Industrial robot automatic heating and heat preservation device for severe cold environment

Abstract

The utility model relates to the technical field of industrial robot application, in particular to an automatic heating and heat preservation device for an industrial robot in a severe cold environment, which comprises a robot body, a heater and a temperature control component, a speed reducer is arranged on the robot body, and the heater is adhered to the speed reducer through adhesive sticker; the temperature control assembly is used for controlling the temperature of the heater and comprises a temperature sensor and a temperature controller, the temperature sensor is arranged on the speed reducer, and the temperature controller is electrically connected with the temperature sensor and the heater. According to the heating device, the speed reducer is heated by adhering the heater to the speed reducer, the integrity of the industrial robot does not need to be damaged by adhering the heater, and normal operation of the industrial robot is not affected; and meanwhile, the temperature control assembly monitors the temperature of the speed reducer, and the heater is automatically adjusted through the temperature controller.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial robot application, in particular to an automatic heating and heat preservation device for industrial robots used in severe cold environments. Background Art

[0002] At present, in the field of industrial robot applications, there has been a problem of robot failure caused by low temperature. This is determined by the characteristics of the reducer lubricating oil used in industrial robots. Therefore, under working conditions where the ambient temperature is below zero degrees Celsius in winter, the reducer lubricating oil of the industrial robot will gradually thicken until it solidifies, making the robot unable to work normally, thereby triggering the robot failure alarm.

[0003] There are two main existing solutions. One method is to adjust the heating current of the industrial robot motor to heat up the transmission system. For example, Chinese patent document CN114434418A (application number 202011213992.8) discloses an industrial robot with heating and insulation capabilities. The heating current of the motor is adjusted according to the motor temperature to heat up the transmission system to ensure the robot's working performance when the ambient temperature is low. However, when this method is used in practice, in order to make the motor output the heating current, the robot must maintain low speed operation. As described in paragraph

[0007] of the patent specification, the speed during low-speed operation is 1 / 2 of the normal operating speed. % to 10%. Therefore, although this method realizes self-heating and insulation of the robot, it greatly limits the working efficiency of the robot, and will accelerate the aging of the motor and shorten the service life of the motor. Therefore, this method is not convenient for widespread use in industrial production; another method is to set a heat preservation or heating device on the outside of the robot, such as Chinese patent document CN112659184A (application number 202011554189.0), which discloses a heat preservation device for a robotic arm, in which an insulation sleeve is fixed to the outside of the robotic arm by a frame, and the frame is fixed to the robotic arm by bolts and bolt seats, and the robotic arm needs to be punched, which destroys the overall integrity of the device.

[0004] Therefore, there is an urgent need for a heating and heat preservation device for industrial robots that can be used in severe cold environments to solve the problem that the reducer lubricating oil of the existing device cannot withstand low temperatures. Utility Model Content

[0005] The purpose of the utility model is to overcome the deficiencies of the above-mentioned prior art and to provide an automatic heating and heat preservation device for industrial robots used in severe cold environments. By arranging a heater and a temperature control component on the reducer, the heating effect is ensured without affecting the operating efficiency of the industrial robot itself and without destroying the integrity of the device.

[0006] In order to achieve the above technical effects, the utility model adopts the following technical solutions:

[0007] An automatic heating and heat preservation device for an industrial robot used in a severe cold environment comprises a robot body, a heater and a temperature control component. The robot body is provided with a reducer.

[0008] The heater is attached to the reducer.

[0009] The temperature control component is used to control the temperature of the heater. The temperature control component includes a temperature sensor and a temperature controller. The temperature sensor is arranged on the reducer. The temperature controller, the temperature sensor and the heater are electrically connected. The temperature controller is used to receive the temperature measured by the temperature sensor and control the heater according to the measured temperature.

[0010] The automatic heating and heat preservation device for industrial robots provided by the utility model realizes heating of the reducer by arranging a heater on the reducer, and through the adhesive arrangement, there is no need to destroy the integrity of the industrial robot, and the normal operation of the industrial robot is not affected; at the same time, the temperature control component monitors the temperature of the reducer, and uses the temperature controller to automatically adjust the heater, saving human resources.

