Automatic machine controller cabinet body and automatic machine comprising same

Abstract

The invention relates to an automatic machine controller cabinet body and an automatic machine comprising the same. The automatic mechanical controller cabinet comprises: a chamber; first and second electronic units including an electronic component having a high heat flux and an electronic component having a medium heat flux, respectively; the cooling channel comprises a fan and an inlet formed in the front side part of the cabinet body; and an air-component heat exchanger that supports the cooling element. According to the invention, an air-air cross-flow exchanger is arranged in the channel, and the air-air cross-flow exchanger comprises: a first cooling circuit having an inlet and an outlet through a bottom panel of the chamber; the second cooling circuit is provided with an inlet and an outlet which are parallel, and the inlet is opposite to the inlet of the channel; and a fan generating an airflow in the first cooling circuit, the airflow being perpendicular to the airflow generated by the fan of the channel in the second cooling circuit.

Description

Technical Field

[0001] The invention relates to an automatic machine controller cabinet and an automatic machine comprising the cabinet.

[0002] The present invention relates to the field of industrial automatic machinery. The industrial automatic machinery generally comprises an automatic mechanical arm, an automatic mechanical controller and a transmission cable for connecting the automatic mechanical arm to the controller. Background Art

[0003] A robot arm generally comprises a plurality of articulated elements capable of being moved relative to one another by means of electric motors equipped with sensors suitable for providing their position. A robot controller groups, in a cabinet distinct from the robot arm, all the electronic components suitable for determining and providing the control set points of the robot arm.

[0004] The robot controller cabinet has two features, which are to house the electronic components required for the operation of the robot arm and to ensure good operating conditions of the electronic components.

[0005] In fact, some electronic components required to control the robot arm, such as amplifiers, generate a lot of heat during use, while other components, such as processors, only work normally when the temperature in the cabinet is not too high.

[0006] To ensure the correct operation of all components, the automatic machine controller cabinet known from EP3079451A1 comprises cooling elements in direct thermal contact with the electronic components and cooling channels. On the other hand, the cabinet isolates the electronic components that generate heat and must operate within a specific temperature range in two different chambers.

[0007] Cabinets that isolate the electronics into two different chambers have the disadvantage of being quite expensive and bulky. Summary of the invention

[0008] The present invention therefore aims to remedy this drawback by providing a new type of automatic mechanical controller cabinet that allows optimal operation of the electronic components while being compact.

[0009] The subject of the invention is an automatic mechanical controller cabinet, which includes: a chamber, which is defined by a top panel, a bottom panel, two lateral panels, a rear panel, and a front panel, which is arranged opposite to the rear panel and defines the front side of the automatic mechanical controller cabinet; at least one first electronic unit, which is mounted on the rear panel of the chamber in the chamber and includes at least one electronic component with high heat flux; at least one second electronic unit, which is mounted on one or more of the lateral panels or the top panel in the chamber and includes at least one electronic component with medium heat flux. The automatic mechanical controller cabinet also includes a cooling channel with an inlet opening and at least one fan, which is suitable for sucking air from the outside through the inlet opening of the cooling channel and exhausting the air to the outside through the outlet opening of the cooling channel located at the end opposite to the inlet opening. The cabinet also includes at least one air-component heat exchanger, which is associated with the first electronic unit and accommodates at least one electronic component with high heat flux on the first side and supports at least one cooling element arranged in the cooling channel on the second side. According to the present invention, the cooling channel includes a first part and a second part, the first part is defined between the bottom panel of the chamber and the outer parallel panel defining the bottom of the automatic mechanical controller cabinet, and the second part is adjacent to the first part and positioned between the rear panel of the chamber and the outer parallel panel defining the rear side of the automatic mechanical controller cabinet. The inlet opening of the cooling channel is arranged on the front side of the cabinet. The air-air cross-flow exchanger is arranged in the cooling channel and includes a first cooling circuit and a second cooling circuit, the first cooling circuit having an inlet opening through the bottom panel of the chamber and an outlet opening through the bottom panel of the chamber, the second cooling circuit having an open inlet opposite to the inlet opening of the cooling channel and an outlet opening parallel to the inlet opening of the second cooling circuit, the outlet opening being arranged at the opposite end of the air-air cross-flow exchanger and leading to the cooling channel. At least one fan located inside the chamber and opposite to the inlet opening or outlet opening of the first cooling circuit of the air-air cross-flow heat exchanger generates an airflow in the first cooling circuit, which is perpendicular to the airflow generated by the cooling channel fan in the second cooling circuit.

