Robots and thermal management methods

Abstract

The application discloses a robot and a thermal management method, and belongs to the field of robots. The robot comprises a joint part and a thermal management system. The joint part is provided with a joint driving assembly, the joint driving assembly is used for driving the joint part to move, the thermal management system comprises a controller and at least one temperature sensor, the temperature sensor is arranged on the joint driving assembly, the controller is arranged in the interior of the robot, the temperature sensor is electrically connected with the controller, the temperature sensor is used for detecting the temperature value of the joint driving assembly, the controller is electrically connected with the joint driving assembly, and the controller is further used for controlling the joint driving assembly to operate at different working frequencies based on different temperature values of the joint driving assembly. The joint driving assembly is connected with a thermal buffer layer, the thermal buffer layer is made of a phase change heat storage material, and is used for slowing the temperature rise of the joint driving assembly.

Description

Technical Field

[0001] This application belongs to the field of robotics technology, specifically relating to a robot and a thermal management method. Background Technology

[0002] In high-frequency, continuous operation scenarios (such as coffee robots performing thousands of latte art movements daily), the joint actuators of service robots continuously generate heat, with their temperature rising from room temperature to over 65°C within two hours. Excessive heat not only accelerates the aging of the joint actuators but also triggers the robot's overheat protection, forcing it to slow down and severely impacting service efficiency. Therefore, effective thermal management of the joints is a pressing issue that needs to be addressed. Summary of the Invention

[0003] This application aims to provide a robot and a thermal management method that can effectively manage the thermal properties of the robot's joints.

[0004] To solve the above-mentioned technical problems, this application is implemented as follows: In a first aspect, embodiments of this application provide a robot, which includes joints and a thermal management system; The joint is provided with a joint drive assembly, which is used to drive the joint to move. The thermal management system includes a controller and at least one temperature sensor. The temperature sensor is located in the joint drive assembly, and the controller is located inside the robot. The temperature sensor is electrically connected to the controller. The temperature sensor is used to detect the temperature value of the joint drive assembly. The controller is used to electrically connect the joint drive assembly, and the controller is also used to control the joint drive assembly to operate at different working frequencies based on different temperature values ​​of the joint drive assembly. The joint drive assembly is connected to a thermal buffer layer, which is made of phase change thermal storage material and is used to slow down the temperature rise of the joint drive assembly.

[0005] Optionally, the controller is further configured to, when the current temperature value of the joint drive component is less than a first temperature threshold, obtain the current workload of the drive component, and, based on the current temperature value and current workload of the joint component, determine the predicted temperature value of the joint drive component within a set time period after the current time; if the predicted temperature value is less than the first temperature threshold, control the joint drive component to operate at a standard operating frequency; if the predicted temperature value is greater than or equal to the first temperature threshold, control the joint drive component to operate at a first operating frequency, the first operating frequency being less than the standard operating frequency, to achieve preventive frequency reduction control.

[0006] Optionally, the controller is further configured to control the joint drive component to operate at the first operating frequency when the current temperature value of the joint drive component is greater than or equal to the first temperature threshold and less than the second temperature threshold, wherein the first temperature threshold is less than the second temperature threshold.

[0007] Optionally, the controller is further configured to control the joint drive component to operate at a second operating frequency when the current temperature value of the joint drive component is greater than or equal to a second temperature threshold and less than a third temperature threshold, wherein the second operating frequency is less than the first operating frequency and the third temperature threshold is greater than the second temperature threshold.

[0008] Optionally, the controller is further configured to control the running speed of the joint drive component to decrease and issue a prompt message when the current temperature value of the joint drive component is greater than a third temperature threshold.

[0009] Optionally, the joint drive assembly includes a motor winding, a drive switch, and a reducer, the reducer having an output shaft; The motor winding, the drive switch, and the output shaft are each equipped with at least one of the temperature sensors. The controller is used to take the maximum value among the detected values ​​of each temperature sensor as the current temperature value of the joint drive assembly.

[0010] Optionally, the joint portion includes a joint housing, the joint drive assembly is disposed in the joint housing, there is a gap between the joint drive assembly and the joint housing, the gap is provided with the heat buffer layer, and the heat buffer layer contacts the inner wall of the joint drive assembly and the joint housing respectively.

[0011] Optionally, the thickness of the heat buffer layer is less than or equal to 5 mm.