[0011] Preferably, the heater includes a heating plate and an external shell, the shell is made of silicone, and a metal plate for heat dissipation is fixed on the side of the shell away from the reducer. The shell is made of silicone material, which can cooperate with the adhesive to achieve a good adhesion effect. At the same time, by setting the metal plate, the heater can achieve good heat dissipation to prevent the heater from overheating and causing damage during use.

[0012] Preferably, the reducer is provided with a lubricating oil filling hole, and the heater is provided with a through hole, and the through hole matches the lubricating oil filling hole. The through hole is set in advance on the heater according to the position of the lubricating oil filling hole on the reducer, so that after the heater is pasted, when the reducer needs to be filled with lubricating oil, there is no need to scrape off the glue between the heater and the reducer, which effectively saves manpower and material resources.

[0013] Preferably, the automatic heating and heat preservation device also includes a heat insulation protective sleeve, and the heat insulation protective sleeve is arranged on the outside of the robot body.

[0014] Further preferably, the heat-insulating protective sleeve consists of a heat-insulating layer and a protective layer outside the heat-insulating layer, the protective layer is made of glass fiber cloth, and the heat-insulating layer is made of thermal insulation cloth.

[0015] By setting a heat-insulating protective cover on the outside of the robot body, the robot body can be isolated from the external low-temperature environment in the low-temperature environment in winter. At the same time, the heat emitted by the heater can be gathered inside the heat-insulating protective cover to increase the temperature inside the heat-insulating protective cover, thereby effectively saving the energy required for heating. In the high temperature of summer, the heat-insulating protective cover can also effectively isolate the industrial robot from the high-temperature environment. At the same time, when the industrial robot is in use, there are often smelting furnaces or other high-temperature devices close to it. By setting a heat-insulating protective cover, the robot body can also be effectively isolated from the high-temperature device to prevent the influence of high temperature on the robot body; the heat-insulating protective cover can also play a role in preventing dust and slag splashing, further extending the service life of the robot body.

[0016] Preferably, the automatic heating and heat preservation device further comprises a fan, which is arranged in the heat-insulating protective sleeve and located at the bottom of the robot body, and the wind direction of the fan is from bottom to top. By arranging a fan that blows air from bottom to top, the heat emitted by the heater is evenly distributed in the heat-insulating protective sleeve, thereby enhancing the heat dissipation and heat preservation effect.

[0017] Further preferably, the fan is a heater, the fan is electrically connected to a temperature controller, and the temperature controller controls the fan according to the temperature measured by the temperature sensor. By selecting the fan as a heater and electrically connecting it to the temperature controller, the heating and heat preservation effect of the heating device is further enhanced.

[0018] The devices and components used in the present invention are all existing devices and materials. For example, the temperature controller can use the SIN130TA14K1R0D temperature controller produced by Hangzhou Liance Automation Technology Co., Ltd., the temperature sensor can use the WZP-035 temperature sensor produced by Wuxi Jiahang Measurement and Control Instrument Co., Ltd., and the self-adhesive can use the high temperature resistant self-adhesive provided by Chinese patent document CN115109552A (application number 202110915029.2). The above selection is only an example, and those skilled in the art can also select other devices and materials with the same functions according to different needs.

[0019] Beneficial effects of the utility model:

[0020] 1. The automatic heating and heat preservation device for industrial robots provided by the utility model realizes heating of the reducer by adhering a heater to the reducer. By adhering and setting the heater, there is no need to destroy the integrity of the industrial robot and the normal operation of the industrial robot is not affected. At the same time, the temperature control component monitors the temperature of the reducer and uses the temperature controller to automatically adjust the heater, saving human resources.