[0010] According to the present invention, the automatic machine controller cabinet comprises a single chamber which comprises both components with high heat flux and components with medium heat flux, while ensuring, by means of an air-to-air cross-flow heat exchanger, that the heat generated by the components with high heat flux affects in a limited manner the components with medium heat flux which cannot function properly in the event of excessively high temperatures inside the chamber. The automatic machine controller cabinet is compact because it comprises a single chamber accommodating all electronic components.

[0011] As defined in the present invention, an electronic component with a high heat flux is an electronic component that dissipates a high heat flow rate given its size. Since this high power dissipation is concentrated on a small amount of material, the dissipation causes a significant increase in the temperature of the component. An electronic component with a high heat flux dissipates a heat flow rate ranging, for example, from 20 Watts to 200 Watts. In addition, an electronic component with a medium heat flux is an electronic component that dissipates a low heat flow rate, but the increase in its temperature must be limited in order for the component to operate normally, i.e., the electronic component dissipates a heat flow rate of, for example, less than 35 Watts.

[0012] According to other advantageous aspects of the invention, the automatic machine controller cabinet comprises one or more of the following features taken individually or in all technically possible combinations:

[0013] A cooling channel fan is arranged downstream of the air-to-air cross-flow exchanger and upstream of the air-to-component heat exchanger and in the second portion of the cooling channel.

[0014] - The first electronic unit is an amplifier and the component with high heat flux is a switching module, preferably an insulated gate bipolar transistor.

[0015] - The first electronic unit is a power supply and the component with high heat flux is an insulated gate field effect transistor or thyristor or a DC-DC converter element which converts a DC source from a certain level of voltage to another different level of voltage.

[0016] The second electronic unit is a computing unit and the component with medium heat flux is a processor, or the second electronic unit is a filtering unit and the component with medium heat flux is a passive filtering component.

[0017] The automatic machine controller cabinet comprises a brake resistor mounted on the rear panel of the chamber in the cooling channel downstream of the air-component heat exchanger, the brake resistor being configured to dissipate excess energy generated by the first electronic unit.

[0018] - The outlet opening of the cooling channel is arranged on the rear side of the automatic machine controller cabinet.

[0019] - the second electronic unit is arranged inside a first bracket unit supported by the top panel of the chamber, the first bracket unit comprising a first opening arranged opposite one lateral side of the chamber and a second opening arranged opposite another lateral side of the chamber.

[0020] - The lateral panel of the chamber comprises an opening closed by a door, and the second electronic unit is placed on the top panel of the chamber and / or supported by the door of the lateral panel.

[0021] The present invention also relates to a multi-axis robot, which includes a robot arm articulated to have at least two degrees of freedom, a robot controller cabinet as mentioned above, and a cable connecting the robot arm to the robot controller cabinet. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The invention will become more apparent on reading the following description, which is given by way of example only and not limitation, and with reference to the accompanying drawings, in which:

[0023] [ Figure 1 ] Figure 1 is a perspective view of a multi-axis robot according to the present invention, the multi-axis robot including an articulated arm and a robot controller cabinet also according to the present invention;

[0024] [ Figure 2 ] Figure 2 yes Figure 1 A three-dimensional cutaway view of an automatic mechanical controller cabinet shown in ;

[0025] [ Figure 3 ] Figure 3 yes Figure 2 A three-dimensional rear view of the automatic mechanical controller cabinet shown in;

[0026] [ Figure 4 ] Figure 4 It is along Figure 2 A cross-sectional view of the plane P1 visible in FIG.

[0027] [ Figure 5 ] Figure 5 It is along Figure 2 A cross-sectional view of the plane P2 visible in FIG.

