Peak energy processing system and method for determining rotating speed range of motor

Abstract

The embodiment of the invention provides a peak energy processing system and a rotating speed range determination method of a motor. The system comprises a rectification unit, an output side of which is electrically connected to a DC bus; the first motor system comprises a first motor and a first motor module, the first motor is electrically connected to the direct current bus through the first motor module, and the rotating speed range of the first motor at least can cover the energy change of at least two external second motor systems in a specified cooperative operation state; and each target motor in each motor system in the at least two second motor systems is electrically connected to the direct current bus through the corresponding motor module. According to the embodiment of the invention, the peak energy generated by the external second motor system in the actual movement process can be effectively absorbed.

Description

Technical Field

[0001] The present application relates to the technical field of peak energy processing, and in particular to a peak energy processing system and a method for determining a speed range of a motor. Background Art

[0002] In some production lines or production processes (such as stamping lines), robots are usually used to transfer large inertia loads from one station to the next at high speed. However, due to the large mass and inertia of the load itself, the system will inevitably generate peak energy during the acceleration and deceleration of the robot. This instantaneous impact of energy places high demands on the design of the drive system, which usually requires a larger rectifier unit and isolation transformer to cope with it.

[0003] At present, in order to ensure that the system can smoothly cope with the spikes generated during acceleration and deceleration, the traditional approach is to select larger rectifier modules and brake resistors. The purpose of this is to provide timely feedback and consume excess energy. However, although this method is effective, it has significant problems: first, large-capacity rectifier modules and brake resistors will lead to a significant increase in system costs; second, this method does not effectively utilize electrical energy, resulting in energy waste. Summary of the invention

[0004] In view of this, the present application provides a peak energy processing system and a method for determining a speed range of a first motor, which are used to at least partially solve the above technical problems.

[0005] The first aspect of the present application provides a peak energy processing system, which includes: a rectifier unit, the output side of which is electrically connected to a DC bus; a first motor system, which includes a first motor and a first motor module, the first motor is electrically connected to the DC bus through the first motor module, and the speed range of the first motor can at least cover the energy changes of at least two external second motor systems under a specified collaborative operating state; each target motor in each of the at least two second motor systems is electrically connected to the DC bus through a corresponding motor module.

[0006] The second aspect of the present application provides a method for determining the speed range of a first motor, wherein the first motor is electrically connected to a DC bus through a motor module, and the DC bus is electrically connected to the output side of a rectifier unit; the method comprises: determining the energy variation range of at least two second motor systems under a specified collaborative operation state; each target motor in each of the at least two second motor systems is electrically connected to the DC bus through a corresponding motor module; and determining the speed range of the first motor that can at least cover the energy variation range.

[0007] In the embodiments of the present application, the first motor can effectively absorb the peak energy generated by the second motor system during operation. Through this mechanism, the demand for the rectifier unit and the isolation transformer can be at least reduced, so that the system can adopt a more compact and economical configuration. At the same time, an optimal selection method for the first motor is provided. While ensuring that the selected first motor is sufficient to cover the energy peak generated by the second motor system during actual movement, a lower-cost first motor can be selected to save costs to the greatest extent. In addition, the embodiments of the present application not only reflect the accuracy of the technology, but also realize the emphasis on energy utilization efficiency in the peak energy processing solution, providing a more economical and efficient solution. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 is a structural diagram of a peak energy processing system according to an embodiment of the present application.

[0009] Figure 2 is a structural diagram of a peak energy processing system according to another embodiment of the present application.

[0010] Figure 3 It is a flow chart of a method for determining a speed range of a first motor according to an embodiment of the present application.

[0011] List of reference numerals:

[0012] 110. Peak energy processing system; 112. Rectification unit;

[0013] 114. DC bus; 116. first motor system;

[0014] 1162. A first motor; 1164. A first motor module;

[0015] 1166. Control unit; 120. Second motor system. DETAILED DESCRIPTION

[0016] In order to make the purpose, technical scheme, and advantages of the present application more clearly understood, the present application is further described in detail with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other technical schemes obtained by ordinary technicians in the field belong to the scope of protection of the present application.

[0017] Figure 1 FIG. 1 shows a structural diagram of a peak energy processing system 110 according to an embodiment of the present application. Figure 1As shown, the system 110 includes a rectifier unit 112 and a first motor system 116. The input side of the rectifier unit 112 is usually connected to an external AC power source, and the output side of the rectifier unit 112 is electrically connected to the DC bus 114; the first motor system 116 includes a first motor 1162 and a first motor module 1164, the first motor 1162 is electrically connected to the DC bus 114 through the first motor module 1164, and the speed range of the first motor 1162 can at least cover the energy changes of at least two external second motor systems 120 in a specified cooperative operation state; each target motor in each second motor system 120 is electrically connected to the DC bus 114 through a corresponding motor module. The first motor 1162 can effectively absorb the peak energy generated by the at least two second motor systems 120 during operation. Through this mechanism, at least the demand for the rectifier unit 112 and the isolation transformer can be reduced, so that the entire control system can adopt a more compact and economical configuration.

