Motor heat dissipation device of four-axis robot palletizer

Abstract

The utility model belongs to the field of palletizing robots, and particularly relates to a motor heat dissipation device of a four-axis palletizing robot, which is arranged on a first-axis joint and a second-axis joint of the four-axis palletizing robot and comprises a motor, a heat dissipation device fixing piece, a heat dissipation device, a heat dissipation device wire connector and a heat dissipation device control circuit. Wherein the heat dissipation device is arranged on the heat dissipation device fixing piece, and the heat dissipation device fixing piece is arranged on the motor; the heat dissipation device wire connector is fixed on the heat dissipation device fixing piece; one wiring end of the heat dissipation device wire connector is connected with the heat dissipation device, and the other wiring end of the heat dissipation device wire connector is connected with the heat dissipation device control circuit, so that auxiliary heat dissipation of the heat dissipation device on the motor is realized; and the heat dissipation device control circuit is connected with a robot controller of the four-axis palletizing robot so as to realize closed-loop control of heat dissipation. According to the four-axis robot palletizer, effective heat dissipation is carried out on the driving motors of the first-axis joint and the second-axis joint of the four-axis robot palletizer through the heat dissipation device, so that the motors operate at a relatively low temperature, and the failure rate is reduced.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the field of stacking robot, specifically a four -axis stacking robot motor heat abstractor. BACKGROUND

[0002] With the development of logistics industry and the growing demand, it is necessary to find more efficient, accurate and cost-saving logistics solutions. In the traditional logistics field, the stacking efficiency is low due to the disorganized goods; meanwhile, a large number of goods need to be stacked in some industrial fields, which requires a large amount of manual labor, intensive cost is high, and efficiency is low, which cannot meet the market demand for rapid change. Therefore, a new type of logistics technology, namely stacking robot technology, appears.

[0003] At present, M180A type stacking robot is launched, which has four axis joints driven by motors, namely one axis joint, two axis joint, three axis joint and four axis joint. The four axis joints are driven by motors to move together to realize the function of stacking goods. When the stacking robot works, the one axis and two axis motor driven shaft joints move under a large load, and the motor generates a large amount of heat, which makes the motor body temperature rise rapidly. Long-term high-temperature operation will reduce the service life of the motor and increase the failure rate of the equipment.

[0004] In order to solve the above problems, the common solution at present is to select a larger specification of driving motor. After the overall performance of the motor is improved, the heat generated by the motor will be significantly reduced under the same load. The disadvantage of this method is that the cost of the driving motor will increase, and the space occupied by the stacking robot will also increase. Therefore, it is necessary to design a motor heat dissipation device for this type of stacking robot. UTILITY MODEL CONTENT

[0005] The utility model aims at providing a stacking robot motor heat dissipation structure, which can effectively dissipate heat from the driving motor of the one axis and two axis joints of the four-axis stacking robot through the heat dissipation device, so that the motor operates at a relatively low temperature, improves the service life of the motor and reduces the failure rate.

[0006] The utility model adopts the technical scheme of a four-axis stacking robot motor heat dissipation device, which is arranged on the one axis joint and two axis joint of the four-axis stacking robot, comprising a motor, a heat dissipation device fixing member, a heat dissipation device, a heat dissipation device connector and a heat dissipation device control circuit.

[0007] The heat dissipation device is arranged on the heat dissipation device fixing member, and the heat dissipation device fixing member is arranged on the motor.

[0008] The heat dissipation device connector is fixed on the heat dissipation device fixing member; one of the two connecting ends of the heat dissipation device connector is connected with the heat dissipation device, and the other connecting end is connected with the heat dissipation device control circuit, so as to realize the auxiliary heat dissipation of the heat dissipation device to the motor.

[0009] The heat dissipation device control circuit is connected with the robot controller of the four-axis palletizing robot, so as to realize the closed-loop control of heat dissipation.

[0010] The heat dissipation device fixing member is an L-shaped structure support plate composed of a vertical plate and a bottom plate;

[0011] The bottom plate is fixed on the mounting hole of the motor by screws; the vertical plate is a C-shaped structure, which is arranged on one side of the motor and matches the shape of the motor, and a gap is left between the vertical plate and the outside of the motor; a square ventilation hole is arranged at the center of the vertical plate, one side of the ventilation hole is the motor, and the other side is the heat dissipation device.