[0028] [ Figure 6 ] Figure 6 yes Figures 2 to 5 A perspective view of an air-to-air cross-flow exchanger of an automatic machine controller cabinet shown in , inset A) illustrates a first air cooling circuit, and inset B) illustrates a second air cooling circuit;

[0029] [ Figure 7 ] Figure 7 yes Figures 2 to 5 A perspective view of a portion of the structure of the air-component heat exchanger and the automatic mechanical controller cabinet shown in ;

[0030] [ Figure 8 ] Figure 8 is a perspective view of an automatic mechanical controller cabinet according to a second embodiment of the present invention, which is similar to Figure 2 The view shown in . DETAILED DESCRIPTION

[0031] Figure 1 The robot R shown in the figure comprises a robot arm 2 comprising a plurality of articulated sections that can be moved relative to each other by means of electric motors (not shown). The robot R also comprises a robot controller cabinet 4 comprising electronic units implemented as follows:

[0032] a calculation unit adapted to determine a motor control set point according to an application program,

[0033] an amplifier adapted to generate a current in the motor as a function of a motor control set point and position information of the motor of the robotic arm,

[0034] A power supply adapted to supply the amplifier and the computing unit with the required voltages from the mains voltage.

[0035] The robot R also includes a cable 6 that connects the robot arm 2 to the robot controller cabinet 4 , transmits current to the motor, and transmits a position signal of the motor of the robot arm 2 to the robot controller cabinet 4 .

[0036] exist Figures 2 to 5 Detailed description is shown in FIG. 4 for the automatic mechanical controller cabinet 4. The automatic mechanical cabinet 4 includes a chamber 8 defined by a top panel 8A, a bottom panel 8B, a first lateral panel 8C, a second lateral panel 8D, a rear panel 8E, and a front panel 8F. The front panel 8F is disposed opposite to the rear panel 8E and defines the front side 4A of the automatic mechanical controller cabinet 4.

[0037] The panels 8A, 8B, 8C, 8D, 8E, 8F together define an interior volume V8 of the chamber 8 of the robot controller cabinet 4 .

[0038] The front panel 8F includes an opening 9A. The opening 9A is closed by a door 9B hinged to the front panel 8F. The door 9B can be operated from the outside of the automatic mechanical controller cabinet 4 and has a Figure 3 When the door 9B is placed in the Figure 2 and Figure 3 4A, the interior volume V8 of the chamber 8 is accessible from the outside of the cabinet. The door 9B supports a cam lock 7, which includes a handle 7A located on the front side 4A of the automatic mechanical controller cabinet and a bolt 7B that enables the door 9B to be maintained in the closed position by actuation thereof. When the door 9B is closed, the interior volume V8 of the chamber 8 is sealed.

[0039] The automatic mechanical controller cabinet 4 includes a cooling channel 10, Figure 5. The cooling channel 10 includes a first portion 10A defined between a bottom panel 8B of the chamber 8 and an outer panel 4B parallel to the bottom panel 8B. The outer parallel panel 4B defines the bottom of the automatic mechanical controller cabinet 4. The cooling channel 10 includes a second portion 10B defined between a rear panel 8E of the chamber 8 and an outer panel 4C parallel to the rear panel 8E. The outer parallel panel 4C defines the rear side of the automatic mechanical controller cabinet 4. The cooling channel 10 is also defined by a first lateral panel 8C and a second lateral panel 8D.

[0040] The two parts 10A and 10B of the cooling channel are continuous and form a right angle at their junction at the rear bottom of the automatic machine controller cabinet 4 .

[0041] The cooling channel 10 includes an inlet opening 12 provided on the front side 4A of the automatic machine controller cabinet 4 and an outlet opening 14 located at the end of the cooling channel 10 opposite to the inlet opening and provided on the rear side 4C of the automatic machine controller cabinet 4. The outlet opening 14 is in the form of a grid.

[0042] The cooling channel 10 comprises at least one fan 16 adapted to draw in external air through the inlet opening 12 of the cooling channel 10 and discharge the air to the outside through the outlet opening 14 of the cooling channel 10. Preferably, the fan 16 is arranged in the second portion 10B of the cooling channel 10. Advantageously, the cooling channel 10 accommodates a plurality of fans 16, for example four fans 16 arranged over the entire width of the rear side portion 4C of the automatic machine controller cabinet 4, such as by Figure 4 This can be seen in the cross-sectional view.

[0043] The automatic machine controller cabinet 4 includes an air-to-air cross-flow exchanger 40. The air-to-air cross-flow exchanger 40 is Figure 2 , Figure 4 and Figure 5 The automatic mechanical controller cabinet is visible and Figure 6 The air-air cross-flow exchanger 40 is positioned in an opening (not shown) of the bottom panel 8B of the chamber 8 such that the air-air cross-flow exchanger 40 is housed in the first portion 10A of the cooling channel 10 opposite the inlet opening 12 of the cooling channel 10 .

