Robot temperature control device and method

Abstract

The application provides a robot heat preservation and heat dissipation control device and method, the device comprises a robot body box, a low-temperature battery and a plurality of electronic devices are installed in the robot body box, a heat dissipation rib is arranged on the side plate of the robot body box, the heat dissipation rib and a heat dissipation module are coupled to form a heat dissipation unit; the heat dissipation module comprises an air duct fixing support, a refrigeration fin, a centrifugal fan, a TEC refrigeration sheet and a heat-conducting copper pipe, the centrifugal fan and the TEC refrigeration sheet are installed in the air duct fixing support, the cold surface of the TEC refrigeration sheet is attached to the refrigeration fin, the hot surface is attached to the heat-conducting copper pipe, and the heat-conducting copper pipe is filled with heat-conducting silicone grease between the heat dissipation rib. The application reads the temperature Tq in the cavity and the environment temperature Ta, and then adjusts the voltage and current of the PTC heater to control the heat generation and temperature rise, and the heat dissipation module is used for temperature reduction; the robot adopting the technical scheme of the application can meet the stable work of-40 DEG C to +60 DEG C, greatly improves the environmental adaptability of the robot, and expands the application range.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of temperature control, in particular to a robot heat preservation and heat dissipation control device and method. BACKGROUND

[0002] With the development of science and technology, robots currently play an irreplaceable role in more and more fields; but the working temperature of the robot products on the market is generally-10℃~+50℃, which is mainly limited by the electronic modules inside the robot box. Limited by technical barriers, the working temperature of the electronic modules in the robot body, such as industrial computers, power management boards, drive control boards, fans, switches and other core components, is generally-25℃~+60℃. However, the working environment of the robot is complex, especially in the north in winter and in the high-temperature area of Xinjiang, it is possible to appear-40℃ or +60℃ extreme temperature environment outdoors. Under such environmental conditions, the application scene of the outdoor robot is greatly limited.

[0003] There are low-temperature batteries on the market now, which can realize-40℃~+50℃ stable discharge, so in order to expand the working temperature of the robot, low-temperature heating and low-temperature refrigeration technology is needed to keep the air temperature inside the robot box at-25℃~+50℃. SUMMARY

[0004] The present application provides a robot heat preservation and heat dissipation control device and method, which can meet the stable work of-40℃~+60℃, greatly improve the environmental adaptability of the robot, and expand its application range.

[0005] The present application provides a robot heat preservation and heat dissipation control device, which comprises a robot body box, a low-temperature battery and a plurality of electronic devices are installed in the robot body box, a heat dissipation rib is arranged on the side plate of the robot body box, and the heat dissipation rib and a heat dissipation module are coupled to form a heat dissipation unit; the heat dissipation module comprises an air duct fixed support, a refrigeration fin, a centrifugal fan, a TEC refrigeration sheet and a heat-conducting copper pipe, the centrifugal fan and the TEC refrigeration sheet are installed in the air duct fixed support, the cold surface of the TEC refrigeration sheet is pasted with the refrigeration fin, the hot surface is pasted with the heat-conducting copper pipe, and the heat-conducting copper pipe is filled with heat-conducting silicone grease between the heat dissipation rib.

[0006] Further improvement, the electronic device comprises a PTC heater, an industrial computer, a drive control board and a switch.

[0007] A cavity temperature sensor is installed in the robot body box, and a cavity temperature sensor is installed outside the robot body box, and the cavity temperature sensor and the cavity temperature sensor are connected with the industrial computer respectively.

[0008] The temperature switch is always open at -25 DEG C, and the temperature switch is closed when the temperature is higher than -25 DEG C.

[0009] Further improvement, the inside of the robot body box is attached with heat insulation cotton, and the thermal conductivity coefficient of the heat insulation cotton is less than or equal to 0.60 w / (m2.k).

[0010] The application also provides a robot heat preservation and heat dissipation control method, including a low-temperature heating temperature control scheme and a high-temperature refrigeration temperature control scheme.

[0011] The low-temperature heating temperature control scheme is as follows: after the robot is started, firstly, it is detected whether the industrial computer is in a normal working state; when the cavity temperature is lower than -25 DEG C, the PTC heater is directly powered by the low-temperature battery to start the full-power heating mode; after a period of heating, when the cavity temperature is higher than -25 DEG C, the front-end component temperature switch of the industrial computer is closed, the industrial computer is started, the robot works normally, and the cavity temperature sensor and the cavity outside temperature sensor synchronously read the cavity temperature Tq and the environment temperature Ta; the read data is transmitted to the industrial computer, a temperature control strategy is formulated, and the voltage U ptc and the current I ptc of the PTC heater are controlled to control the heat generation of the PTC heater.