[0018] In this embodiment, the second motor system 120 can be a system that generates peak energy during operation, preferably a transfer robot, and the specified collaborative operation state is the operation state of at least two transfer robots based on their respective specified motion curves at the specified production rhythm and the respective specified load. The specified motion curve is a motion curve actually planned according to the needs of the scene, and the specified production rhythm and the specified load are usually the maximum production rhythm and the maximum load of the actual application scene. Taking the stamping system applied to the stamping line as an example, at least two robots are at least two transfer robots in the stamping system (for example, but not limited to single-arm manipulators and double-arm manipulators), and the specified collaborative operation state is the operation state of at least two transfer robots based on their respective pre-planned motion curves at the maximum stamping rhythm and the respective maximum load. Taking the stamping system applied to the stamping line as an example, the production rhythm is "stamping rhythm SPM (Stroke per Minute)", which refers to the number of stampings per minute.

[0019] In this embodiment, the second motor system 120 includes a plurality of target motors, and the plurality of target motors drive the system to perform a movement such as conveying an object. The target motor is preferably a motor related to the acceleration and deceleration movement of the system 120, or a motor related to all movements of the system 120. Taking the stamping system used in the stamping line as an example, the target motor can be a joint motor of the robot, and the target motor can also be a motor related to all movements of the robot (such as a joint motor, a suction cup control motor, and a separation motor).

[0020] In addition, in this embodiment, the specific number of the at least two second motor systems 120 can be determined based on the cost of the first motor 1162 and the energy peak size that each second motor system 120 may generate. In a stamping system including 2N transfer robots, for example, one peak energy processing system 110 (N is an integer not less than 1) can be provided for every two transfer robots, and one peak energy processing system 110 (N is an integer not less than 2) can be provided for every four transfer robots, and so on.

[0021] Alternatively, if Figure 2 As shown, the first motor system 116 also includes a control unit 1166. The control unit 1166 is configured to: during the actual cooperative movement of the at least two second motor systems 120, obtain in real time the change in the parameter on the DC bus 114 side that can indicate the energy change thereof, and adjust the speed of the first motor 1162 in real time according to the change in the parameter. For example but not limited to, the detection value of the parameter on the DC bus 114 side that can indicate the energy change thereof can be periodically obtained, and the speed of the first motor 1162 can be adjusted according to the change in the obtained detection value of the parameter. The parameter can be, for example, power, voltage, etc., and, for example, the power and voltage can be directly collected from the DC bus 114 through a power measurement unit and a voltage measurement unit.

[0022] Go to Figure 3 The present application also proposes a method for determining the speed range of the first motor. Figure 3 As shown, the first motor is electrically connected to the DC bus through the first motor module, and the DC bus is electrically connected to the output side of the rectifier unit. The method includes steps S310 and S320. In step S310, the energy variation range of at least two second motor systems in a specified cooperative operation state is determined; each target motor in each of the at least two second motor systems is electrically connected to the DC bus through a corresponding motor module. In step S320, the speed range of the first motor that can at least cover the energy variation range is determined.

[0023] Optionally, the aforementioned step S310 further includes: step S310a, acquiring the power data of each target motor of the at least two second motor systems in the specified collaborative operating state; step S310b, determining the corresponding energy change curve based on the power data of each target motor; step S310c, determining the energy change range based on the energy change curve.

[0024] Further, in the aforementioned S310a, on the one hand, the motion of the at least two second motor systems in the specified cooperative operation state can be simulated to obtain the power data of each target motor; on the other hand, the speed curve and torque curve of each target motor of the at least two second motor systems in the specified cooperative operation state (actual) can be directly obtained by measurement, and the power data of each target motor can be obtained according to the obtained speed and torque curve of each target motor. And, in the aforementioned S310b, it can be determined based on the basic physical relationship between energy and power (that is, energy is equal to the integral of power over time) to obtain the total energy consumed in one cycle of the system, and it can be intuitively presented in the form of an energy curve. In addition, in step S310, it is specifically possible to select an appropriate motor speed range (or motor speed range and rectifier power) by referring to the characteristic curve of the motor to cover these energy changes.

[0025] In this embodiment, the at least two second motor systems are preferably at least two transfer robots, and the specified cooperative operation state is the operation state of the at least two transfer robots based on their respective specified motion curves at the specified production beat and the respective specified load. The specified motion curve is a motion curve actually planned according to the scene requirements, and the specified production beat and the specified load are usually the maximum production beat and the maximum load of the actual application scene.

