Robot Motor Preheating via Joule Heating for Motion Accuracy
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Solution Overview
Problem
Robot apparatuses experience reduced motion accuracy and efficiency due to temperature fluctuations between warmed-up and cooled states, leading to increased operational time and energy inefficiency, with existing solutions complicating the mechanism and increasing costs through the use of temperature sensors.
Innovation Solution
A controlling system that calculates and supplies a temperature-raising current to the motor without rotating it, allowing the robot body to reach a predetermined temperature before operation, thereby maintaining consistent performance and reducing energy consumption.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If temperature sensors and heaters are added to control robot body temperature, then motion accuracy is maintained, but device complexity and cost increase
Solution Approach 1:
The motor serves dual purposes: driving the robot body and generating heat through controlled current input. The control unit utilizes existing motor characteristics and operational data to calculate temperature raising current, enabling the system to self-regulate temperature without external sensors or heaters
Solution Approach 2:
The motor is made multi-functional by using it both as a drive mechanism and as a heating device. By controlling the current input to the motor, the system can either rotate the motor for movement or input current without rotation to generate heat, eliminating the need for separate heating components
2Manufacturing precision
If mandatory heating control is implemented to maintain temperature, then motion accuracy is improved, but energy consumption increases
Solution Approach 1:
Instead of continuous or mandatory heating, the system applies partial heating action by calculating the exact temperature raising current needed based on motor operational data. The control unit determines the minimum necessary current to achieve the desired temperature increase, avoiding excessive energy consumption
Solution Approach 2:
The system changes the operational parameters of the motor by controlling the magnitude and duration of current input. By adjusting these electrical parameters, the system can precisely control the amount of heat generated, matching energy input to actual temperature requirements rather than using fixed heating protocols
3Productivity
If the robot body is operated for long periods, then productivity increases, but temperature fluctuations cause motion accuracy to decrease
Solution Approach 1:
The system performs preliminary heating action during operation stops or idle periods by calculating and applying temperature raising current to the motor. This advance heating ensures the robot body reaches the required temperature before resuming operation, maintaining motion accuracy throughout extended operational periods
Solution Approach 2:
The control unit uses feedback from motor operational data, including current consumption and operational duration, to calculate appropriate temperature raising current. This feedback mechanism allows the system to adapt heating requirements based on actual operational conditions, maintaining temperature and accuracy over long periods
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach enables the robot apparatus to maintain accurate operation by preheating to a consistent temperature without additional sensors, reducing the time required to reach operational readiness and minimizing energy wastage.
Implementation Method 1
a heat generation controlling unit configured to input the current to the motor to generate heat, without rotating the motor
Data Source
AI summary
A robot apparatus comprises: a robot body having a multi joint arm including a plurality of joints; a motor provided as a driving source of at least a part of the plurality of joints; and a controlling system capable of controlling the motor. The controlling system comprises a motion controlling unit configured to input a current to the motor to rotate the motor, a heat generation controlling unit configured to input the current to the motor to generate heat, without rotating the motor, and a controlling unit configured to calculate a temperature raising current necessary to rise up to a predetermined temperature without rotating the motor, to generate a current instruction for temperature raising to set the heat generation controlling unit to output the temperature raising current, and to transmit the current instruction for temperature raising to the heat generation controlling unit at stopping the robot body.