Control cabinet and robot system

Abstract

The utility model provides a control cabinet and a robot system, and relates to the technical field of robots, and the control cabinet can further improve the heat dissipation efficiency through arranging an independent air duct. The control cabinet comprises a shell, a brake resistor and a driver arranged in the shell; the shell comprises a bottom plate, a first side plate and a second side plate, wherein the first side plate and the second side plate are connected to the two opposite ends of the bottom plate respectively. The first side plate is provided with first heat dissipation holes, and the second side plate is provided with a first fan. The driver comprises a substrate and a first radiator arranged on the substrate; the bottom plate and the substrate are arranged at intervals in the direction perpendicular to the bottom plate to form a first air duct, and the first radiator is located in the first air duct. The first heat dissipation holes and the first fan are located at the two opposite ends of the first air channel in the first direction respectively. The first direction is parallel to the arrangement direction of the first side plate and the second side plate; the brake resistor is arranged in the first air channel. Therefore, the first radiator and the brake resistor are cooled in the relatively compact layout of the first air duct, and the heat dissipation efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and more particularly to a control cabinet and a robot system. Background Technology

[0002] In recent years, industrial robot technology has developed rapidly, continuously moving towards miniaturization, high speed, and high load capacity. This has also placed higher demands on the size of control cabinets. The design requires control cabinets to support robots with higher loads within a limited space, while also possessing high stability and the ability to operate at full load for extended periods.

[0003] During operation, the drivers and braking resistors installed inside the control cabinet generate a significant amount of heat. If the control cabinet lacks a proper heat dissipation structure, this heat will accumulate inside, causing the internal temperature to rise continuously. The electronic components inside the cabinet are highly sensitive to temperature fluctuations and are prone to malfunction due to overheating, thus affecting the normal operation of the control cabinet.

[0004] In the prior art, in order to reduce temperature, control cabinets usually reduce the load capacity of the control cabinet or increase the size of the control cabinet to reduce the risk of heat dissipation. Some control cabinets also reduce the internal temperature rise by increasing the number of fans. However, the heat dissipation efficiency of these solutions is relatively low and cannot meet the trend of miniaturization design of control cabinets. Utility Model Content

[0005] This utility model provides a control cabinet and robot system. The control cabinet can further improve heat dissipation efficiency by setting an independent air duct.

[0006] In a first aspect, this application provides a control cabinet. The control cabinet includes: a housing and a driver disposed within the housing; the housing includes a base plate and a first side plate and a second side plate respectively connected to opposite ends of the base plate; the first side plate is provided with a first heat dissipation hole, and the second side plate is provided with a first fan; the driver includes a base plate and a first heat sink disposed on the base plate; the base plate and the base plate are spaced apart in a direction perpendicular to the base plate to form a first air duct, and the first heat sink is located within the first air duct; the first heat dissipation hole and the first fan are respectively located at opposite ends of the first air duct in a first direction; the first direction is parallel to the arrangement direction of the first side plate and the second side plate; the control cabinet further includes: a braking resistor; the braking resistor is disposed within the first air duct.

[0007] Based on the above solution, this application provides a control cabinet. The control cabinet forms a first air duct through a base plate and a driver, transferring heat generated by the driver to a first heat sink via a contact plate. Simultaneously, a fan blows air into the first air duct, carrying away heat from the surface of the first heat sink and transferring it to the surrounding environment through first ventilation holes, thereby reducing the temperature of the control cabinet. Furthermore, a braking resistor is also installed in the first air duct, meaning that both the first heat sink and the braking resistor can be cooled simultaneously through the first air duct, further improving heat dissipation efficiency. Moreover, the first heat sink and the resistor are arranged on the same layer, resulting in a relatively compact layout suitable for smaller control cabinets.

[0008] In some embodiments, there is a gap between the substrate and the second side plate; the control cabinet further includes: a flow guide shroud disposed above the gap; at least a portion of the flow guide shroud extends toward the first air duct to guide the airflow from the first fan into the first air duct.

