Temperature estimation method based on mechanical arm steady-state heat transfer model

Abstract

The invention provides a temperature estimation method based on a mechanical arm steady-state heat transfer model. The temperature estimation method comprises: carrying out working condition testing on a mechanical arm; establishing a working condition and power consumption model P, and inputting a test result; establishing a thermal simulation model U based on the mechanical arm three-dimensional model; taking the output result of the working condition and power consumption model P as the input value of the thermal simulation model U; and outputting an estimated temperature value by the thermal simulation model U. According to the temperature estimation method provided by the invention, the actually required working condition test data of the mechanical arm is less, and excessive test instruments are not needed, so that the temperature estimation cost is greatly reduced. In addition, the model of the temperature estimation method is established quickly, model parameters can be quickly converted for different mechanical arms, the temperature estimation speed is high, the accuracy is high, and the personnel cost can be greatly reduced.

Description

technical field [0001] The invention relates to the technical field of temperature estimation of a mechanical arm, in particular to a temperature estimation method based on a steady-state heat transfer model of a mechanical arm. Background technique [0002] With the development of robot technology, manipulators have been widely used in various industries. At the same time, higher requirements have been put forward for the performance of manipulators. Especially for collaborative manipulators, their weight is light, and most of their structural parts are made of aluminum alloy. The structural components of this type of manipulator mainly include modular joints and manipulator linkages. The modular joints integrate important components such as reducers, motors, and drives. This type of robotic arm requires high precision, high load-to-weight ratio, and high reliability. There are many factors that affect these performances, among which temperature will affect the lubricating...

AI Technical Summary

Problems solved by technology

[0003] Accurately estimating the temperature of each component of the manipulator is of great significance for temperature compensation and friction identification of the manipulator. Generally, temperature testing is required for temperature compensation of the manipulator or establishment of more complex friction models. The temperature value obtained by using a temperature sensor is more reliable, but it has the disadvantages of high cost, heavy workload, high maintenance cost, etc.

Images