[0012] Optionally, the joint drive assembly includes a drive switch, and the thermal buffer layer is in contact with the drive switch.

[0013] Secondly, embodiments of this application propose a thermal management method applied to the robot described in any one of the first aspects above, the thermal management method comprising: Obtain the temperature value of the joint drive component; Based on different temperature values ​​of the joint drive component, the joint drive component is controlled to operate at different working frequencies.

[0014] In this embodiment, since the temperature sensor is located in the joint drive assembly and the controller is located inside the robot, and the temperature sensor is electrically connected to the controller, the temperature sensor can detect the temperature value of the joint drive assembly in real time during robot operation. The temperature sensor transmits the temperature value of the joint drive assembly to the controller, which then receives the current temperature value of the joint drive assembly. Based on different temperature values, the controller controls the joint drive assembly to operate at different frequencies. When the temperature of the joint drive assembly is high, the controller controls the operating frequency of the joint drive assembly to be lower, thus reducing the operating frequency and causing the temperature value of the joint drive assembly to gradually decrease. Furthermore, the joint drive assembly is connected to a heat buffer layer made of phase change heat storage material. This heat buffer layer slows down the temperature rise of the joint drive assembly, reducing the rate of temperature increase. This allows the controller more time to control the operating frequency of the joint drive assembly and results in a slower temperature rise. In other words, in this embodiment, by setting a temperature sensor, a controller, and a buffer layer, the controller can change the operating frequency of the joint drive component based on its temperature value. This is equivalent to controlling the joint drive component to operate at different frequencies, thereby causing temperature changes and facilitating cooling. Furthermore, the buffer layer slows down the rate of temperature rise when the joint drive component heats up, allowing the controller to better control the operating frequency and thus improve temperature control. Therefore, this embodiment effectively manages the thermal performance of the robot's joints, extending their lifespan and consequently, the robot's overall lifespan. Attached Figure Description

[0015] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This diagram illustrates a thermal management system provided in an embodiment of this application. Figure 2 This is a flowchart illustrating a thermal management method provided in an embodiment of this application.

[0016] Figure label: 10: Temperature sensor; 20: Controller. Detailed Implementation

[0017] The embodiments of this application will now be described in detail. Examples of these embodiments are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0018] The terms "first" and "second" in the specification and claims of this application may explicitly or implicitly include one or more of the features. "At least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships may exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, "at least one of a, b, or c" can represent: a, b, c, a combination of a and b, a combination of a and c, a combination of b and c, or a, b, and c, where a, b, and c can be single or multiple.

[0019] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0020] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0021] This application provides a robot, such as Figure 1 As shown, the robot includes joints and a thermal management system.

[0022] The joint is equipped with a joint drive assembly for driving the joint movement. The thermal management system includes a controller 20 and at least one temperature sensor 10. The temperature sensor 10 is located in the joint drive assembly, and the controller 20 is located inside the robot. The temperature sensor 10 is electrically connected to the controller 20. The temperature sensor 10 is used to detect the temperature value of the joint drive assembly. The controller 20 is used to electrically connect the joint drive assembly and control the joint drive assembly to operate at different working frequencies based on different temperature values ​​of the joint drive assembly. The joint drive assembly is connected to a thermal buffer layer made of phase change heat storage material to slow down the temperature rise of the joint drive assembly.

[0023] In this embodiment, the joint drive component is a joint drive motor, which includes a drive switch, specifically a drive MOSFET. Controlling the operating frequency of the joint drive component essentially involves adjusting the turn-on frequency of the drive MOSFET. This turn-on frequency control is achieved through Pulse Width Modulation (PWM). When the turn-on frequency of the drive MOSFET changes, its temperature changes, but the change in the turn-on frequency does not affect the rotational speed of the drive motor. In other words, the rotational speed of the drive motor remains constant even when the turn-on frequency of the drive MOSFET changes. Therefore, controlling the operating frequency of the joint drive component essentially controls the frequency of the electronic control side of the drive motor, not the rotational speed of the drive motor's output shaft. The operating frequency of the joint drive component is essentially the turn-on frequency of the drive MOSFET.