[0012] The heat dissipation device comprises a fan mechanism and a heat dissipation mechanism;

[0013] The fan mechanism is fixed on the vertical plate of the heat dissipation device fixing member by screws, and the fan blades of the fan mechanism are arranged opposite to the ventilation hole at the center of the vertical plate and the motor;

[0014] The protection grade of the fan mechanism is IP54;

[0015] The heat dissipation mechanism is arranged directly above the air outlet of the fan mechanism and is fixed on the motor to exhaust the air flow received by the air outlet of the fan mechanism to realize heat dissipation.

[0016] The heat dissipation mechanism comprises heat dissipation fins and heat dissipation pipes, the heat dissipation fins are in a wave shape, and the heat dissipation pipes pass through the heat dissipation fins; the distance between adjacent heat dissipation fins is 3-5 mm, so as to increase the heat dissipation area and air flow efficiency.

[0017] The heat dissipation device connector comprises a connector and a first power overload module;

[0018] The connector has two output ends, which are respectively connected with two fan mechanisms of the heat dissipation device; the input end of the connector is connected with the output end of the first power overload module;

[0019] The first power overload module is fixed on the side surface of the heat dissipation device fixing member by a clamping groove structure, and an anti-skid rubber strip is arranged in the clamping groove to ensure stable installation of the module;

[0020] The input end of the first power overload module is connected with the heat dissipation device control circuit.

[0021] The output ends of the two fan mechanisms of the heat dissipation device are provided with protective sleeves, and the protective sleeves are rubber insulation protective sleeves; and the protective grade of the connector is IP67.

[0022] The heat dissipation device control circuit comprises a heat dissipation device power supply, a heat dissipation device protection circuit breaker, an EIO-relay board and a second power overload module connected in sequence.

[0023] The heat dissipation device power supply and the heat dissipation device protection circuit breaker are connected through a busbar, and the busbar is a copper busbar, so as to reduce line resistance and reduce power loss.

[0024] The heat dissipation device protection circuit breaker is connected with a robot controller of the four-axis palletizing robot, so as to realize on-off control of the EIO-relay board.

[0025] The input interface of the EIO-relay board is connected with the robot controller, so as to realize receiving of control instructions.

[0026] The EIO-relay board is installed in the control cabinet of the four-axis palletizing robot through a guide rail, and a locking buckle is arranged at the connection position of the board and the guide rail, so as to prevent the board from shaking.

[0027] The output interface of the EIO-relay board is connected with the second power overload module.

[0028] The second power overload module is connected with a first power overload module of the heat dissipation device connector through a power interconnection line, and a metal snake tube is arranged outside the power interconnection line, so as to prevent the cable from being abraded.

[0029] The motor heat dissipation structure of the palletizing robot has the following beneficial effects and advantages: the motor heat dissipation structure can effectively dissipate heat of the driving motor of the first shaft and the second shaft joint of the four-axis palletizing robot through the heat dissipation device, so that the motor operates at a relatively low temperature, the service life of the motor is improved, and the failure rate is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 It is a three-dimensional structure schematic view of the motor heat dissipation structure of the palletizing robot.

[0031] Figure 2 It is a front view structure schematic view of the motor heat dissipation structure of the palletizing robot.

[0032] Figure 3The utility model relates to a heat dissipation device control circuit diagram of motor heat dissipation structure of stacking robot,

[0033] Figure 4 The utility model discloses a structural schematic diagram applied to stacking robot,

[0034] Among them, 1 is motor, 2 is heat dissipation device fixing, 3 is heat dissipation device, 4 is heat dissipation device wiring device, 5 is heat dissipation device control circuit, 6 is a shaft joint, 7 is two shaft joints, 8 is three shaft joints, 9 is four shaft joints. Specific implementation

[0035] The utility model makes further detailed explanation in combination with the drawings and examples.

[0036] As Figures 1-2 Shown, it is a kind of four-axis stacking robot motor heat dissipation device's three-dimensional structure and front view structure schematic diagram, the utility model is set up in four-axis stacking robot's one shaft joint 6, two shaft joints 7, it is characterized by, include: motor 1, heat dissipation device fixing 2, heat dissipation device 3, heat dissipation device wiring device 4, heat dissipation device control circuit 5;

[0037] Among them, heat dissipation device 3 is set up on heat dissipation device fixing 2, heat dissipation device fixing 2 is set up on motor 1;

[0038] Heat dissipation device wiring device 4 is fixed on heat dissipation device fixing 2;Heat dissipation device wiring device 4 one wiring end is connected with heat dissipation device 3, and another wiring end is connected with heat dissipation device control circuit 5, to realize the auxiliary heat dissipation of heat dissipation device 3 to motor 1;

[0039] Heat dissipation device control circuit 5 is connected with the robot controller of four-axis stacking robot, to realize the closed-loop control of heat dissipation.