[0044] The air-air cross-flow exchanger 40 comprises a support 41 and a stack 42 made of plates 43. The support 41 closes the opening of the bottom plate 8B of the chamber 8 airtightly.

[0045] The plate 43 is a parallelepiped metal plate. The plate 43 is parallel to the support member 41. Figure 6As shown in FIG. 4 , the plates 43 are spaced apart so as to leave a space 44 for a passage of air flow. In other words, an air flow passage space 44 is defined between two adjacent plates 43.

[0046] For each airflow passage space 44, a front opening 44A parallel to the front side 4A of the automatic mechanical controller cabinet 4, a rear opening 44B parallel to the rear side 4C of the automatic mechanical controller cabinet 4, a first lateral opening 44C parallel to the first lateral panel 8C, and a second lateral opening 44D parallel to the second lateral panel 8D are defined.

[0047] The passage spaces 44 are alternately closed at their front openings 44A and rear openings 44B or at their lateral openings 44C and 44D. In other words, for two adjacent passage spaces 44, the first passage space 44 allows the first airflow F1 to flow from its first lateral opening 44C to its second lateral opening 44D, and the second passage space 44 allows the second airflow F2 to flow from its front opening 44A to its rear opening 44B.

[0048] The alternating closing of the openings of the passage spaces 44 creates two cooling circuits within the air-to-air cross-flow exchanger 40 .

[0049] The first cooling circuit comprises two inlet openings 45 extending through the support 41 at the side of the lateral panel 8C and connected below the support 41 opposite the lateral opening 44C of the passage space 44. The first cooling circuit comprises an outlet opening 46 extending through the support 41 and parallel to the lateral panel 8D of the chamber 8. The first cooling circuit comprises all the passage spaces 44 closed by the front opening 44A and the rear opening 44B.

[0050] A fan 48 is positioned opposite each inlet opening 45, the fan 48 conveying air from the internal volume V8 of the chamber 8 along the first cooling circuit. The fan 48 is positioned in the internal volume V8 of the chamber 8. The fan 48 generates in the first cooling circuit a Figure 4 and Figure 6 4. The airflow F1 is indicated by the arrow in FIG. In the air-air cross-flow exchanger 40, the airflow F1 travels from the inlet opening 45 through the passage space 44 to the outlet opening 46. In a variant (not shown), the first cooling circuit comprises a single inlet opening 45 extending through the support 41 and parallel to the lateral panel 8C of the chamber 8. In this case, a single fan 48 is advantageously provided.

[0051] In a variant (not shown), one or more fans 48 are positioned opposite the outlet orifice 46 of the first cooling circuit.

[0052] The second cooling circuit comprises an inlet opening formed by all front openings 44A of the passage spaces 44. The inlet opening of the second cooling circuit is thus opposite to the inlet opening 12 of the cooling channel 10. The outlet opening of the second cooling circuit is formed by all rear openings 44B of the passage spaces 44. The outlet opening of the second cooling circuit is thus parallel to the inlet opening of the second cooling circuit. The outlet opening of the second cooling circuit leads to the first portion 10A of the cooling channel 10. The fan 16 positioned in the cooling channel 10 downstream of the air-air cross-flow exchanger 40 generates air in the air-air cross-flow exchanger 40 by Figure 5 and Figure 6 The airflow F2 indicated by the arrow in FIG. 1 travels from the inlet opening of the second cooling circuit through the passage space 44 to the outlet opening of the second cooling circuit, and the lateral openings 44C, 44D of the passage space 44 are closed.

[0053] In a variant (not shown), the fan 16 is positioned upstream of the air-to-air cross-flow exchanger 40 and generates an air flow F2 similar to that described above.

[0054] Thus, within the air-to-air cross-flow exchanger 40 , the air flow F1 flowing within the first cooling circuit flows perpendicularly to the air flow F2 flowing within the second cooling circuit.

[0055] The robot controller cabinet 4 includes a first electronic unit 20. The first electronic unit 20 is mounted on the rear panel 8E of the chamber 8 in the internal volume V8 of the chamber 8. The first electronic unit 20 is, for example, a power supply unit 20A and a power unit 20B.

