An apparatus for cooling robot

Abstract

The present invention provides a cooling device for a robot comprising: a main body portion mounted on a robot arm and having a cooling space formed therein for accommodating a coolant; a refrigerant line connected to the main body portion and supplying air for cooling to a drive unit provided on each axis of the robot arm; and a pump member provided in the main body portion and introducing the cooled air within the cooling space into the refrigerant line.

Description

Technology Field

[0001] The present invention relates to a cooling device for a robot, and more specifically, to a cooling device for a robot capable of cooling a drive unit provided on each axis of a robot arm. Background Technology

[0002] Generally, industrial robots are robots deployed in various industrial work sites, such as factories or industrial facilities, to perform tasks such as assembly, disassembly, welding, and painting in an automated manner, replacing human labor.

[0003] In the case of arm-type robots, they are robots made by combining three or more rotary motion mechanisms, and can be subdivided into 3-axis, 4-axis, 5-axis, and 6-axis robot arms depending on the number of rotation axes.

[0004] Among them, 6-axis robot arms have joints similar to a human shoulder, arm, elbow, and wrist, allowing them to move in a manner similar to human movements. Due to their high degrees of freedom, they are widely deployed in various industrial workplaces.

[0005] Meanwhile, the robot arm described above is made of metal or high-strength synthetic resin to protect internal drive components, such as motors, reduction gears, and brake modules, as well as electrical wiring; consequently, it has the problem of being vulnerable when operating in high-temperature environments.

[0006] In other words, if high-temperature outside air is transmitted into the robot arm, the temperature of the motor and electrical wiring inside the robot arm rises to high levels, which can lead to component failure or fire.

[0007] For example, in the case of a robot arm performing welding work, in addition to the motor's own heat generation, failures of the motor, reduction gear, and brake module may occur due to overheating caused by welding heat.

[0008] Recently, to prevent robots from overheating, water-cooled or air-cooled cooling modules are installed inside the robot, and the gearbox and robot body are made of heat-resistant materials. However, these methods have the problem of increasing robot manufacturing costs significantly as the size and complexity of the robot increase. Prior art literature

[0009] Registered Patent No. 10-1271193 (Registration Date: May 29, 2013) "Welding Robot" The problem to be solved

[0010] The present invention aims to provide a cooling device for a robot, specifically one that is composed of a simple structure and can be mounted on a robot arm, and can effectively cool drive parts such as motors, reduction gears, and brake modules equipped on each axis of the robot arm by inserting a coolant, such as dry ice, into a cooling space within the main body as needed.

[0011] The technical problems to be solved by the present invention are not limited to those mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art to which the present invention belongs from the description below. means of solving the problem

[0012] To solve the problem described above, the present invention provides a cooling device for a robot comprising: a main body portion mounted on a robot arm and having a cooling space formed therein in which a coolant is contained; a refrigerant line connected to the main body portion and supplying air for cooling to a drive unit provided on each axis of the robot arm; and a pump member provided in the main body portion and introducing the cooled air within the cooling space into the refrigerant line.

[0013] Additionally, the cooling device for a robot further includes a temperature sensor connected to a pump member via a signal line and detecting the temperature of a drive unit equipped on each axis of a robot arm, wherein the temperature sensor transmits a drive signal to the pump member via the signal line to cause the pump member to operate when the temperature of the drive unit rises above a preset temperature.

[0014] In addition, the main body is equipped with a cover that can be opened and closed to allow the insertion or replacement of a coolant within the cooling space as needed, and a robot cooling device is provided in which the coolant is dry ice.

[0015] In addition, the main body provides a robot cooling device coupled to an arm frame provided between the axes of a multi-axis robot arm.

[0016] In addition, a cooling device for a robot is provided, wherein a cable passage hole is formed in the main body for a cable and a refrigerant line provided on the inner side of the robot arm to pass through.