[0040] Heat dissipation device fixing 2 is the L-shaped structure support plate of vertical plate and bottom plate composition;

[0041] Bottom plate is fixed on the mounting hole of motor by screw;The vertical plate is C-shaped structure, is set up on one side of motor 1, is matched with the appearance of motor 1, and there is gap before the outside of motor 1 and vertical plate;The vertical plate center is equipped with a square vent hole, and one side of the vent hole is motor 1, and the other side is heat dissipation device 3.

[0042] Heat dissipation device 3 includes: fan mechanism and heat dissipation mechanism,

[0043] The fan mechanism is fixed on the vertical plate of heat dissipation device fixing 2 by screw, and the fan blade of fan mechanism is respectively arranged opposite to the vent hole in the center of vertical plate and motor 1;

[0044] The protection level of fan mechanism is IP54.

[0045] The heat dissipation mechanism is arranged directly above the air outlet of the fan mechanism and is fixed to the motor 1 to dissipate heat by exhausting the air flow received from the air outlet of the fan mechanism.

[0046] The heat dissipation mechanism comprises heat dissipation fins and heat dissipation pipes, the heat dissipation fins are in a wave shape, and the heat dissipation pipes pass through the heat dissipation fins; the spacing between adjacent heat dissipation fins is 3-5 mm, so as to increase the heat dissipation area and air flow efficiency.

[0047] The heat dissipation device connector 4 comprises a connector and a first power overload module.

[0048] The connector has two output ends, which are connected with two fan mechanisms of the heat dissipation device 3 respectively; the input end of the connector is connected with the output end of the first power overload module.

[0049] The first power overload module is fixed to the side surface of the heat dissipation device fixing part 2 through a clamping groove structure, and an anti-skid rubber strip is arranged in the clamping groove to ensure stable installation of the module.

[0050] The input end of the first power overload module is connected with the heat dissipation device control circuit 5.

[0051] The output ends of the connector connected with the two fan mechanisms of the heat dissipation device 3 are both provided with protective sleeves, and the protective sleeves are rubber insulation protective sleeves; the protection grade of the connector is IP67.

[0052] As shown in Figure 3 The heat dissipation device control circuit of the heat dissipation structure of the stacking robot motor of the utility model is a heat dissipation device control circuit diagram, and the heat dissipation device control circuit 5 in the utility model comprises a heat dissipation device power supply, a heat dissipation device protection circuit breaker, an EIO-relay board card and a second power overload module connected in sequence.

[0053] The heat dissipation device power supply and the heat dissipation device protection circuit breaker are connected through a busbar, and the busbar is a copper busbar, so as to reduce line resistance and reduce power loss.

[0054] The heat dissipation device protection circuit breaker is connected with the robot controller of the four-axis stacking robot, so as to realize on-off control of the EIO-relay board card.

[0055] The input interface of the EIO-relay board card is connected with the robot controller, so as to realize receiving of control instructions.

[0056] The EIO-relay board card is installed in the control cabinet of the four-axis stacking robot through a guide rail, and a locking buckle is arranged at the connection position of the board card and the guide rail to prevent shaking of the board card.

[0057] The output interface of the EIO-relay board card is connected with the second power overload module.

[0058] The second power overload module is connected with the first power overload module of the heat dissipation device connector 4 through a power interconnection line; a metal snake tube is sleeved outside the power interconnection line to prevent the cable from being abraded.

[0059] Embodiment 1:

[0060] As shown in Figure 1 and 4 The motor heat dissipation structure in the embodiment includes a motor 1, a heat dissipation device fixing member 2, a heat dissipation device 3, a heat dissipation device connector 4, and a heat dissipation device control circuit 5.

[0061] In the structure, the motor 1 is a driving motor of a first joint 6 and a second joint 7 of the stacking robot, is a servo motor, and is arranged at the first joint 6 and the second joint 7 of the robot body through screws.