[0024] In this embodiment, since the temperature sensor 10 is located in the joint drive assembly and the controller 20 is located inside the robot, and the temperature sensor 10 and controller 20 are electrically connected, the temperature sensor 10 can detect the temperature value of the joint drive assembly in real time during robot operation. The temperature sensor 10 transmits the temperature value of the joint drive assembly to the controller 20, which then receives the current temperature value of the joint drive assembly. Based on different temperature values, the controller 20 controls the joint drive assembly to operate at different frequencies. When the temperature of the joint drive assembly is high, the controller 20 controls the operating frequency of the joint drive assembly to be lower, thus reducing the operating frequency and gradually decreasing the temperature value of the joint drive assembly. Furthermore, the joint drive assembly is connected to a heat buffer layer made of phase change heat storage material. This heat buffer layer slows down the temperature rise of the joint drive assembly, reducing its heating rate. This allows the controller 20 sufficient time to control the operating frequency of the joint drive assembly and results in a slower temperature rise. In other words, in this embodiment, by setting a temperature sensor 10, a controller 20, and a buffer layer, the controller 20 can change the operating frequency of the joint drive component based on its temperature value. This is equivalent to controlling the joint drive component to operate at different frequencies, thereby changing its temperature and facilitating cooling. Furthermore, the buffer layer slows down the rate of temperature increase when the joint drive component heats up, allowing the controller 20 to control the change in the operating frequency of the joint drive component, thus improving temperature control. Therefore, this embodiment effectively manages the thermal performance of the robot's joints, extending their lifespan and consequently, the robot's overall lifespan.

[0025] Furthermore, when the thermal buffer layer is made of phase change thermal storage material, the material can undergo a phase change after absorbing heat. If the current temperature of the joint drive component is greater than or equal to the phase change temperature of the thermal storage material, the higher temperature of the joint drive component allows the solid thermal buffer layer to gradually become liquid. The presence of the thermal buffer layer effectively reduces the rate of temperature rise of the joint drive component, giving the controller 20 sufficient time to adjust the operating frequency of the joint drive component, causing the operating frequency to gradually decrease. As the temperature of the joint drive component decreases, the thermal buffer layer gradually changes from a liquid to a solid state.

[0026] In addition, in the embodiments of this application, the material of the heat buffer layer may include paraffin wax, expanded graphite, etc. Of course, the material of the heat buffer layer may also be other phase change heat storage materials, such as diatomaceous earth, polymer resin, etc.

[0027] It should be noted that the controller 20 can be a circuit board with control functions. The controller 20 can be installed inside the robot's body, and the controller 20 and the temperature sensor 10 can be connected via wires to achieve electrical connection between the controller 20 and the temperature sensor 10. Of course, the controller 20 can also be a chip with control functions, in which case the chip can be integrated inside the robot's body.

[0028] It should also be noted that when the controller 20 controls the operating frequency of the joint drive component based on different temperature values ​​of the joint drive component, the temperature value of the joint drive component and the operating frequency of the joint drive component are negatively correlated. That is, the higher the temperature value of the joint drive component, the lower the operating frequency of the joint drive component controlled by the controller 20.

[0029] In addition, in some embodiments, the controller 20 is further configured to obtain the current workload of the drive component when the current temperature value of the joint drive component is less than a first temperature threshold, and determine the predicted temperature value of the joint drive component within a set time period after the current time based on the current temperature value of the joint component and the current workload; if the predicted temperature value is less than the first temperature threshold, the joint drive component is controlled to operate at a standard operating frequency; if the predicted temperature value is greater than or equal to the first temperature threshold, the joint drive component is controlled to operate at a first operating frequency, which is less than the standard operating frequency, so as to achieve preventive frequency reduction control.

[0030] Specifically, when the controller 20 controls the joint drive component to run at different operating frequencies based on different temperature values ​​of the joint drive component, when the controller 20 obtains the current temperature value of the joint drive component, it determines the magnitude of the current temperature value of the joint drive component and the first temperature threshold. When the current temperature value of the joint drive component is less than the first temperature threshold, the controller 20 obtains the current workload of the drive component. Then, based on the current temperature value and the current workload of the joint component, it predicts the predicted temperature value of the joint drive component within a set time period after the current time, that is, it determines the predicted temperature value of the joint drive component within a set time period after the current time. If the predicted temperature value is less than the first temperature threshold, it indicates that the temperature of the joint drive component is low, so the joint drive component is controlled to operate at the standard operating frequency. If the predicted temperature value is greater than or equal to the first temperature threshold, it indicates that the temperature of the joint drive component will rise within a set time period after the current time, so the joint drive component is controlled to operate at the first operating frequency. This is equivalent to predicting the temperature value of the joint drive component and adjusting the operating frequency of the joint drive component in advance, so that the joint drive component can maintain a low temperature. That is, when the predicted temperature value is greater than or equal to the first temperature threshold, the joint drive component is controlled to operate at the first operating frequency, which is equivalent to performing preventive frequency reduction control, which helps the joint drive component maintain a low temperature.