[0017] Additionally, the robot arm is configured as a 6-axis robot arm having 6 rotation axes, and the cooling device for a robot includes a first cooling line that supplies cooled air to a drive unit equipped on the 5th and 6th axes of the robot arm, and a second cooling line that supplies cooled air to a drive unit equipped on the 1st to 4th axes of the robot arm. Effects of the invention

[0018] A robot cooling device according to an embodiment of the present invention can be mounted on a robot arm with a simple configuration and can be easily used by inserting a coolant, such as dry ice, into a cooling space within the main body as needed. Additionally, the cooled air within the cooling space can be transferred and supplied to each axis of the robot arm, thereby effectively cooling drive parts such as motors, reduction gears, and brake modules equipped on each axis of the robot arm, which generate heat during operation.

[0019] The effects obtainable from the present invention are not limited to those mentioned above, and other unmentioned effects will be clearly understood by those skilled in the art from the description below. Brief explanation of the drawing

[0020] FIG. 1 illustrates the configuration of a cooling device for a robot according to one embodiment of the present invention. FIGS. 2 and FIGS. 3 illustrate a state in which a cooling device for a robot according to one embodiment of the present invention is applied to a robot arm. FIG. 4 illustrates the arrangement structure of a refrigerant line within a robot arm according to one embodiment of the present invention. FIG. 5 illustrates the operation process of a cooling device for a robot using a temperature sensor according to one embodiment of the present invention. Specific details for implementing the invention

[0021] Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the attached drawings.

[0022] The detailed description disclosed below, together with the attached drawings, is intended to describe exemplary embodiments of the present invention and is not intended to represent the only embodiment in which the present invention can be practiced.

[0023] In order to clearly explain the invention in the drawings, parts unrelated to the explanation may be omitted, and the same reference numerals may be used for identical or similar components throughout the specification.

[0024] In embodiments of the present invention, expressions such as “or”, “at least one”, etc. may represent one of the words listed together or a combination of two or more.

[0025] FIG. 1 illustrates the configuration of a robot cooling device (100) according to one embodiment of the present invention, FIG. 2 and FIG. 3 illustrate the state in which a robot cooling device (100) according to one embodiment of the present invention is applied to a robot arm (10), and FIG. 4 illustrates the arrangement structure of a refrigerant line (120) within a robot arm (10) according to one embodiment of the present invention.

[0026] A robot cooling device (100) according to one embodiment of the present invention can be mounted on a robot arm (10) with a simple configuration, and as needed, a cover (112) provided on the main body (110) can be opened and a cooling agent (20), such as dry ice, can be inserted into the internal cooling space (111) and used, and the cooled air in the cooling space (111) can be transferred to each axis (11~16) of the robot arm (10) to effectively cool the drive unit of the robot axis that has overheated.

[0027] Here, the drive unit provided on each axis (11~16) of the robot arm (10) may include a motor, a reduction gear, and a brake module, etc., and the robot cooling device of the present embodiment may cool the motor, reduction gear, and brake module of the drive unit provided on each axis (11~16) by spraying cooled air when the robot arm (10) is operated.

[0028] In addition, in this embodiment, as an example, a state in which a robot cooling device (100) is applied to a 6-axis robot arm (10) is described.

[0029] Referring to FIGS. 1 to 4, a cooling device (100) for a robot according to one embodiment of the present invention may include a main body (110), a refrigerant line (120), and a pump member (130).

[0030] The main body (110) is formed in a tubular shape and mounted on a robot arm (10), and a cooling space (111) in which a coolant (20) is received may be formed inside.

[0031] Additionally, an openable cover (112) is provided on the outer surface of the main body (110), so that the cover (112) can be opened to insert the coolant (20) into the cooling space (111), and when the coolant (20) is filled into the cooling space (111), the cover (112) can be closed to seal the cooling space (111).

[0032] For example, the cover (112) may be configured in a hinge opening and closing manner so that a worker can open or close the cover (112) of the main body (110) to open or close the cooling space (111).

[0033] The main body (110) can be coupled to the arm frame (17) between the axes of the robot arm (10), and in this embodiment, it is shown as being coupled to the arm frame (17) between the 4th axis (14) and the 5th axis (15) of the robot arm (10) composed of 6 axes (16).

[0034] In addition, a cable passage hole (113) can be formed in the main body part (110) coupled to the arm frame (17) so that various cables (not shown) and a refrigerant line (120) used for driving the robot arm (10) can pass through it.