[0009] In some embodiments, one end of the air guide is disposed on the side of the first fan away from the base plate, and the other end of the air guide is connected to the substrate.

[0010] In some embodiments, the dimension of the shroud along the second direction is greater than or equal to the dimension of the fan along the second direction; the second direction is perpendicular to the first direction.

[0011] In some embodiments, the control cabinet further includes: a bracket, one end of which is connected to the substrate and the other end of which is connected to the base plate; two brackets are respectively located at opposite ends of the substrate in a second direction for supporting the substrate; the second direction is perpendicular to the first direction; and the first heat sink is disposed between the two brackets.

[0012] In some embodiments, the braking resistor is located between the two brackets and fixed to the base plate.

[0013] In some embodiments, the braking resistor and the first heat sink are arranged along a second direction, which is perpendicular to the first direction.

[0014] In some embodiments, a gap exists between the first heat sink and the base plate along a direction perpendicular to the base plate.

[0015] In some embodiments, the housing further includes a top plate disposed opposite to the bottom plate, the top plate having two opposite ends in the first direction connected to the first side plate and the second side plate respectively; a second air duct is formed between the top plate and the substrate; the first side plate is further provided with a second heat dissipation hole, and the second side plate is further provided with a second fan, the second heat dissipation hole and the second fan being located at opposite ends of the second air duct in the first direction respectively; the driver further includes a power device disposed on the side of the substrate away from the bottom plate, the power device being located within the second air duct.

[0016] In some embodiments, the control cabinet further includes a controller disposed on the side of the drive away from the base plate and located within the second air duct.

[0017] In some embodiments, the control cabinet further includes a second radiator; the second radiator is disposed on the side of the controller away from the base plate.

[0018] In some embodiments, the first heat sink includes a plurality of fins extending along the first direction and the plurality of fins being spaced apart along a second direction; the second direction is perpendicular to the first direction.

[0019] Secondly, this application provides a robot system comprising: the aforementioned control cabinet, a relay line, and a robotic arm; a first end of the relay line is electrically connected to the control cabinet; the robotic arm is electrically connected to a second end of the relay line; wherein the control cabinet is configured to supply power to the robotic arm and control the robotic arm via the relay line.

[0020] The beneficial effects of the robot system are the same as those of the control cabinet mentioned above, and will not be repeated here. Attached Figure Description

[0021] The accompanying drawings, which are included to provide a further understanding of embodiments of this disclosure and form part of the embodiments of this disclosure, illustrate exemplary embodiments of this disclosure and are used to explain this disclosure, but do not constitute an undue limitation of this disclosure. In the drawings:

[0022] Figure 1 A side sectional view of a control cabinet provided for some embodiments of this disclosure;

[0023] Figure 2 A schematic diagram of a driver provided for some embodiments of this disclosure;

[0024] Figure 3 A rear sectional view of a control cabinet provided for some embodiments of this disclosure;

[0025] Figure 4A bottom sectional view of a control cabinet provided for some embodiments of this disclosure;

[0026] Figure 5 A front sectional view of a control cabinet provided for some embodiments of this disclosure;

[0027] Figure 6 A rear view of a control cabinet provided for some embodiments of this disclosure;

[0028] Figure 7 A structural block diagram of a robot system provided for some embodiments of this disclosure.

[0029] Figure Labels

[0030] 1. Housing; 2. Driver; 3. Radiator; 4. Brake; 5. Braking resistor; 6. Controller; 11. First side plate; 12. Second side plate; 13. Top plate; 20. Base plate; 21. First heat sink; 22. Second heat sink; 23. Power device; 211. Fin; S1. First heat dissipation hole; S2. Second heat dissipation hole; F1. First fan; F2. First fan; 100. Control cabinet; 110. Repeater; 120. Robotic arm; 200. Robot system. Detailed Implementation

[0031] The technical solutions in some embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments provided in this application are within the scope of protection of this application.