[0021] 2. The automatic heating and heat preservation device for industrial robots provided by the utility model isolates the robot body from the external low-temperature environment by arranging a heat-insulating protective cover on the outside of the robot body. At the same time, the heat emitted by the heater can be gathered inside the heat-insulating protective cover to increase the temperature inside the heat-insulating protective cover, thereby effectively saving the energy consumption required for heating; the heat-insulating protective cover can also effectively isolate the robot body from the high-temperature device to prevent the influence of high temperature on the robot body; at the same time, it can also play the role of dust prevention and slag splashing prevention, further extending the service life of the robot body. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a right axonometric view of an automatic heating and heat preservation device for an industrial robot used in a severe cold environment provided in Example 1;

[0023] Figure 2 yes Figure 1 Left axonometric view at A in the middle;

[0024] Figure 3 is a schematic diagram of the five-axis reducer heater used in Example 1;

[0025] Figure 4 is a schematic diagram of the small arm heater used in Example 1;

[0026] Figure 5 Schematic diagram of the two-axis reducer heater and the three-axis reducer heater used in Example 1;

[0027] Figure 6 is a schematic diagram of a single-axis reducer heater used in Example 1;

[0028] Figure 7 is a schematic diagram of the five-axis reducer auxiliary heater used in Example 1;

[0029] Figure 8 is a schematic diagram of the four-axis reducer side heater used in Example 1;

[0030] Among them, 100. Robot body; 200. Temperature control component; 1. Five-axis reducer heater; 2. Forearm heater; 3. Three-axis reducer heater; 4. Two-axis reducer heater; 5. One-axis reducer heater; 6. Five-axis reducer auxiliary heater; 7. Four-axis reducer heater. DETAILED DESCRIPTION

[0031] The utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0032] Embodiment 1:

[0033] An automatic heating and heat preservation device for an industrial robot used in a severe cold environment comprises a robot body 100, a heater and a temperature control component 200. Figure 1 and Figure 2 As shown, the industrial robot provided in this embodiment is a six-axis robot, and a reducer is provided in the robot body 100. Specifically, the robot body 100 includes a one-axis reducer, a two-axis reducer, a three-axis reducer, a four-axis reducer, a five-axis reducer and a six-axis reducer.

[0034] In this embodiment, the heater is adhered to the reducer by a self-adhesive adhesive, and the self-adhesive adhesive adopts 1357 contact adhesive produced by 3M Company. Those skilled in the art can also choose other temperature-resistant self-adhesive adhesives as needed; In this embodiment, the heater includes a five-axis reducer heater 1, a four-axis reducer heater 7, a three-axis reducer heater 3, a two-axis reducer heater 4 and a one-axis reducer heater 5; Figure 3-Figure 8 As shown, in this embodiment, each heater is configured to be slightly smaller than the area of ​​the corresponding reducer shell adhesive surface according to the shape of the reducer shell, thereby ensuring the heating effect of the heater while not affecting the normal operation of the industrial robot.

[0035] In this embodiment, in order to further ensure the heating and insulation effect of the reducer, a forearm heater 2 and a five-axis reducer auxiliary heater 6 are also set. The five-axis reducer auxiliary heater 6 is set on the robot body 100 and is located at a symmetrical position of the five-axis reducer heater 1. The forearm heater 2 is set on the robot body 100 and is mounted on the robotic arm between the fourth axis and the fifth axis.

[0036] The temperature control assembly 200 is used to control the temperature of the heater, and the temperature control assembly includes a temperature sensor and a temperature controller, the temperature sensor is arranged on the reducer, and the temperature controller, the temperature sensor and each of the heaters are electrically connected. The temperature controller is used to receive the temperature measured by the temperature sensor and control the heater according to the measured temperature.

[0037] The automatic heating and heat preservation device for industrial robots provided by the utility model realizes heating of the reducer by adhering a heater to the reducer. By adhering and setting the heater, the integrity of the industrial robot does not need to be destroyed, and the area of ​​the heater is smaller than the area of ​​the reducer housing, so the normal operation of the industrial robot is not affected. At the same time, the temperature control component monitors the temperature of the reducer, and uses the temperature controller to automatically adjust the heater, saving human resources.

[0038] The heater includes a heating plate and an outer shell, the shell is made of silicone, and a metal plate for heat dissipation is fixed on the side of the shell away from the reducer. The shell is made of silicone material, which can cooperate with the adhesive to achieve a good adhesion effect. At the same time, by setting the metal plate, the heater can achieve good heat dissipation to prevent the heater from overheating and causing damage during use.