[0035] For example, a cable (not shown) for power supply and drive control may be connected to a drive unit provided on each axis (11 to 16) inside the robot arm (10). At this time, the cable (not shown) connected to the drive unit of the 5th axis (15) and the 6th axis (16) may be positioned by passing through a cable passage hole (113) of the main body (110) provided in the arm frame (17) between the 4th axis (14) and the 5th axis (15).

[0036] In addition, in this embodiment, the refrigerant line (120) is branched into two lines, the branched first refrigerant line (121) is arranged to supply air to each drive unit of the 5th axis (15) and the 6th axis (16), and the second refrigerant line (122) is arranged to supply air to each drive unit of the 1st to 4th axes (11, 12, 13, 14) by passing through the cable passage hole (113).

[0037] The refrigerant line (120) is connected to the cooling space (111) of the main body (110) and can supply air for cooling to the drive unit equipped on each axis (11~16) of the robot arm (10) according to the operation of the pump member (130) described later.

[0038] These refrigerant lines (120) are arranged to pass through the drive parts of each axis (11-16) inside the robot arm (10), and may be formed to supply air to the drive parts of each axis (11-16) by having a spray nozzle (not shown) that sprays air at a position corresponding to the drive parts of each axis (11-16).

[0039] At this time, when air is supplied to the drive parts of each axis (11~16) through a single refrigerant line, there is a problem in that the amount of air supplied to the spray nozzle becomes insufficient as it goes toward the end of the refrigerant line, and thus the cooling efficiency decreases. Accordingly, in this embodiment, a plurality of branched refrigerant lines (120) are provided to separate the air supply to the 1st to 4th axes (11, 12, 13, 14) and the air supply to the 5th axis (15) and 6th axis (16), thereby increasing the cooling efficiency.

[0040] As an example, in this embodiment, the refrigerant line (120) connected to the main body (110) is branched into first and second refrigerant lines (121, 122), and air can be supplied to each driving unit of the 5th axis (15) and 6th axis (16) through the first refrigerant line (121), and air can be supplied to each driving unit of the 1st to 4th axes (11, 12, 13, 14) through the second refrigerant line (122).

[0041] In addition, the cooling device of the present embodiment can supply air rapidly cooled by the dry ice (20) to the drive units of each axis (11~16) equipped in the robot arm (10) by using dry ice (20) in the cooling space (111) of the main body (110), thereby rapidly cooling the heat generated by the operation of the drive units.

[0042] The pump member (130) is provided in the main body (110) and can introduce cooled air in the cooling space (111) into the refrigerant line (120).

[0043] Specifically, the pump member (130) may be integrally provided with the main body (110), and a refrigerant supply line (131) may be connected to the pump member (130) from the main body (110), and a refrigerant line (120) extending into the interior of the robot arm (10) may be connected to cool each axis (11~16).

[0044] Accordingly, when the pump member (130) operates, the cooled air within the cooling space (111) provided in the main body (110) can be sucked in through the refrigerant supply line (131), and the sucked air can be introduced into the refrigerant line (120).

[0045] The robot cooling device (100) according to the present embodiment configured as described above can rapidly cool the air within the cooling space (111) by introducing dry ice (20) into the cooling space (111) of the main body (110) when the robot arm (10) is operated, and at the same time, by operating the pump member (130) to supply the cooled air within the cooling space (111) to each axis (11~16) of the robot arm (10) through the refrigerant line (120), the heat generated in the driving unit provided on each axis (11~16) according to the axis driving of the robot arm (10) can be rapidly cooled.

[0046] In particular, in the case of a robot arm (10) that performs welding work, in addition to the self-heating of the drive unit, overheating may occur in the drive unit due to welding heat, but by using the robot cooling device (100) of this embodiment, air rapidly cooled by dry ice (20) is sprayed into the drive unit to quickly relieve the overheating.

[0047] Meanwhile, the robot cooling device (100) according to the present embodiment may further include temperature sensors (not shown) provided on each axis (11~16) of the robot arm (10).

[0048] A temperature sensor (not shown) is provided on each axis (11~16) of the robot arm (10) and can be connected to the pump member (130) via a signal line.