[0031] It should be noted that when predicting the temperature of the joint drive component for a set period of time after the current time, based on the current temperature and workload of the joint component, the temperature change rate of the joint drive component can be determined first. The temperature change rate is equal to the heat generation power divided by the heat capacity. The heat capacity of the joint drive component can be predetermined, and the heat generation power can be determined from the current of the joint drive component. The heat capacity can be stored in advance, thus allowing the temperature change rate to be determined. After determining the temperature change rate, the current temperature of the joint drive component is used as the initial temperature value, and the predicted temperature for the set period of time after the current time can be determined. Specifically, it can be shown in the following formula: T = T0 + V t *t Where T0 represents the initial temperature value, V t The value represents the rate of temperature change, t represents time, and T represents the predicted temperature value.

[0032] It should also be noted that the workload of the joint drive component refers to its heat generation power. Specifically, the controller 20 is electrically connected to the joint drive component, allowing the controller 20 to determine the current of the joint drive component, i.e., the phase current value of the joint drive element within the joint drive component. Once the current of the joint drive component is determined, its heat generation power, i.e., its power, can be determined. The voltage of the joint drive component can be directly determined; the product of the current and voltage is the power.

[0033] Furthermore, the standard operating frequency can be 100% of the operating frequency of the joint drive component, that is, the frequency at which the drive MOS transistor in the joint drive component operates normally. The first operating frequency can be 80% of the standard operating frequency. Of course, the first operating frequency can also be other percentages of the standard operating frequency, for example, 85% or 83% of the standard operating frequency. This application does not limit this. Alternatively, the standard operating frequency can also be 90% of the normal operating frequency of the joint drive component. This application does not limit this either.

[0034] It should be noted that the first temperature threshold can be set according to actual needs, for example, the first temperature threshold is 45℃, or for example, the first temperature threshold is 46℃. This application embodiment does not limit this. Furthermore, the set time period can be set according to actual needs, for example, the set time period is 60 seconds, or for example, the set time period is 45 seconds, or for example, the set time period is 30 seconds. This application embodiment does not limit this.

[0035] For example, if the first temperature threshold is 45℃ and the set time period is 60 seconds, and the current temperature value of the joint drive component obtained by the controller 20 is 35℃, which is less than the first temperature threshold, the controller 20 obtains the current workload of the drive component, and based on the current temperature value and current workload of the joint drive component, determines that the predicted temperature of the joint drive component within 60 seconds after the current time is 44℃, then controls the joint drive component to operate at 100% operating frequency; if it is determined that the predicted temperature of the joint drive component within 60 seconds after the current time is 50℃, then controls the joint drive component to operate at 80% operating frequency.

[0036] In some embodiments, the controller 20 is also configured to control the joint drive component to operate at a first operating frequency when the current temperature value of the joint drive component is greater than or equal to a first temperature threshold and less than a second temperature threshold.

[0037] When the controller 20 controls the joint drive component to run at different operating frequencies based on different temperature values ​​of the joint drive component, once the controller 20 obtains the current temperature value of the joint drive component and determines that the current temperature value of the joint drive component is greater than or equal to the second temperature threshold, it can determine that the current temperature of the joint drive component is high. It can then directly control the joint drive component to run at the first operating frequency, so that the operating frequency of the joint drive component is lower than the standard operating frequency, which is beneficial to the cooling of the joint drive component.

[0038] It should be noted that the second temperature threshold can be set according to actual needs. For example, the second temperature threshold can be 55°C, 57°C, or 53°C. This application does not limit the specific temperature threshold in this regard.

[0039] In some embodiments, the controller 20 is also configured to control the joint drive component to operate at a second operating frequency when the current temperature value of the joint drive component is greater than or equal to a second temperature threshold and less than a third temperature threshold. The second operating frequency is less than the first operating frequency, the second temperature threshold is greater than the first temperature threshold, and the third temperature threshold is greater than the second temperature threshold.