[0056] The first electronic power supply unit 20A comprises one or more printed circuits, including at least one electronic component 21 with high heat flux, such as an insulated gate field effect transistor (metal oxide semiconductor field effect transistor), a thyristor or a DC-DC converter element that converts a DC source from a level of a specified voltage to a level of another different voltage, which is symbolically represented in the drawings. The electronic component 21 with high heat flux is an electronic component that dissipates a high rate of heat flow given its size. Since this high power dissipation is concentrated on a small amount of material, the dissipation causes a significant increase in the temperature of the component. The electronic component with high heat flux dissipates a heat flow at a rate ranging from 20 watts to 200 watts, for example.

[0057] The first electronic power unit 20B is for example an amplifier comprising a printed circuit including at least one electronic component 21 with a high heat flux, such as a switching module. Preferably, the switching module is an insulated gate bipolar transistor.

[0058] The first electronic power unit 20B is adapted to generate a current in the motor of the robot arm 2 according to the amplifier control command and the position information of the motor of the robot arm 2 .

[0059] The first electronic units 20 include electronic components 21 with a high heat flux. In order to improve the dissipation of the heat generated by the components 21 with a high heat flux, each first electronic unit 20 is mounted on a first side 24A of an air-component heat exchanger 24. The air-component heat exchanger 24 supports a cooling element 26 on a second side 24B, such as in Figure 5 and Figure 7 The additional element 26 is, for example, a set of blades. The cooling element 26 is made of a material with high thermal conductivity, such as aluminum.

[0060] The air-component heat exchanger 24 is positioned in the opening 28 of the rear panel 8E so that the first electronic unit 20 is located inside the internal volume V8 of the chamber 8 and the cooling element 26 is located inside the second portion 10B of the cooling channel 10. The air-component heat exchanger 24 is attached to the rear panel 8E by means of screws 27 fitted in threaded holes 29 and hermetically closes the opening 28 of the rear panel 8E. Advantageously, the air-component heat exchanger 24 is positioned so that in the cooling channel 10, the cooling element 26 is located downstream of the fan 16.

[0061] The rear panel 8E includes as many openings 28 as the first electronic units 20 .

[0062] The robot controller cabinet 4 comprises a second electronic unit 30. For example, the second electronic unit 30 is intended to generate control set points for the first electronic power unit 20B, which will allow the motors of the robot arm 2 to be properly actuated to prepare the action performed by the robot arm 2.

[0063] The second electronic unit 30 includes at least one electronic component 31 with a medium heat flux. Preferably, the second electronic unit 30 is a computing unit, and the electronic component 31 with a medium heat flux is, for example, a processor. The electronic component 31 with a medium heat flux is an electronic component that dissipates a low rate of heat flow, but in order for the component to work properly, even if the heat flow dissipation rate is less than 35 watts, its temperature rise must be limited.

[0064] The second electronic unit 30 is arranged inside the first support unit 34. The first support unit 34 is provided with a parallelepiped frame. The first support unit 34 is supported inside the inner volume V8 of the chamber 8 by the top panel 8A.

[0065] The first bracket unit 34 is preferably mounted on a track (not shown) parallel to the side panels 8C, 8D of the chamber 8. The first bracket unit 34 can slide on the track so that the first bracket unit 34 can be easily removed through the front door 9B of the automatic machine controller cabinet 4.

[0066] The bracket unit 34 includes a first opening 34A provided on one of the faces of the bracket unit 34, preferably on the side opposite to the rear panel 8E. The first opening 34A allows the connection cable 36 from the second electronic unit 30 to the first electronic unit 20 to pass therethrough.

[0067] The first bracket unit 34 comprises an internal fan 37, which generates an airflow F3 inside the first bracket unit 34. The internal airflow F3 flows between a first opening 35A provided on a first lateral side portion 34B of the first bracket unit 34 opposite to the lateral panel 8D and a second opening 35B formed on a second lateral side portion 34C of the first bracket unit 34 opposite to the lateral panel 8C. The airflow F3 is superimposed on the airflow F1, which penetrates into the first bracket unit 34 by means of the first opening 35A and comes out through the second opening 35B. The airflows F1 and F3 dissipate the heat generated inside the first bracket unit 34 via the component 31 with medium heat flux toward the internal volume V8 of the chamber 8, the volume of which is greater than the volume of the bracket unit 34 in which the component 31 with medium heat flux is located.

