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Method and system for heating of robots in cold environments

一种机器人、冷环境的技术，应用在控制系统、机械手、电动机控制等方向，能够解决增加设备成本、冷的部件磨损很利害等问题，达到节约时间、快速加热、保护损坏的效果

Active Publication Date: 2012-10-17
ABB (SCHWEIZ) AG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, after standing still, it is often necessary to heat the drive train either by performing a warm-up exercise, or by performing additional external localized heating; Additional external localized heating increases equipment cost

Method used

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  • Method and system for heating of robots in cold environments
  • Method and system for heating of robots in cold environments
  • Method and system for heating of robots in cold environments

Examples

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Embodiment Construction

[0014] figure 1 A permanent magnet brushless or synchronous motor 1 is shown with a rotor coordinate system in a stator coordinate system and a rotor position, the permanent magnet brushless or synchronous motor 1 comprising:

[0015] Three motor phases, which include the stator coils L 1 , L 2 , L 3 ,

[0016] · Cartesian stator coordinate system with axis a and axis b, respectively,

[0017] · A rotor 2 with permanent magnets having a north pole N and a south pole S,

[0018] a Cartesian rotor coordinate system with axes d and q, respectively,

[0019] • Rotor position α relative to the stator coordinate system a,b, which means that α corresponds to the angle between the stator axis a and the rotor axis d.

[0020] figure 2 A robot drive system with inverters and motors is shown, comprising:

[0021] · Rotating field inverter 3 with six semiconductor devices 3A, 3B, 3C, 3D, 3E, 3F arranged in relation to the input DC voltage U 0 Three-phase bridge connection and ou...

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Abstract

The invention proposes a method for heating of robots in cold environments, whereby the robot possesses permanent magnet brushless or three-phase synchronous motors (1) with three motor phases comprising three stator coils (L1, L2, L3) connected to an inverter (3) controllable by a control-unit (4) and with a rotor with permanent magnet excitation (2). A current is applied to at least one phase respectively stator coil (L1, L2, L3) of the motor (1) if the motor stands still creating a directed magnetic flux (phi) which interacts with the permanent magnets of the rotor in such a way that the resulting torque will be close to zero. Further the invention proposes a system for heating of robots in cold environments whereby the inverters (3) and motors (1) in standstill are used to heat up the critical drive train components, where by at least one supervisory-control-unit (5) monitors the motor temperature in order to avoid overheating.

Description

technical field [0001] The present invention relates to a method and system for heating a robot in a cold environment, especially an industrial robot, the robot of the invention has a permanent magnet brushless or three-phase synchronous motor with a motor comprising three stator coils The three-phase winding of the rotor and the rotor with permanent magnet excitation, where the three stator coils are connected with the inverter (inverter) which can be controlled by the control unit. Background technique [0002] Today, robots can only operate within a temperature range of approximately +5°C to 50°C. In a cold environment such as a refrigerator or in an outdoor environment, the temperature can be as low as eg -20°C to -30°C, which limits the use of industrial robots. The temperature range of today's standard industrial robots is mainly limited by the joint bearing seals and the lubricant of the gears. In order for the robot to operate at temperatures below +5°C, the gear a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/12B25J19/00
CPCB25J9/126H02P29/005B25J19/00H02P29/62
Inventor 桑克·科克延斯·霍夫舒尔特
Owner ABB (SCHWEIZ) AG
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