[0040] Specifically, when the controller 20 controls the joint drive component to operate at different working frequencies based on different temperature values ​​of the joint drive component, when the controller 20 obtains the current temperature value of the joint drive component, once it determines that the current temperature value of the joint drive component is greater than or equal to the second temperature threshold and less than the third temperature threshold, it can determine that the current temperature of the joint drive component is high, and can directly control the joint drive component to operate at the second working frequency, so that the working frequency of the joint drive component is further reduced compared with the standard working frequency, which is beneficial to the cooling of the joint drive component.

[0041] It should be noted that the third temperature threshold can be set according to actual needs. For example, the third temperature threshold is 65°C, the second temperature threshold is 63°C, or the second temperature threshold is 66°C. This application does not limit the specific temperature threshold in this regard.

[0042] In addition, in some embodiments, the controller 20 is also configured to control the running speed of the joint drive component to decrease and issue a prompt message when the current temperature value of the joint drive component is greater than a third temperature threshold.

[0043] Specifically, when the controller 20 controls the joint drive component to run at different operating frequencies based on different temperature values ​​of the joint drive component, once the controller 20 obtains the current temperature value of the joint drive component and determines that the current temperature value of the joint drive component is greater than the third temperature threshold, it can determine that the current temperature of the joint drive component is very high. It can then control the running speed of the joint drive component to decrease, thereby reducing the output speed of the joint drive component. At this time, the running speed of the robot's joints decreases, causing the temperature of the joint drive component to drop, and a prompt message is issued to alert the operator or staff.

[0044] In addition, in this embodiment, the controller 20 can also be used to control the running speed of the joint drive component to decrease and control the joint drive component to operate at a third operating frequency when the current temperature value of the joint drive component is greater than a third temperature threshold, and issue a prompt message. The third operating frequency is less than the second operating frequency.

[0045] It should be noted that the robot may have prompting devices, including but not limited to buzzers, flashing lights, and voice modules. Once it is determined that the current temperature value of the joint drive component is greater than the third temperature threshold, the controller 20 can control the buzzer to sound to provide a prompt, or the controller 20 can control the flashing light to flash to provide a prompt, or the controller 20 can control the voice module to broadcast a voice message.

[0046] Furthermore, in this embodiment, after the joint drive component's current temperature value is greater than the third temperature threshold, the controller reduces the joint drive component's operating speed and issues a prompt message. If the controller 20 detects that the joint drive component's current temperature has decreased and its current temperature value is less than the third temperature threshold but greater than or equal to the second temperature threshold, it can control the joint drive component to operate at the second operating frequency. If the controller 20 detects that the joint drive component's current temperature has decreased and its current temperature value is less than the second temperature threshold but greater than or equal to the first temperature threshold, it can control the joint drive component to operate at the second operating frequency.

[0047] In some embodiments, the joint drive assembly includes a motor winding, a drive switch, and a reducer, the reducer having an output shaft; the motor winding, the drive switch, and the output shaft are each equipped with at least one temperature sensor 10; the controller 20 is used to take the maximum value among the detected values ​​of each temperature sensor as the current temperature value of the joint drive assembly. That is, the controller 20 is used to take the maximum value among the temperature values ​​detected by the temperature sensor 10 on the motor winding, the temperature values ​​detected by the temperature sensor 10 on the drive switch, and the temperature values ​​detected by the temperature sensor 10 on the output shaft as the current temperature value of the joint drive assembly.

[0048] With this setup, it is equivalent to setting temperature sensors 10 at key points of the joint drive assembly. That is, temperature sensors 10 are set on components in the joint drive assembly that are prone to heat generation. Temperature sensors 10 can effectively detect the temperature of the components and thus determine the current temperature value of the joint drive assembly.

[0049] It should be noted that when at least one temperature sensor 10 is provided on the motor winding, the drive switch, and the output shaft, the temperature value detected by the temperature sensor 10 on the motor winding is the first temperature value, the temperature value detected by the temperature sensor 10 on the drive switch is the second temperature value, and the temperature value detected by the temperature sensor 10 on the output shaft is the third temperature value. If the first temperature value, the second temperature value, and the third temperature value are equal, then any one of the first temperature value, the second temperature value, and the third temperature value is taken as the current temperature value of the joint drive component; if the first temperature value, the second temperature value, and the third temperature value are not equal, then the maximum value among the first temperature value, the second temperature value, and the third temperature value is taken as the current temperature value of the joint drive component.