[0068] The automatic machine controller cabinet 4 comprises a second electronic unit 30, which comprises a filter unit 64 fastened to the lateral panel 8D. The filter unit 64 is placed between the power grid and the power supply unit 20A and has the function of filtering out all electrical interferences. The second electronic unit 30 comprises electronic components 31 with medium heat flux, such as passive filter components, for example.

[0069] The automatic machine controller cabinet 4 includes a brake resistor 38. The brake resistor 38 is mounted on the rear panel 8E of the chamber 8 in the cooling channel 10. In other words, Figure 2 and Figure 4 The brake resistor 38 visible in FIG. 1 is located outside the internal volume V8 of the chamber 8. The brake resistor 38 is arranged opposite the outlet opening 14 of the cooling channel 10. The brake resistor 38 is powered by the first electronic power unit 20B when the motor of the robot arm 2 returns energy. In other words, the brake resistor 38 dissipates excess energy generated by the first electronic power unit 20B.

[0070] When the robot R is in operation, the heat generated by the component 21 with a high heat flux must be dissipated to allow the component 31 with a medium heat flux to function properly.

[0071] The fan 48 generates an airflow F1. The airflow F1 enters the air-air cross-flow exchanger 40 via the opening 44C of the passage space 44 and leaves via the opening 44D. The airflow F1 then enters the chamber 8 through the outlet opening 46. In the internal volume V8 of the chamber 8, the airflow F1 follows the lateral panel 8D, then the first bracket unit 34, then the lateral panel 8C, until the opening 45 at the bottom panel 8B. The airflow F1 thus circulates within the internal volume V8 of the chamber 8.

[0072] The airflow F3 inside the first bracket unit 34 has the same direction as the airflow F1 .

[0073] The airflow F1 provides heat dissipation of the heat generated by the electronic components 31 having a moderate heat flux. The airflow F1 is cooled by the airflow F2 during its passage through the air-to-air cross-flow exchanger 40 .

[0074] The fan 16 of the cooling channel 10 generates an air flow F2 from the inlet opening 12 of the cooling channel 10 to the outlet opening 14 of the cooling channel 10. The air flow F2 passes through the passage space 44 in the air-air cross flow exchanger 40. Since the air-air cross flow exchanger 40 is arranged at the inlet of the cooling channel 10, the temperature of the air flow F2 at the inlet of the air-air cross flow exchanger 40 is the temperature of the ambient air and is lower than the desired air temperature in the chamber 8, which is of the order of 55 degrees Celsius. The air flow F2 is suitable for cooling the air flow F1. After passing through the air-air cross flow exchanger 40, the air flow F2 contacts in the cooling channel 10 of the cooling element 26 of the air-component heat exchanger 24, and the temperature of the air-component heat exchanger 24 can reach 85 degrees Celsius. The heat generated by the component 21 with a high heat flux is collected by the air-component heat exchanger 24 and dissipated by the air flow F2 in the cooling channel 10 because the air temperature of the air flow F2 at the air-component heat exchanger 24 is lower than the temperature of the cooling element 26 of the air-component heat exchanger 24 .

[0075] When airflow F2 passes through airflow F1 and contacts cooling element 26 of air-component heat exchanger 24 , heat dissipation of heat generated by electronic components 21 with high heat flux and heat dissipation of heat generated by electronic components 31 with medium heat flux is also ensured.

[0076] Advantageously, in some applications where multiple robotic controller cabinets 4 may need to be stacked, the flow of airflow F2 ensures that heat generated by a first robotic controller cabinet 4 being discharged through the outlet opening 14 does not affect the cooling of a second cabinet 4 positioned above or below.

[0077] The combined effect of the airflows F1 and F2 serves to dissipate the heat generated by the components 21 with a high heat flux and to maintain the correct operating temperature for the elements 31 with a medium heat flux in the internal volume V8 of the chamber 8 .

[0078] By means of the air-to-air cross-flow exchanger 40 allowing heat exchange between the two air flows F1 and F2 , the heat generated by the first electronic unit 20 affects the second electronic unit 30 in a limited manner.

[0079] exist Figure 8 In the second embodiment shown in FIG. 1 , elements similar to those of the first embodiment have the same reference numerals. If a reference numeral is used in the following description without Figure 8 or in Figure 8 If shown in the figure but not mentioned in the description, the reference numerals refer to the same elements as the elements with the same reference numerals in the first embodiment. Hereinafter, the differences between the second embodiment and the first embodiment are mainly described.