[0032] Unless the context otherwise requires, throughout the specification and claims, the term "comprising" is interpreted as open-ended and encompassing, meaning "including, but not limited to." In the description, terms such as "one embodiment," "some embodiments," "exemplary embodiment," "example," or "some examples" are intended to indicate that a particular feature, structure, material, or characteristic associated with that embodiment or example is included in at least one embodiment or example of this application. The illustrative representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific feature, structure, material, or characteristic may be included in any suitable manner in any one or more embodiments or examples.

[0033] In recent years, industrial robot technology has developed rapidly, continuously moving towards miniaturization, high speed, and high load capacity. This has also placed higher demands on the size of control cabinets. The design requires control cabinets to support robots with higher loads within a limited space, while also possessing high stability and the ability to operate at full load for extended periods.

[0034] During operation, the drivers and braking resistors installed inside the cabinet generate a significant amount of heat. If the control cabinet lacks a proper heat dissipation structure, this heat will accumulate inside, causing the cabinet temperature to rise continuously. The electronic components inside the cabinet are highly sensitive to temperature fluctuations and are prone to malfunction due to overheating, thus affecting the normal operation of the control cabinet.

[0035] In the prior art, in order to reduce temperature, control cabinets usually reduce the load capacity of the control cabinet or increase the size of the control cabinet to reduce the risk of heat dissipation. Some control cabinets also reduce the internal temperature rise by increasing the number of fans. However, the heat dissipation efficiency of these solutions is relatively low and cannot meet the trend of miniaturization design of control cabinets.

[0036] Based on this, some embodiments of this application provide a control cabinet. For example... Figure 1 As shown, the control cabinet 100 includes: a housing 1 and a drive 2 disposed within the housing 1.

[0037] The housing 1 includes a base plate 10, and a first side plate 11 and a second side plate 12 respectively connected to opposite ends of the base plate 10.

[0038] The first side plate 11 is provided with a first heat dissipation hole S1 (see reference). Figure 6 The second side plate 12 is equipped with a first fan F1.

[0039] Reference Figure 1 and Figure 2 The driver 2 includes a substrate 20 and a first heat sink 21 disposed on the substrate 20.

[0040] The base plate 10 and the base plate 20 are spaced apart in a direction perpendicular to the base plate 10 to form a first air duct, and the first heat sink 21 is located in the first air duct; the first heat dissipation hole S1 and the first fan F1 are respectively located at opposite ends of the first air duct in the first direction X.

[0041] The first direction X is parallel to the arrangement direction of the first side plate 11 and the second side plate 12.

[0042] In some embodiments, the control cabinet is a cuboid, with the first side panel 11 serving as the front panel and the second side panel 12 serving as the rear panel.

[0043] When the driver 2 is working, it generates a large amount of heat, which is transferred to the first heat sink 21 through the contact substrate 20. The first heat sink 21 conducts the heat from the substrate 20 to the surface of the first heat sink 21 through direct contact. When the first fan F1 on the second side plate 12 is working, it blows air into the first air duct. The airflow can carry away the heat from the surface of the first heat sink 21, and finally transfer it to the surrounding environment through the first heat dissipation hole S1 provided on the first side plate 11, thereby completing the heat dissipation.

[0044] It's important to note that the control cabinet, as the "brain" of the robot system, bears the crucial responsibility of overall control and management of the robot. This includes controlling and monitoring the entire system, including the robot's motion, actions, and sensors. Through components such as controllers, servo motors, encoders, and sensors, the robot control cabinet can achieve motion control, precise position control, force control, and weight-bearing capabilities for the robot.

[0045] In some embodiments, reference is made to Figure 1 and Figure 4 The control cabinet 100 also includes a braking resistor 5; the braking resistor 5 is located inside the first air duct. In this way, when the first fan F1 is working, it will act on both the first heat sink 21 and the braking resistor 5 simultaneously.

[0046] For example, when the driver 2 is working, it generates a large amount of heat, which is transferred to the first heat sink 21 through the contact substrate 20. The first heat sink 21 conducts the heat from the substrate 20 to the surface of the first heat sink 21 through direct contact. When the first fan F1 on the second side plate 12 is working, it blows air into the first air duct. The airflow can carry away the heat from the surface of the first heat sink 21, and also carry away the heat from the surface of the braking resistor 5. Finally, the heat is transferred to the surrounding environment through the first heat dissipation hole S1 provided on the first side plate 11, thereby completing the heat dissipation.