[0050] In some embodiments, the joint portion includes a joint housing, with a joint drive assembly disposed within the joint housing. A gap exists between the joint drive assembly and the joint housing, and a heat buffer layer is provided within this gap. The heat buffer layer contacts both the joint drive assembly and the inner wall of the joint housing. This arrangement allows the heat buffer layer to effectively transfer heat from the joint drive assembly to the joint housing, facilitating cooling of the joint drive assembly.

[0051] In addition, in some embodiments, the thickness of the thermal buffer layer is less than or equal to 5 mm.

[0052] The thickness of the thermal buffer layer is less than or equal to 5mm, which makes the thickness of the thermal buffer layer moderate and meets the needs of the robot's joints.

[0053] It should be noted that when the robot model changes, the thickness of the heat buffer layer can be set according to actual needs, as long as it is ensured that the heat buffer layer is in contact with the joint drive components and the inner wall of the joint shell respectively.

[0054] It should also be noted that the phase transition temperature of the thermal buffer layer can be 52°C, and the second temperature threshold is 55°C. At this time, if the current temperature value of the joint drive component is greater than the second temperature threshold, the solid thermal buffer layer can be heated and gradually become liquid.

[0055] In some embodiments, the joint drive assembly includes a drive switch element, with a thermal buffer layer in contact with the drive switch element. With this configuration, the presence of the thermal buffer layer effectively reduces the rate of temperature rise of the drive switch element as its temperature increases, allowing the controller 20 sufficient time to control the operating frequency of the drive switch.

[0056] The following section verifies the effectiveness of the thermal management system in the robot provided in the embodiments of this application for the joint parts of the robot: (1) Two coffee robots were provided. One robot was equipped with the thermal management system provided in this application embodiment, while the other robot was not equipped with the thermal management system provided in this application embodiment. The test scenario was continuous high-frequency latte art operation for 8 hours (approximately 120 actions per hour). After 2.5 hours of operation, the temperature of the coffee robot without the thermal management system rose to 68°C, triggering overheat protection. The motor speed was reduced to 60% of the rated speed, and the service efficiency decreased by 35%. During the entire 8-hour test, the temperature of the joints of the coffee robot equipped with the thermal management system remained between 52°C and 54°C, and the overheat protection was not triggered. The service efficiency remained at 100%. The phase change thermal storage material of the thermal buffer layer completed approximately 15 phase change cycles during the test without performance degradation.

[0057] (2) Test scenario: The robot provided in this application embodiment performs high-intensity continuous work tasks from cold start. When the temperature of the joint drive component in the joint is 38°C, the controller 20 predicts that the temperature will exceed 45°C within the next 45 seconds, and controls the joint drive component to operate at the first working frequency in advance, so that the drive switching device of the joint drive component is reduced to 80%. Actual test results: The peak temperature is 47.3°C, which is 8.5°C lower than that of the robot without a thermal management system (peak temperature 55.8°C), verifying the effectiveness of the preventive thermal management provided in this application embodiment.

[0058] This application provides a thermal management method, applicable to a robot in any of the above embodiments, such as... Figure 2 As shown, the thermal management method includes: Step 201: Obtain the temperature value of the joint drive component.

[0059] Among them, the temperature sensor can detect the temperature value of the joint drive component in real time, so that the temperature value of the joint drive component can be obtained directly from the temperature sensor.

[0060] Step 202: Based on the different temperature values ​​of the joint drive component, control the joint drive component to operate at different working frequencies.

[0061] In some implementations, step 202 can be implemented as follows: when the current temperature value of the joint drive component is less than a first temperature threshold, the current workload of the drive component is obtained, and based on the current temperature value and the current workload of the joint component, the predicted temperature value of the joint drive component within a set time period after the current time is determined; if the predicted temperature value is less than the first temperature threshold, the joint drive component is controlled to operate at a standard operating frequency; if the predicted temperature value is greater than or equal to the first temperature threshold, the joint drive component is controlled to operate at a first operating frequency, which is less than the standard operating frequency, so as to achieve preventive control.

[0062] In some implementations, step 202 can also be implemented as follows: when the current temperature value of the joint drive component is greater than or equal to the first temperature threshold and less than the second temperature threshold, the joint drive component is controlled to operate at a first operating frequency, where the first temperature threshold is less than the second temperature threshold.