[0080] In the second embodiment, the lateral panel 8C comprises an opening 50 closed by a side door 51. The side door 51 gives access to the internal volume V8 of the chamber 8 in the open position.

[0081] The front panel 8F has only one opening corresponding to the inlet opening 12 of the cooling channel 10 .

[0082] The outlet opening 14 of the cooling channel 10 is arranged on the inclined side 4D of the robot controller cabinet 4. The inclined panel 4D extends between the top panel 8A of the chamber and the rear side 4C of the robot controller cabinet 4.

[0083] The first bracket unit 34 is preferably mounted on rails (not shown) parallel to the front panel 8F and the rear panel 8E of the chamber 8. The first bracket unit 34 can slide on the rails to facilitate removal of the first bracket unit 34 through the side door 51 of the automatic machine controller cabinet 4.

[0084] The door 51 comprises a second slide 54 on an inner side 51A of the door 51, opposite to the inner volume V8 of the chamber 8. The second electronic unit 30 is located inside the second bracket unit 54. The second bracket unit 54 comprises an opening on one of the sides of the second bracket unit 54, preferably on a top side 54A of the second bracket unit 54 opposite to the top panel 8A of the chamber 8, which allows the connection cable 36 to pass to the first electronic unit 20 and the second electronic unit 30 located outside the bracket unit 54.

[0085] Therefore, the second electronic unit 30 is accommodated in the first bracket unit 34 and / or the second bracket unit 54 .

[0086] In other words, the second electronic unit 30 is placed on the top panel 8A of the chamber 8 and / or supported by the door 51 of the lateral panel 8C.

[0087] The airflow F1 generated to ensure the heat dissipation of the electronic components 31 with a medium heat flux performs a cycle similar to the cycle described above in the chamber 8. In the internal volume V8 of the chamber 8, the airflow F1 passes through the outlet opening 46, then along the lateral panel 8D, then the first rack unit 34, then the second rack unit 54, to the opening 45 at the bottom panel 8B.

[0088] In a variant (not shown), the filter unit 64 is fixed to the lateral panel 8C and the lateral panel 8D comprises an opening 50 closed by a door 51 .

[0089] The advantages of the invention derive from the use of an air-to-air cross-flow exchanger 40, which makes it possible to establish inside a single chamber 8 an airflow F1, which runs through the lateral panels 8C and 8D and the top panel 8A, and an open airflow F2, which is perpendicular to the airflow F1 and runs through the rear panel 8E. Thus, it is possible to have two different cooling states in the same chamber 8. The first electronic unit 20 mounted on the rear panel 8E of the chamber 8 and comprising a component 21 with a high heat flux is mainly cooled by the airflow F2, and the second electronic unit 30 mounted on the lateral panel 8C or the lateral panel 8D or the top panel 8A and comprising an electronic component 31 with a medium heat flux is mainly cooled by the airflow 1. The airflow 1 serves to keep the air in the chamber 8 at a temperature compatible with the operation of the electronic component with a medium heat flux, thereby enabling the operation of the second electronic unit 30 and, as the case may be, the operation of the first electronic unit 20.

[0090] Where technically feasible, the above-mentioned embodiments and modifications may be combined with one another.