[0047] It should be noted that a braking resistor, also known as a dissipative resistor or power resistor, is an electronic component that converts electrical energy into heat energy. It is typically made of metal wire or alloy materials and has a high resistance and power capacity. In a control cabinet, the main function of the braking resistor is to dissipate excess energy generated when the motor stops, preventing damage to the circuitry and drive unit from the back electromotive force generated by the motor's inertia.

[0048] When a motor stops running, its internal inertia generates a back electromotive force (EMF) that is opposite to that of the battery. If this back EMF is high, it can cause electric shock and damage conductive components such as control circuits and transistors. The braking resistor dissipates this excess energy, preventing the generation of instantaneous high voltage inside the motor, thus protecting both the motor and the circuitry.

[0049] Based on the above solution, this application provides a control cabinet. The control cabinet forms a first air duct through a base plate and a driver, transferring heat generated by the driver to a first heat sink via a contact plate. Simultaneously, a fan blows air into the first air duct, carrying away heat from the surface of the first heat sink and transferring it to the surrounding environment through first ventilation holes, thereby reducing the temperature of the control cabinet. Furthermore, a braking resistor is also installed in the first air duct, meaning that both the first heat sink and the braking resistor can be cooled simultaneously through the first air duct, further improving heat dissipation efficiency. Moreover, the first heat sink and the resistor are arranged on the same layer, resulting in a relatively compact layout suitable for smaller control cabinets.

[0050] like Figure 1 As shown, in some embodiments, there is a gap between the substrate 20 and the second side plate 12; the control cabinet 100 further includes: a flow guide 3 disposed above the gap; at least a portion of the flow guide 3 extends into the first air duct to guide the airflow of the first fan F1 into the first air duct.

[0051] Among them, the air deflector, also known as the air guide plate, is an air guiding device used on trucks, tractor-trailers, wind turbines, and certain special equipment. It guides airflow, reduces air resistance, and improves equipment performance.

[0052] In this application, the air guide shroud 3 is connected to the substrate 20 and the second side plate 12. The air guide shroud directs the airflow from the first fan F1 to the first heat sink 21, preventing the first fan F1 from leaking air upwards to the driver 2, thereby improving the heat dissipation efficiency of the first fan F1.

[0053] In some embodiments, one end of the flow guide 3 is disposed on the side of the first fan F1 away from the base plate 10, and the other end of the flow guide 3 is connected to the substrate 20.

[0054] In other words, the air deflector divides the control cabinet into an upper and lower space. This makes the first air duct an independent air duct, so that the air from the first fan will only flow through the first air duct, thereby further increasing the heat dissipation efficiency.

[0055] In some embodiments, the size of the shroud 3 along the second direction Y is greater than or equal to the size of the first fan F1 along the second direction Y; the second direction Y is perpendicular to the first direction X.

[0056] In other words, when the airflow deflector 3 is equal to the size of the first fan F1 along the second direction Y, it can prevent airflow from going upwards. When the airflow deflector 3 is larger than the size of the first fan F1 along the second direction Y, it can approximately divide the control cabinet into an upper half space and a lower half space, which can further increase the heat dissipation efficiency.

[0057] Reference Figure 3The control cabinet 100 also includes: a bracket 4, one end of which is connected to the base plate 20 and the other end of which is connected to the base plate 10; two brackets 4 are located at opposite ends of the base plate 20 in the second direction Y, for supporting the base plate 20; the second direction Y is perpendicular to the first direction X; and a first heat sink 21 is disposed between the two brackets 4.

[0058] like Figure 3 and Figure 4 As shown, in some embodiments, the braking resistor 5 is located between two brackets 4 and is fixed to the base plate 10.