[0062] The heat dissipation device fixing member 2 is an L-shaped structure composed of a vertical plate and a bottom plate, the bottom plate is arranged on a mounting hole of the motor through screws, the vertical plate is a C-shaped structure, is matched with the shape of the motor 1, is arranged on one side of the motor 1, and is provided with a certain gap in front of the outer side of the motor 1, and the vertical plate is provided with a square ventilation hole in the middle, one side of the ventilation hole is the motor 1, and the other side is the heat dissipation device 3.

[0063] The heat dissipation device 3 is a fan, the protection grade of the fan is IP54, the service life of the fan is 40,000 hours, the fan is arranged on the C-shaped plate of the heat dissipation device fixing member 2 through screws, and faces the ventilation hole and the motor. The heat dissipation device connector 4 is connected with the heat dissipation device 3 at one end and connected with the heat dissipation device control circuit 5 at the other end, the protection grade is IP67, and the heat dissipation device connector 4 is arranged on the heat dissipation device fixing member 2 through a cable tie.

[0064] The heat dissipation device control circuit 5 includes a heat dissipation device power supply, a heat dissipation device protection circuit breaker and an EIO-relay output interface. The EIO-relay output interface is controlled by a robot controller, the robot controller performs closed-loop control according to the temperature feedback of the body motor, the body motor temperature exceeds the protection threshold value, immediately starts to run, and is below the protection threshold value without stopping immediately, but continuously running for a period of time, avoiding the situation of frequent start-stop vibration, and improving the stability of the heat dissipation control system.

[0065] The above embodiment realizes the self-starting function of the all-vanadium redox flow battery system, the function reduces the UPS equipment, greatly reduces the system cost, and solves the self-starting problem of the all-vanadium redox flow battery system in the standby power supply and black start scene application.

[0066] The working principle of the utility model is as follows:

[0067] 1) Robot controller interacts with EIO-relay board card: The robot controller first sends control instructions to the EIO-relay board card. These instructions are based on the real-time operating state of motor 1, for example, when the motor temperature sensor of motor 1 feeds back that the motor temperature is too high, the robot controller will trigger the corresponding control signal.

[0068] The EIO-relay board card receives signals from the robot controller through its specific communication interface, which uses any industrial communication protocol such as RS-485, CAN, etc., to ensure the stability and reliability of signal transmission.

[0069] 2) Signal processing and output of EIO-relay board card: After receiving the control instructions, the EIO-relay board card processes the signals logically. After the relay acts, its output end will produce corresponding electrical signal changes, which can be voltage on-off or current changes. This signal will be transmitted to the heat dissipation device circuit breaker.

[0070] 3) Control of heat dissipation device circuit breaker: After receiving the signal from the EIO-relay board card, the heat dissipation device circuit breaker executes the corresponding action according to the signal instruction. When the heat dissipation device needs to be turned on, the circuit breaker is closed, allowing current to pass through and providing power to the heat dissipation device.

[0071] If the heat dissipation device 3 has an abnormality, such as excessive current, the heat dissipation device circuit breaker will automatically cut off the circuit according to the protection threshold set by itself, preventing equipment damage. At the same time, the circuit breaker will send a status feedback signal to the EIO-relay board card, which will then pass this information to the robot controller, so that the robot controller can take appropriate measures, such as alerting maintenance personnel.

[0072] 4) Control of heat dissipation device power supply: After the heat dissipation device circuit breaker is closed, the heat dissipation device power supply starts working. The power supply output meets the requirements of the heat dissipation device and provides power for components such as fan mechanisms. The robot controller can indirectly adjust the output parameters of the heat dissipation device power supply (if the power supply has this function) through the EIO-relay board card, such as reducing the power supply output voltage when the motor temperature is low, thereby reducing the fan speed, achieving energy saving and reducing noise. Lower than the protection threshold does not stop immediately, but continues to run for a period of time to avoid frequent start-stop oscillation and improve the stability of the heat dissipation control system.

[0073] Those skilled in the art can understand that the above description is only preferred embodiments of the present application, and the features described in various embodiments and / or claims of the present application can be combined or combined, even if such combination or combination is not explicitly described in the present application. It is not intended to limit the present application, although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can modify the technical solutions described in the foregoing embodiments or make equivalent replacement for part of the technical features, any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the protection scope of the present application.

[0074] Although the preferred embodiments of the present application have been described, those skilled in the art can make further changes and modifications to these embodiments once they know the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application. Obviously, those skilled in the art can make various modifications and changes to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and changes of the present application fall within the scope of the claims of the present application and their equivalents, the present application also intends to include these modifications and changes.