[0039] Embodiment 2:

[0040] An automatic heating and heat preservation device for industrial robots in severe cold environments. The difference between this embodiment and embodiment 1 is that it also includes a heat insulation protective sleeve (not shown in the figure), which is set on the outside of the robot body 100. The two ends of the heat insulation protective sleeve are fixed to the bottom and top of the robot body by fasteners. The heat insulation protective sleeve wraps the robot body 100, the heater and the temperature control component inside the heat insulation protective sleeve. The heat insulation protective sleeve consists of a heat insulation layer and a protective layer outside the heat insulation layer. The protective layer is made of glass fiber cloth, and the heat insulation layer is made of heat insulation cloth.

[0041] The automatic heating and heat preservation device for industrial robots provided in this embodiment is provided with a heat-insulating protective cover on the outside of the robot body. In the low-temperature environment in winter, the robot body is isolated from the external low-temperature environment. At the same time, the heat emitted by the heater can be gathered inside the heat-insulating protective cover to increase the temperature inside the heat-insulating protective cover, thereby effectively saving the energy consumption required for heating. In the high temperature in summer, the heat-insulating protective cover can also effectively isolate the industrial robot from the high-temperature environment. At the same time, when the industrial robot is in use, there are often smelting furnaces or other high-temperature devices close to it. By providing a heat-insulating protective cover, the robot body can also be effectively isolated from the high-temperature device to prevent the influence of high temperature on the robot body; the heat-insulating protective cover can also play a role in preventing dust and slag splashing, further extending the service life of the robot body.

[0042] Embodiment 3:

[0043] An automatic heating and heat preservation device for industrial robots in severe cold environments. The difference between this embodiment and embodiment 2 is that the automatic heating and heat preservation device further includes a fan (not shown in the figure), which is arranged in the heat insulation protective cover and located at the bottom of the robot body, and the wind direction of the fan is from bottom to top. By arranging a fan that blows air from bottom to top, the heat emitted by the heater is evenly distributed in the heat insulation protective cover, thereby enhancing the heat dissipation and heat preservation effect.

[0044] In this embodiment, the fan is a heater, and the fan is electrically connected to a temperature controller, which controls the fan according to the temperature measured by the temperature sensor. By selecting the fan as a heater and electrically connecting it to the temperature controller, the heating and heat preservation effect of the heating device is further enhanced.

Claims

1. An automatic heating and heat preservation device for industrial robots used in severe cold environments, characterized in that: It includes a robot body, a heater and a temperature control component. The robot body is provided with a reducer. The heater is adhered to the reducer; The temperature control component is used to control the temperature of the heater. The temperature control component includes a temperature sensor and a temperature controller. The temperature sensor is arranged on the reducer. The temperature controller is electrically connected to the temperature sensor and the heater. The temperature controller is used to receive the temperature measured by the temperature sensor and control the heater according to the measured temperature. The automatic heating and heat preservation device also includes a heat-insulating protective sleeve, which is arranged on the outside of the robot body. The heat-insulating protective sleeve wraps the robot body, the heater and the temperature control component inside the heat-insulating protective sleeve. The heat-insulating protective sleeve consists of an insulation layer and a protective layer outside the insulation layer. The protective layer is made of glass fiber cloth, and the insulation layer is made of heat-insulating cloth.

2. The automatic heating and heat preservation device for industrial robots according to claim 1, characterized in that: The heater comprises a heating plate and an external shell, the shell is made of silica gel, and a metal plate for heat dissipation is fixed on a side of the shell away from the reducer.

3. The automatic heating and heat preservation device for industrial robots according to claim 1, characterized in that: The automatic heating and heat preservation device also includes a fan, which is arranged in the heat insulation protective cover and located at the bottom of the robot body, and the air outlet direction of the fan is from bottom to top.

4. The automatic heating and heat preservation device for industrial robots according to claim 3, characterized in that: The fan is a heater, and the fan is electrically connected to a temperature controller, which controls the fan according to the temperature measured by a temperature sensor.

5. The automatic heating and heat preservation device for industrial robots according to claim 1, characterized in that: The reducer is provided with a lubricating oil filling hole, and the heater is provided with a through hole, and the through hole matches the lubricating oil filling hole.

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