[0059] Fixing the braking resistor 5 to the base plate 10 allows the heat generated by the braking resistor to be transferred to the surrounding environment via thermal conduction, thereby achieving the effect of reducing temperature.

[0060] Among them, the braking resistor 5 and the first heat sink 21 are arranged along the second direction Y.

[0061] In some embodiments, there is a gap between the first heat sink 21 and the base plate 10 along a direction perpendicular to the base plate 10.

[0062] For example, the distance between the first heat sink 21 and the base plate 10 is 2mm, which facilitates airflow and prevents blockage when the first fan F1 blows air.

[0063] like Figure 1 and Figure 5 As shown, the housing 1 also includes a top plate 13 disposed opposite to the bottom plate 10, and the two ends of the top plate 13 opposite to each other in the first direction X are respectively connected to the first side plate 11 and the second side plate 12.

[0064] A second air duct is formed between the top plate 13 and the base plate 20; the first side plate 11 is also provided with a second heat dissipation hole S2 (see reference). Figure 6 The second side plate 12 is also provided with a second fan F2, a second heat dissipation hole S2, and the second fan F2 and the two opposite ends of the second air duct in the first direction X.

[0065] The driver 2 also includes a power device 23 disposed on the side of the substrate 20 away from the base plate 10, and the power device 23 is located in the second air duct.

[0066] In some embodiments, the driver 2 includes a PCB circuit board, on which the power device 23 is disposed.

[0067] In some embodiments, the control cabinet 100 further includes a controller 6, which is disposed on the side of the drive 2 away from the base plate 10 and located within the second air duct.

[0068] The controller is responsible for receiving instructions from the operator, automation system, or programming software. These instructions typically include the robot's motion trajectory, speed, and operating mode. After receiving the instructions, the controller decodes and processes them, converting them into signals that the robot's joints and actuators can understand.

[0069] In some embodiments, refer to Figure 3 The control cabinet 100 also includes a second radiator 22; the second radiator 22 is located on the side of the controller 6 away from the base plate 10.

[0070] For example, when the driver 2 is working, it generates a large amount of heat. Some of this heat is transferred to the first heat sink 21 through the contact substrate 20. The first heat sink 21 conducts the heat from the substrate 20 to its surface through direct contact. When the first fan F1 on the second side plate 12 is working, it blows air into the first air duct. The airflow can carry away the heat from the surface of the first heat sink 21, and also the heat from the surface of the braking resistor 5. Finally, the heat is transferred to the surrounding environment through the first heat dissipation hole S1 provided on the first side plate 11. This completes the heat dissipation.

[0071] Simultaneously, another portion of the heat generated by the driver rises and resides in the second air duct; the controller 6 also generates a significant amount of heat, located in the second air duct, and is positioned above the driver 2; a second heat sink 22 is positioned above the controller 6, directly transferring heat from the controller 6 to its surface. When the second fan F2 on the second side plate 12 operates, it blows air into the second air duct, carrying away heat from the surface of the second heat sink 22 and also from above the driver, ultimately transferring the heat to the surrounding environment through the second heat dissipation hole S2 on the first side plate 11. This completes the heat dissipation process.

[0072] In some embodiments, refer to Figure 4 The first radiator 21 includes a plurality of fins 211, which extend along a first direction X and are arranged at intervals along a second direction Y; the second direction Y is perpendicular to the first direction X.

[0073] The multiple fins 211 in the first heat sink 21 can be specially designed. The thickness and spacing of the fins are calculated through simulation. Together with the first fan F1, they can more efficiently transfer the heat of the power devices to the outside of the cabinet. The fins extend back and forth in the direction of the first fan F1, dividing the cavity below the driver 2 to form multiple air ducts, increasing the flow area and improving the overall heat dissipation efficiency.

[0074] This application also provides a robot system 200, such as Figure 7As shown, the robot system 200 includes: the aforementioned control cabinet 100, relay line 110, and robotic arm 120.

[0075] The first end of the relay line 110 is electrically connected to the control cabinet 100; the robotic arm 120 is electrically connected to the second end of the relay line 110. The control cabinet 100 is configured to supply power to the robotic arm 120 and control the robotic arm 120 through the relay line 110.