[0026] Taking the stamping system used in the stamping line as an example, the at least two robots are at least two transfer robots in the stamping system (for example, but not limited to single-arm manipulators and double-arm manipulators), and the specified collaborative operation state is the operation state of the at least two transfer robots based on their respective pre-planned motion curves at the maximum stamping cycle and their respective maximum loads. Taking the stamping system used in the stamping line as an example, the production cycle is the stamping cycle SPM (Stroke per Minute), which refers to the number of stampings per minute.

[0027] In this embodiment, the target motor is preferably a motor related to the acceleration and deceleration motion of the second motor system, or a motor related to the motion of the second motor system. Taking the stamping system used in the stamping line as an example, the target motor can be a joint motor of the robot; the target motor can also be a motor related to the motion of the robot, such as a joint motor, a suction cup control motor, and a separation motor.

[0028] In addition, in this embodiment, the specific number of the at least two second motor systems can be determined based on the cost of the first motor and the possible energy peak size of each second motor system. In a stamping system including 2N transfer robots, for example, one peak energy processing system 110 (N is an integer not less than 1) can be provided for every two transfer robots, and one peak energy processing system 110 (N is an integer not less than 2) can be provided for every four transfer robots, and so on.

[0029] It should be noted that in the claims and description of this patent, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including one" do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0030] Obviously, those skilled in the art should understand that the modules or steps of the above-mentioned embodiments of this specification can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, and optionally, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order from that here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. In this way, the embodiments of this specification are not limited to any specific combination of hardware and software.

[0031] Although the present application has been illustrated and described with reference to certain preferred embodiments thereof, it will be apparent to those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present application.

[0032] The present application is presented and described in detail above through the accompanying drawings and preferred embodiments; however, the present application is not limited to these disclosed embodiments, and those skilled in the art may know based on the above-mentioned multiple embodiments that the code review methods in the above-mentioned different embodiments may be combined to obtain more embodiments of the present application, and these embodiments are also within the protection scope of the present application.

Claims

1. A peak energy processing system (110), characterized in that: The system (110) comprises: A rectifier unit (112), wherein an output side of the rectifier unit (112) is electrically connected to a DC bus (114); A first motor system (116) includes a first motor (1162) and a first motor module (1164), wherein the first motor (1162) is electrically connected to the DC bus (114) via the first motor module (1164), and the speed range of the first motor (1162) is at least able to cover the energy changes of at least two external second motor systems (120) under a specified cooperative operating state; each target motor in each of the at least two second motor systems (120) is electrically connected to the DC bus (114) via a corresponding motor module.

2. The system according to claim 1, characterized in that The at least two second motor systems (120) are at least two transfer robots in the stamping system.

3. The system according to claim 2, characterized in that The specified cooperative operation state is the operation state of the at least two transfer robots based on their respective specified motion curves at the specified stamping cycle and their respective specified loads.

4. The system according to claim 3, characterized in that The target motor is a joint motor of a robot; or, The target motor is a motor related to the movement of the robot.

5. The system according to any one of claims 1 to 4, characterized in that: The first motor system (116) further includes a control unit (1166); The control unit (1166) is configured to: obtain in real time a change in a parameter on the DC bus (114) side that can indicate a change in energy thereof during the collaborative operation of the at least two second motor systems (120), and adjust the rotation speed of the first motor (1162) in real time according to the change in the parameter.

6. A method for determining a speed range of a first motor 1162, characterized in that: The first motor 1162 is electrically connected to a DC bus through a first motor module, and the DC bus is electrically connected to an output side of a rectifier unit; The method comprises: Determine an energy variation range of at least two second motor systems under a specified cooperative operation state; each target motor in each of the at least two second motor systems is electrically connected to the DC bus through a corresponding motor module; A speed range of the first motor 1162 that can at least cover the energy variation range is determined.

7. The method according to claim 6, characterized in that The at least two second motor systems are at least two transfer robots in the stamping system.

8. The method according to claim 7, characterized in that The specified cooperative operation state is the operation state of the at least two transfer robots based on their respective specified motion curves at the specified stamping cycle and their respective specified loads.

9. The method according to claim 8, characterized in that The target motor is a joint motor of a robot; or, The target motor is a motor related to the movement of the robot.

10. The method according to any one of claims 6 to 9, characterized in that: The determining of the energy variation range of at least two second motor systems in a specified cooperative operation state further includes: acquiring power data of each target motor of the at least two second motor systems in the specified cooperative operating state; Determining a corresponding energy variation curve according to the power data of each target motor; The energy variation range is determined according to the energy variation curve.

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