[0012] T q -T a =(P el +P ptc )*(R q-bw +R bw +R ke +R ke-a )

[0013]

[0014] P ptc =U ptc *I ptc

[0015] Wherein T q is the cavity air temperature, T a is the environment temperature, P el is the total heat generation power of the robot body electronic module, including the industrial computer, the power module, the switch, the drive control board and the like; P ptc is the heat generation power of the PTC heater, R q-bw is the convection heat resistance of the cavity air, R bw is the heat conduction heat resistance of the heat preservation material, R ke is the heat conduction heat resistance of the external shell, and R ke-a is the convection heat resistance of the shell and the environment.

[0016] h q-bwA is the area of the thermal insulation cotton and the shell, respectively, δ bw A is the area of the thermal insulation cotton and the shell, respectively, δ ke A is the area of the thermal insulation cotton and the shell, respectively, δ bw A is the area of the thermal insulation cotton and the shell, respectively, δ ke A is the area of the thermal insulation cotton and the shell, respectively, δ bw A is the area of the thermal insulation cotton and the shell, respectively, δ ke A is the area of the thermal insulation cotton and the shell, respectively, δ ke-a A is the area of the thermal insulation cotton and the shell, respectively, δ A is the area of the thermal insulation cotton and the shell, respectively, δ

[0017] By controlling the U ptc , I ptc of the PTC heating module, T q >-25℃ is ensured, so that the robot can work stably, and the threshold of the cavity temperature is determined according to P el , and the PTC heater stops working when the cavity temperature is greater than the threshold;

[0018] High-temperature refrigeration temperature control scheme:

[0019] Air duct design: the heat dissipation module is installed in the robot body box to form an air duct, hot air enters the heat dissipation module through the air inlet of the air duct, and becomes cold air through refrigeration and passes through the air outlet of the air duct.

[0020] Two heat dissipation modules are used to form two air ducts in the high-temperature refrigeration temperature control scheme.

[0021] After the robot is started, if the industrial computer works normally, it indicates that the cavity temperature is greater than-25℃, the cavity temperature sensor reads the cavity temperature T q , if T q >+50℃, two heat dissipation modules are started to work at the same time, and when the cavity temperature Tq meets a preset threshold (T q <+48℃), one refrigeration process ends.

[0022] The robot adopting the technical scheme of the present application can meet the stable work of-40℃ to +60℃, greatly improves the environmental adaptability of the robot, and expands the application range. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0024] Figure 1 is a view of the robot box electronic module;

[0025] Figure 2 This is a view of the robot's electronic module;

[0026] Figure 3 This is a sectional view of the robot's housing wall;

[0027] Figure 4 This is a view of the robot's housing;

[0028] Figure 5 This is an exploded view of the heat dissipation module;

[0029] Figure 6 This is a view of the heating module;

[0030] Figure 7 This is a view of the airflow path of the heat dissipation module;

[0031] Figure 8 This is the logic view of the robot's temperature control strategy.

[0032] The reference numerals in the figure include: 1. Robot body housing, 2. Electronic component mounting bracket, 3. Industrial control computer, 4. Drive control board, 5. Temperature switch, 6. PTC heater, 7. Power management module, 8. External temperature sensor, 9. Switch, 10. Heat dissipation module one, 11. Heat dissipation module two, 12. Low temperature battery, 13. Internal temperature sensor, 14. Mounting bracket, 15. Insulation cotton.

[0033] 101. Air duct mounting bracket; 102. Cooling heat sink; 103. Centrifugal fan; 104. TEC cooling chip; 105. Thermal conductive copper pipe. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] One specific embodiment of the present invention is as follows: Figure 1 , Figure 2 , Figure 5 As shown, the inner side of the robot body housing 1 is lined with heat insulation cotton 15 for heat preservation. The heat insulation cotton 15 covers all cavities except for heat dissipation module one 10 and heat dissipation module two 11. The thermal conductivity of the heat insulation cotton 15 is very low, ≤0.60w / (m2.k), thus serving as heat preservation. At the same time, a PTC heater 6 is installed inside the robot for heating under low temperature conditions. A temperature switch 5 is pre-installed on the industrial control computer circuit. The temperature switch is normally open at <-25℃, and closes to conduct the circuit when the temperature exceeds -25℃.