[0063] In some implementations, step 202 can also be implemented as follows: when the current temperature value of the joint drive component is greater than or equal to the second temperature threshold and less than the third temperature threshold, the joint drive component is controlled to operate at a second operating frequency, where the second operating frequency is less than the first operating frequency and the third temperature threshold is greater than the second temperature threshold.

[0064] In some implementations, step 202 can also be implemented as follows: when the current temperature value of the joint drive component is greater than the third temperature threshold, control the running speed of the joint drive component to decrease and issue a prompt message.

[0065] In this embodiment, by acquiring the temperature value of the joint drive component, and based on different temperature values, the joint drive component is controlled to operate at different frequencies. This is equivalent to controlling the joint drive component to operate at different frequencies, thereby causing temperature changes in the joint drive component, which is beneficial for cooling it down. In other words, this embodiment effectively manages the thermal properties of the robot's joints, which helps extend the service life of the joints and, consequently, the robot's overall lifespan.

[0066] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0067] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A robot, characterized in that, The robot includes joints and a thermal management system; The joint is provided with a joint drive assembly, which is used to drive the joint to move. The thermal management system includes a controller and at least one temperature sensor. The temperature sensor is located in the joint drive assembly, and the controller is located inside the robot. The temperature sensor is electrically connected to the controller. The temperature sensor is used to detect the temperature value of the joint drive assembly. The controller is used to electrically connect the joint drive assembly, and the controller is also used to control the joint drive assembly to operate at different working frequencies based on different temperature values ​​of the joint drive assembly. The joint drive assembly is connected to a thermal buffer layer, which is made of phase change thermal storage material and is used to slow down the temperature rise of the joint drive assembly.

2. The robot according to claim 1, characterized in that, The controller is also configured to, when the current temperature value of the joint drive component is less than a first temperature threshold, obtain the current workload of the drive component, and, based on the current temperature value of the joint component and the current workload, determine the predicted temperature value of the joint drive component within a set time period after the current time. If the predicted temperature value is less than the first temperature threshold, the joint drive component is controlled to operate at the standard operating frequency. If the predicted temperature value is greater than or equal to the first temperature threshold, the joint drive component is controlled to operate at the first operating frequency, which is less than the standard operating frequency, in order to achieve preventive frequency reduction control.

3. The robot according to claim 2, characterized in that, The controller is further configured to control the joint drive component to operate at the first operating frequency when the current temperature value of the joint drive component is greater than or equal to the first temperature threshold and less than the second temperature threshold, wherein the first temperature threshold is less than the second temperature threshold.

4. The robot according to claim 3, characterized in that, The controller is further configured to control the joint drive component to operate at a second operating frequency when the current temperature value of the joint drive component is greater than or equal to a second temperature threshold and less than a third temperature threshold, wherein the second operating frequency is less than the first operating frequency and the third temperature threshold is greater than the second temperature threshold.

5. The robot according to claim 4, characterized in that, The controller is also used to control the running speed of the joint drive component to decrease and issue a prompt message when the current temperature value of the joint drive component is greater than a third temperature threshold.

6. The robot according to any one of claims 1-5, characterized in that, The joint drive assembly includes a motor winding, a drive switch, and a reducer, the reducer having an output shaft; The motor winding, the drive switch, and the output shaft are each equipped with at least one of the temperature sensors. The controller is used to take the maximum value among the detected values ​​of each temperature sensor as the current temperature value of the joint drive assembly.

7. The robot according to any one of claims 1-5, characterized in that, The joint portion includes a joint housing, the joint drive assembly is disposed in the joint housing, there is a gap between the joint drive assembly and the joint housing, the gap is provided with the heat buffer layer, and the heat buffer layer is in contact with the inner wall of the joint drive assembly and the joint housing respectively.

8. The robot according to claim 7, characterized in that, The thickness of the heat buffer layer is less than or equal to 5 mm.

9. The robot according to claim 7, characterized in that, The joint drive assembly includes a drive switch, and the thermal buffer layer is in contact with the drive switch.

10. A thermal management method, characterized in that, The thermal management method, applied to the robot according to any one of claims 1-9, comprises: Obtain the temperature value of the joint drive component; Based on different temperature values ​​of the joint drive component, the joint drive component is controlled to operate at different working frequencies.

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