[0049] FIG. 5 illustrates the operation process of a cooling device (100) for a robot using a temperature sensor (not shown) according to one embodiment of the present invention.

[0050] Referring to FIG. 5, the robot cooling device (100) according to the present embodiment can detect the temperature of the driving unit provided on each axis (11~16) of the robot arm (10) through a temperature sensor (not shown) (S110).

[0051] At this time, when the temperature of the drive unit equipped on each axis (11~16) rises above a preset temperature (S120) due to the operation of the robot arm (10), a drive signal can be transmitted to the pump member (130) through the signal line.

[0052] Additionally, the pump member (130) that receives the driving signal can operate to introduce the cooled air in the cooling space (111) into the refrigerant line (120) (S130).

[0053] Additionally, air introduced into the refrigerant line (120) by the operation of the pump member (130) can be supplied to the drive units of the 5th axis (15) and 6th axis (16) through the branched first refrigerant line (121), and can also be supplied to the drive units of the 1st to 4th axes (11, 12, 13, 14) through the second refrigerant line (122), thereby cooling the drive units of each axis (11~16) provided in the robot arm (10) (S140).

[0054] The robot cooling device (100) of the present embodiment detects the temperature of the drive unit provided on each axis (11~16) of the robot arm (10) through a temperature sensor (not shown), and operates the pump member (130) to supply cooling air to the drive unit only when the temperature of the drive unit rises above a preset temperature, thereby supplying cooling air only when cooling of the drive unit is required.

[0055] As described above, the robot cooling device (100) according to the embodiment of the present invention can be mounted on a robot arm (10) with a simple configuration and can be easily used by inserting a coolant (20), such as dry ice, into a cooling space (111) within the main body (110) as needed, and can supply the cooled air within the cooling space (111) to each axis (11~16) of the robot arm (10) so that the driving parts, such as motors, reduction gears, and brake modules, provided on each axis (11~16) of the robot arm (10) which generate heat during operation can be effectively cooled.

[0056] The embodiments of the invention disclosed in this specification and drawings are provided merely as specific examples to facilitate the explanation of the technical content of the invention and to aid in understanding the invention, and are not intended to limit the scope of the invention.

[0057] Accordingly, the scope of the present invention should be interpreted as including all modifications or variations derived based on the technical concept of the present invention, in addition to the embodiments disclosed herein. Explanation of the symbols

[0058] 10 : Robot arm 20 : Coolant 100: Cooling device for robot 110: Main body 111 : Cooling compartment 112 : Cover 113: Cable passage hole 120: Refrigerant line 121: 1st refrigerant line 122: 2nd refrigerant line 130 : Pump component

Claims

Claim 1 A cooling device for a robot, comprising: a main body portion mounted on a 6-axis robot arm having 6 rotation axes and having a cooling space formed therein in which a coolant is contained; a refrigerant line connected to the main body portion and supplying air for cooling to a drive unit provided on each axis of the robot arm; and a pump member provided on the main body portion and introducing cooled air within the cooling space into the refrigerant line, wherein the refrigerant line comprises: a first refrigerant line supplying cooled air to a drive unit provided on the 5th and 6th axes of the robot arm; and a second refrigerant line supplying cooled air to a drive unit provided on the 1st to 4th axes of the robot arm. Claim 2 A cooling device for a robot according to claim 1, further comprising a temperature sensor connected to the pump member via a signal line and detecting the temperature of a drive unit provided on each axis of the robot arm, wherein the temperature sensor transmits a drive signal to the pump member via the signal line so that the pump member operates when the temperature of the drive unit rises above a preset temperature. Claim 3 A robot cooling device according to claim 1, wherein the main body part is provided with a cover that can be opened and closed to insert or replace a coolant within the cooling space as needed, and the coolant is dry ice. Claim 4 In claim 1, the main body is a cooling device for a robot that is coupled to an arm frame provided between the axes of the robot arm. Claim 5 A cooling device for a robot according to claim 1, wherein the main body part has a cable passage hole formed therein through which a cable provided inside the robot arm and a refrigerant line pass. Claim 6 delete

Images