[0036] like Figure 1 , Figure 3 , Figure 4 As shown, heat dissipation fins are added to the side panel of the robot body housing 1, which, coupled with heat dissipation module 10 and heat dissipation module 2 11, form a heat dissipation unit for high-temperature environments. When the heat dissipation module is working, the cold side of the TEC cooling chip 104 is attached to the cooling heat sink 102, and the hot side is attached to the thermally conductive copper pipe 105 to achieve uniform heat distribution. Thermally conductive silicone grease is filled between the thermally conductive copper pipe 105 and the heat dissipation fins of the robot body housing 1. The heat dissipation module relies on the air duct fixing bracket 101 and the centrifugal fan 103 to transfer heat by allowing hot air in the cavity to flow through the cooling heat sink 102. The overall heat transfer path is: cavity air → cooling heat sink 102 → TEC cooling chip 104 → thermally conductive copper pipe 105 → thermally conductive silicone grease → robot body housing 1.

[0037] like Figure 1 As shown, the robot body housing 1 integrates a low-temperature battery 12, which is fixed by a mounting bracket 14 and can meet the requirements of stable discharge from -40℃ to +50℃. The industrial control computer 3, drive control board 4, switch 9, PTC heater 6, power management module 7 and other electronic modules are fixed by electronic component mounting bracket 2 and can all work from -25℃ to +60℃. The internal temperature sensor 13 and external temperature sensor 8 are used to monitor the temperature data inside and outside the cavity. Their data can be uploaded to the industrial control computer 3 for the formulation of temperature control strategies. PS: Both 13 and 8 can work in an environment from -40℃ to +85℃, but the industrial control computer needs to be turned on to read their temperature readings.

[0038] Technical solution:

[0039] Low-temperature heating and temperature control scheme: After the robot starts, it first checks whether the industrial control computer 3 inside the robot body is in normal working condition. Since the industrial control computer can only operate between -25℃ and +60℃, when the internal temperature is below -25℃, the PTC heater 6 is directly powered by the low-temperature battery 12 to start the full-power heating mode. After heating for a period of time, when the internal temperature exceeds -25℃, the temperature switch 5 of the industrial control computer closes, the industrial control computer 3 turns on, and the robot can work normally. At the same time, the internal temperature sensor 13 and the external temperature sensor 8 synchronously read the internal temperature Tq and the ambient temperature Ta. The read data is transmitted to the industrial control computer 3 to formulate a temperature control strategy, and then adjust the voltage U through the PTC heater 6. ptc and current I ptc Control its heat generation.

[0040] T q -T a =(P el +P ptc )*(R q-bw +R bw +R ke +R ke-a )

[0041]

[0042] P ptc =U ptc *I ptc

[0043] Where T q T represents the temperature of the air inside the cavity. a For ambient temperature, P el This refers to the total heat dissipation power of the robot's electronic modules, including the industrial computer, power supply module, switch, and drive control board; P ptc R is the heating power of the PTC heater. q-bw R is the convective thermal resistance of the air inside the cavity. bw R is the thermal resistance of the insulation material. ke R is the thermal resistance of the outer casing. ke-a The convective thermal resistance between the casing and the environment;

[0044] h q-bw A is the convective heat transfer coefficient between the air inside the cavity and the insulation cotton. bw A ke The areas of the insulation cotton and the shell are respectively, δ bw δ ke These represent the thicknesses of the insulation cotton and the shell, respectively, λ. bw , λ ke The thermal conductivity h represents the thermal conductivity of the insulation cotton and the shell, respectively. ke-a These are the convective heat transfer coefficients between the outer shell of the cavity and the outside air. These coefficients are related to the robot's component materials, volume, and robot speed, and are relatively constant values.

[0045] By controlling the U of the PTC heating module ptc I ptc The size thus ensures T q >-25℃, enabling the robot to operate stably. When the external temperature exceeds a certain threshold, the value is calculated using the formula above, i.e., P. el The PTC heater stops working when it can meet its own heat requirements.

[0046] High-temperature refrigeration and temperature control solution:

[0047] Airflow design: Heat dissipation module 10 and heat dissipation module 2 are designed with airflow channels inside the entire cavity. Hot air enters heat dissipation module 10 and heat dissipation module 2 through air inlet 1 and air inlet 2, and after being cooled, it becomes cold air and enters the cavity through air outlet 1 and air outlet 2, thereby achieving cooling of the entire cavity.