Claims

1. An automatic mechanical controller cabinet, comprising: a chamber (8), the chamber (8) being defined by a top panel (8A), a bottom panel (8B), two side panels (8C, 8D), a rear panel (8E), and a front panel (8F), the front panel (8F) being arranged opposite to the rear panel (8E) and defining a front side portion (4A) of the automatic mechanical controller cabinet (4), at least one first electronic unit (20) mounted on the rear panel (8E) of the chamber (8) within the chamber and comprising at least one electronic component (21) having a high heat flux, at least one second electronic unit (30) mounted inside the chamber (8) on one or more of the lateral panels (8C, 8D) or the top panel (8A) and comprising at least one electronic component (31) having a medium heat flux, A cooling channel (10), wherein the cooling channel (10) comprises: an inlet opening (12), at least one fan (16) adapted to draw in external air through the inlet opening (12) of the cooling channel (10) and to discharge the air outward through an outlet opening (14) of the cooling channel (10) located at an end opposite to the inlet opening (12), at least one air-component heat exchanger (24) which is associated with the first electronic unit (20) and which accommodates at least one electronic component (21) with a high heat flux on a first side and supports at least one cooling element (26) arranged in the cooling channel (10) on a second side, Features: The cooling channel (10) comprises: a first portion (10A) defined between the bottom panel (8B) of the chamber (8) and an outer parallel panel (4B) defining the bottom of the automatic machine controller cabinet (4), a second portion (10B) adjacent to the first portion (10A) and positioned between the rear panel (8E) of the chamber (8) and an outer parallel panel (4C) defining the rear side of the automatic mechanical controller cabinet (4), The inlet opening (12) of the cooling channel (10) is arranged on the front side (4A) of the cabinet (4), An air-to-air cross-flow exchanger (40) is arranged in the cooling channel (10), and the air-to-air cross-flow exchanger (40) comprises: a first cooling circuit having an inlet opening (45) through the bottom panel (8B) of the chamber (8) and an outlet opening (46) through the bottom panel (8B) of the chamber (8), a second cooling circuit having an inlet opening (44A) opposite to the inlet opening (12) of the cooling channel (10) and an outlet opening (44B) parallel to the inlet opening (44A) of the second cooling circuit, the outlet opening (44B) being arranged at an opposite end of the air-air cross-flow exchanger (40) and opening into the cooling channel (10), At least one fan (48) is positioned inside the chamber (8) opposite the inlet opening (45) or the outlet opening (46) of the first cooling circuit of the air-to-air cross-flow exchanger (40), the at least one fan (48) generating an air flow (F1) in the first cooling circuit, the air flow (F1) being perpendicular to the air flow (F2) generated in the second cooling circuit by the fan (16) of the cooling channel (10).

2. The automatic mechanical controller cabinet according to claim 1, characterized in that: The fan (16) of the cooling channel (10) is arranged downstream of the air-to-air cross-flow exchanger (40), upstream of the air-to-component heat exchanger (24), and in the second portion (10B) of the cooling channel (10).

3. The automatic machine controller cabinet according to one of claims 1 and 2, characterized in that The first electronic unit (20) is an amplifier and the component (21) with high heat flux is a switching module, preferably an insulated gate bipolar transistor.

4. The automatic machine controller cabinet according to one of claims 1 and 2, characterized in that The first electronic unit (20) is a power supply and the component (21) with high heat flux is an insulated gate field effect transistor or a thyristor or a DC-DC converter element which converts a DC source from a voltage of a specified level to a voltage of another different level.

5. The automatic machine controller cabinet according to one of claims 1 and 2, characterized in that: The second electronic unit (30) is a computing unit and the component (31) with a medium heat flux is a processor, or The second electronic unit is a filter unit (64), and the component with medium heat flux is a passive filter component.

6. The automatic machine controller cabinet according to one of claims 1 and 2, characterized in that The automatic machine controller cabinet (4) includes a brake resistor (38) mounted on the rear panel (8E) of the chamber (8) in the cooling channel (10) downstream of the air-component heat exchanger (24), the brake resistor (38) being configured to dissipate excess energy generated by the first electronic unit (20).

7. The automatic machine controller cabinet according to one of claims 1 and 2, characterized in that The outlet opening (14) of the cooling channel (10) is arranged on the rear side (4C) of the automatic machine controller cabinet (4).

8. The automatic machine controller cabinet according to one of claims 1 and 2, characterized in that The second electronic unit (30) is arranged inside a first bracket unit (34) supported by the top panel (8A) of the chamber (8), and the first bracket unit (34) includes a first opening (35A) arranged opposite to a lateral side portion (8D) of the chamber (8) and a second opening (35B) arranged opposite to another lateral side portion (8C) of the chamber (8).

9. The automatic machine controller cabinet according to one of claims 1 and 2, characterized in that The side panels (8C, 8D) of the chamber (8) include an opening (50) closed by a door (51), and the second electronic unit (30) is placed on the top panel (8A) of the chamber (8) and / or supported by the door (51) of the side panels (8C, 8D).

10. A multi-axis automatic machine, comprising: an automatic robotic arm (2) articulated with at least two degrees of freedom, An automatic machine controller cabinet (4) according to one of claims 1 and 2, A cable (6) connects the robotic arm (2) to the robotic controller cabinet (4).

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