[0076] Among them, relay lines 110 play a role in signal transmission between the control cabinet and the robotic arm. They are responsible for transmitting the command signals issued by the control cabinet to the robotic arm and receiving the feedback signals from the robotic arm.

[0077] The control cabinet 100 is connected to the various joints and sensors of the robotic arm 120 via a series of cables and trunk lines 110. These cables and trunk lines are responsible for transmitting power and signals, ensuring that the robotic arm can move according to the instructions of the control cabinet.

[0078] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A control cabinet, characterized in that, include: Housing and a driver disposed within the housing; The housing includes a base plate, and a first side plate and a second side plate respectively connected to opposite ends of the base plate; the first side plate is provided with a first heat dissipation hole, and the second side plate is provided with a first fan; The driver includes a substrate and a first heat sink disposed on the substrate; the base plate and the substrate are spaced apart in a direction perpendicular to the base plate to form a first air duct, and the first heat sink is located in the first air duct; The first heat dissipation hole and the first fan are respectively located at opposite ends of the first air duct in a first direction; The first direction is parallel to the arrangement direction of the first side plate and the second side plate; The control cabinet also includes a braking resistor; the braking resistor is disposed within the first air duct.

2. The control cabinet according to claim 1, characterized in that, There is a gap between the substrate and the second side plate; The control cabinet further includes: a flow guide shroud disposed above the gap; at least a portion of the flow guide shroud extends toward the first air duct to guide the airflow from the first fan into the first air duct.

3. The control cabinet according to claim 2, characterized in that, One end of the air guide is located on the side of the first fan away from the base plate, and the other end of the air guide is connected to the substrate.

4. The control cabinet according to claim 2, characterized in that, The dimension of the air guide along the second direction is greater than or equal to the dimension of the first fan along the second direction; the second direction is perpendicular to the first direction.

5. The control cabinet according to claim 1, characterized in that, The control cabinet further includes: a bracket, one end of which is connected to the base plate, and the other end of which is connected to the bottom plate; The two supports are located at opposite ends of the substrate in a second direction, and are used to support the substrate; the second direction is perpendicular to the first direction; The first heat sink is disposed between the two brackets.

6. The control cabinet according to claim 5, characterized in that, The braking resistor is located between the two brackets and is fixed to the base plate.

7. The control cabinet according to claim 1, characterized in that, The braking resistor and the first heat sink are arranged along a second direction; the second direction is perpendicular to the first direction.

8. The control cabinet according to claim 5, characterized in that, Along a direction perpendicular to the base plate, there is a gap between the first heat sink and the base plate.

9. The control cabinet according to any one of claims 1 to 8, characterized in that, The housing also includes a top plate disposed opposite to the bottom plate, the two opposite ends of the top plate in the first direction being connected to the first side plate and the second side plate respectively; a second air duct is formed between the top plate and the base plate; The first side plate is also provided with a second heat dissipation hole, and the second side plate is also provided with a second fan. The second heat dissipation hole and the second fan are respectively located at opposite ends of the second air duct in the first direction. The driver also includes a power device disposed on the side of the substrate away from the base plate, the power device being located within the second air duct.

10. The control cabinet according to claim 9, characterized in that, The control cabinet further includes a controller, which is disposed on the side of the drive away from the base plate and located within the second air duct.

11. The control cabinet according to claim 10, characterized in that, The control cabinet also includes: a second radiator; The second heat sink is located on the side of the controller away from the base plate.

12. The control cabinet according to any one of claims 1 to 8, characterized in that, The first radiator includes a plurality of fins extending along a first direction and the plurality of fins being spaced apart along a second direction; the second direction is perpendicular to the first direction.

13. A robot system, characterized in that, include: The control cabinet as described in any one of claims 1 to 12; A relay line, the first end of which is electrically connected to the control cabinet; A robotic arm, which is electrically connected to the second end of the relay line; The control cabinet is configured to supply power to the robotic arm and control the robotic arm via the relay line.

Images