[0048] Cooling is achieved as follows: After the robot starts up, if the industrial control computer 3 inside the robot body works normally, it means that the internal temperature is > -25℃, and the internal temperature sensor 13 reads the internal temperature T. q If T q When the temperature exceeds +50℃, both heat dissipation module 10 and heat dissipation module 21 simultaneously activate their cooling functions. The cooling process continues until the internal cavity temperature Tq meets the preset threshold, i.e., T... q A refrigeration process ends when the temperature is below +48℃.

[0049] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on its differences from other embodiments. In particular, for the device embodiments, the above descriptions are merely preferred embodiments of the present invention. Since they are fundamentally similar to the method embodiments, the descriptions are relatively simple, and relevant parts can be referred to the descriptions of the method embodiments. The above descriptions are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention, without departing from the principle of the present invention, should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for controlling the heat preservation and heat dissipation of a robot, characterized in that: This includes low-temperature heating temperature control solutions and high-temperature cooling temperature control solutions; Low-temperature heating temperature control scheme: Read the cavity temperature Tq and ambient temperature Ta, and then adjust the voltage U passing through the PTC heater. ptc and current I ptc Control its heat generation; T q -T a =(P el +P ptc )*(R q-bw +R bw +R ke +R ke-a ) P ptc =U ptc *AND ptc Where T q T represents the temperature of the air inside the cavity. a For ambient temperature, P el This refers to the total heat dissipation power of the robot's electronic modules, including the industrial computer, power supply module, switch, and drive control board; P ptc R is the heating power of the PTC heater. q-bw R is the convective thermal resistance of the air inside the cavity. bw R is the thermal resistance of the insulation material. ke R is the thermal resistance of the outer casing. ke-a The convective thermal resistance between the casing and the environment; h q-bw A is the convective heat transfer coefficient between the air inside the cavity and the insulation cotton. bw A ke The areas of the insulation cotton and the shell are respectively, δ bw δ ke These represent the thicknesses of the insulation cotton and the shell, respectively, λ. bw , λ ke The thermal conductivity h represents the thermal conductivity of the insulation cotton and the shell, respectively. ke-a The convective heat transfer coefficient between the cavity shell and the outside air; By controlling the U of the PTC heating module ptc I ptc The size thus ensures T q >-25℃, enabling the robot to work stably, according to P el A threshold for the external temperature is determined, and the PTC heater stops working when the external temperature exceeds this threshold. High-temperature refrigeration and temperature control solution: Airflow design: The heat dissipation module is installed inside the robot body to form an airflow channel. Hot air enters the heat dissipation module through the air inlet of the airflow channel, and after being cooled, it becomes cold air and passes through the air outlet of the airflow channel.

2. The robot heat preservation and heat dissipation control method according to claim 1, characterized in that: In the aforementioned low-temperature heating and temperature control scheme, after the robot starts, it first checks whether the industrial control computer is in normal working condition. When the temperature inside the cavity is below -25℃, the PTC heater is directly powered by the low-temperature battery and starts the full-power heating mode. After heating for a period of time, when the temperature inside the cavity exceeds -25℃, the temperature switch of the front-end component of the industrial control computer closes, the industrial control computer starts, and the robot works normally. At the same time, the temperature sensor inside the cavity and the temperature sensor outside the cavity synchronously read the temperature inside the cavity Tq and the ambient temperature Ta. The read data is transmitted to the industrial control computer to formulate a temperature control strategy.

3. The robot heat preservation and heat dissipation control method according to claim 1 or 2, characterized in that: The high-temperature cooling and temperature control scheme uses two heat dissipation modules to form two air ducts.

4. The robot heat preservation and heat dissipation control method according to claim 3, characterized in that: In the aforementioned high-temperature refrigeration and temperature control scheme, if the industrial control computer operates normally after the robot starts, it indicates that the internal temperature is >-25℃, and the internal temperature sensor reads the internal temperature T. q If T q When the temperature is greater than +50℃, both heat dissipation modules activate the cooling function simultaneously. When the internal temperature Tq meets the preset threshold, a cooling process ends.

5. The robot heat preservation and heat dissipation control method according to claim 4, characterized in that: The preset threshold is T. q <+48℃.

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