. Further, reference Figure 4 , Figure 4 The schematic diagram of the workflow of an industrial robot according to another embodiment of the present invention is shown. The control system is used to stop outputting the heating current when the motor temperature exceeds the second threshold value. The second 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. At this time, the motor no longer generates heat, that is, the transmission system is no longer heated / maintained in temperature, so that the robot maintains an appropriate temperature. By setting different control logics for the heating current in different temperature ranges, the robot can always maintain an appropriate temperature. Figure 5 , Figure 5 A coordinate diagram showing the relationship between the heating current and the motor temperature of an embodiment of the present invention, that is, when the motor temperature T is less than the first threshold value T1, the heating current generates heat to increase the motor temperature. At this time, the heating current I d is large, so as to quickly increase the temperature of the motor, and then quickly increase the temperature of the robot transmission system; when the motor temperature T exceeds the first threshold value T1, as the motor temperature increases, the heating current I d Reduce to slow down the heating rate of the motor, further slow down the heating rate of the transmission system, or maintain the temperature of the transmission system. Preferably, the heating current is linearly related to the motor temperature. When the temperature of the robot exceeds the second threshold value T2, the motor no longer needs to heat up and stops outputting the heating current.

[0028] In one embodiment of the present invention, the control system is used to set the rotation center point of the industrial robot, and the control system controls the robot to run at a low speed, including 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 center point, the robot's range of motion is smaller than the way in which 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 robot's range of motion is smaller, and at the same time, each joint can be moved, and the robot can perform tasks such as releasing the brake. During the process of releasing the brake, the motor of the joint is heated up at the same time, so that the robot can start to perform work immediately after completing preparatory work such as releasing the brake. Furthermore, the rotation angle of the robot during low-speed motion increases gradually after a new motion cycle starts, and the rotation angle is less than the angle threshold to avoid safety risks.

[0029] The industrial robots protected by the present invention include various types, such as traditional industrial robots and new collaborative robots. Furthermore, the collaborative robots are six-axis collaborative robots. Furthermore, the industrial robots are robots used for outdoor work.

[0030] The beneficial effects of the above preferred embodiments are: the industrial robot runs at a low speed and heats up the motor after being powered on, and the temperature of the motor is conducted so that the robot can maintain an appropriate temperature. At the same time, the motor heating current is dynamically adjusted according to different temperature conditions of the robot, so that the robot can always maintain an appropriate temperature.

[0031] The present invention also protects a temperature control method for an industrial robot, wherein the industrial robot includes a connecting rod, a plurality of joints connecting the connecting rods, and a control system, wherein the joints include a drive motor, and the control method includes: when the robot is powered on and detects that the motor temperature is less than a first threshold, controlling the robot to run at a low speed and outputting a heating current to increase the motor temperature; when the motor temperature is detected to exceed the first threshold, controlling the robot to run normally to perform a work task, and the speed of the robot during normal operation is greater than the speed of the robot when running at a low speed.

[0032] In one embodiment of the present invention, the control method includes: when detecting that the temperature of the motor exceeds a first threshold, reducing the heating current to increase / maintain the temperature of the robot transmission system.

[0033] In one embodiment of the present invention, the speed of the robot during low-speed operation is 1% to 10% of the normal operating speed of the robot.

[0034] In one embodiment of the present invention, the control method includes: when the motor temperature is detected to exceed a first threshold, reducing the heating current to increase / maintain the temperature of the transmission system. Further, when the motor temperature is detected to exceed the first threshold, reducing the heating current to increase / maintain the temperature of the transmission system; further, the heating current is linearly related to the motor temperature.

[0035] In one embodiment of the present invention, the control method includes: stopping outputting the heating current when detecting that the motor temperature exceeds a second threshold, the second threshold being greater than the first threshold. By dynamically adjusting the heating current according to the motor temperature, the robot can always maintain an appropriate temperature.

[0036] In one embodiment of the present invention, the control method includes: setting the 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 being powered on, the robot has a small range of motion. Preferably, the rotation center point is the tool center point, and the industrial robot moves around the tool center point to perform preparatory work such as releasing the brake. At the same time, the motor outputs a heating current to prepare for formal work, so that the work can start in time when the motor temperature meets the working requirements. The specific implementation method is similar to the above, and the above description has been expanded and will not be repeated here.

[0037] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. An industrial robot comprising a connecting rod, a plurality of joints connecting the connecting rod, a control system and a transmission system, wherein the joint comprises a drive motor, It is 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 increase and / or maintain the temperature of the transmission system; Temperature detection module, used to detect the motor temperature; The control system is used to control the robot to run at a low speed and output a heating current to increase the motor temperature when the motor temperature is detected to be less than a first threshold after the robot is powered on; and to control the robot to run normally to perform a work task when the motor temperature exceeds the first threshold, wherein the speed of the robot when running normally is greater than the speed of the robot when running at a low speed; The control system is used to reduce the heating current to increase and / or maintain the temperature of the transmission system when detecting that the motor temperature exceeds a first threshold value; The control system is used to, when detecting that the motor temperature exceeds a first threshold, reduce the heating current as the motor temperature increases to increase and / or maintain the temperature of the transmission system; The control system is used to stop outputting heating current when detecting that the motor temperature exceeds a second threshold, wherein the second threshold is greater than the first threshold; 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; The rotation center point is the tool center point of the industrial robot.

2. The industrial robot according to claim 1, It is characterized in that The speed of the robot when running at low speed is 1% to 10% of the normal running speed of the robot.

3. The industrial robot according to claim 1, It is characterized in that The industrial robot is a collaborative robot.

4. A temperature control method for an industrial robot, wherein the industrial robot is the industrial robot according to any one of claims 1 to 3, It is characterized in that The control method comprises: When the robot is powered on and the motor temperature is detected to be less than a first threshold, the robot is controlled to run at a low speed and output a heating current to increase the motor temperature; When the motor temperature is detected to exceed a first threshold, the robot is controlled to operate normally to perform a work task, wherein the speed of the robot when operating normally is greater than the speed of the robot when operating at a low speed; The control method comprises: when detecting that the temperature of the motor exceeds a first threshold, reducing the heating current to increase and / or maintain the temperature of the transmission system; The control method comprises: setting a rotation center point of the industrial robot, and controlling the robot to run at a low speed comprises: controlling the robot to run at a low speed around the rotation center point.

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