Claims

1. A four-axis palletizing robot motor cooling device, arranged on a one-axis joint (6) and a two-axis joint (7) of a four-axis palletizing robot, characterized in that, The utility model relates to a kind of four-axis palletizing robot auxiliary cooling device, including: Motor (1), heat sink fixing part (2), heat sink (3), heat sink connector (4), heat sink control circuit (5); Wherein, the heat sink (3) is arranged on the heat sink fixing part (2), and the heat sink fixing part (2) is arranged on the motor (1); The heat sink connector (4) is fixed on the heat sink fixing part (2);One end of the heat sink connector (4) is connected with the heat sink (3), and the other end is connected with the heat sink control circuit (5), so as to realize the auxiliary cooling of the heat sink (3) to the motor (1); The heat sink control circuit (5) is connected with the robot controller of the four-axis palletizing robot, so as to realize the closed-loop control of cooling.

2. The motor cooling device for a four-axis palletizing robot according to claim 1, characterized by The heat sink fixing part (2) is an L-shaped structure support plate composed of a vertical plate and a bottom plate; The bottom plate is fixed on the mounting hole of the motor by screws;The vertical plate is C-shaped structure, arranged on one side of the motor (1), matched with the shape of the motor (1), and a gap is left between the vertical plate and the outside of the motor (1);A square ventilation hole is arranged at the center of the vertical plate, one side of which is the motor (1) and the other side is the heat sink (3).

3. The motor cooling device for a four-axis palletizing robot according to claim 1, characterized by The heat sink (3) comprises a fan mechanism and a heat dissipation mechanism. The fan mechanism is fixed on the vertical plate of the heat sink fixing part (2) by screws, and the fan blades of the fan mechanism are arranged opposite to the ventilation hole at the center of the vertical plate and the motor (1) respectively. The protection level of the fan mechanism is IP54. The heat dissipation mechanism is arranged directly above the air outlet of the fan mechanism and is fixed on the motor (1) to exhaust the airflow received by the air outlet of the fan mechanism and achieve heat dissipation.

4. The motor cooling device for a four-axis palletizing robot according to claim 3, characterized by The heat dissipation mechanism comprises heat dissipation fins and heat dissipation pipes, the heat dissipation fins are wave-shaped structures, and the heat dissipation pipes penetrate the heat dissipation fins;The distance between adjacent heat dissipation fins is 3-5 mm, so as to increase the heat dissipation area and air flow efficiency.

5. The heat dissipation device for a motor of a four-axle palletizing robot according to claim 1, characterized in that, The heat sink connector (4) comprises a connector and a first power overload module. The connector has two output ends, which are connected with two fan mechanisms of the heat sink (3) respectively;The input end of the connector is connected with the output end of the first power overload module; The first power overload module is fixed on the side of the heat sink fixing part (2) by a clamping groove structure, and a non-slip rubber strip is arranged in the clamping groove to ensure stable installation of the module; The input end of the first power overload module is connected with the heat sink control circuit (5).

6. The motor cooling device for a four-axis palletizing robot according to claim 5, wherein The output ends of the connector connected with the two fan mechanisms of the heat sink (3) are provided with protective sleeves, which are rubber insulation protective sleeves;The protection level of the connector is IP67.

7. The motor cooling device for a four-axis palletizing robot according to claim 1, characterized by The heat sink control circuit (5) comprises a heat sink power supply, a heat sink protection circuit breaker, an EIO-relay board and a second power overload module connected in sequence. The heat sink power supply and the heat sink protection circuit breaker are connected by a busbar, which is a copper busbar to reduce line resistance and reduce power loss. The heat dissipation device is connected with a robot controller of the four-axis palletizing robot to realize on-off power control of an EIO-relay board card; An input interface of the EIO-relay board card is connected with the robot controller to realize receiving of a control instruction; The EIO-relay board card is installed in a control cabinet of the four-axis palletizing robot through a guide rail, and a locking buckle is arranged at a connection position of the board card and the guide rail to prevent shaking of the board card; An output interface of the EIO-relay board card is connected with a second power heavy load module; The second power heavy load module is connected with a first power heavy load module of a heat dissipation device connector (4) through a power interconnection line, and a metal snake tube is arranged outside the power interconnection line to prevent abrasion of the cable.

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