Robot controller cabinet and robot comprising such a cabinet

Abstract

Robot controller cabinet and robot comprising such a cabinet The present invention relates to a robot controller cabinet comprising: a chamber (8); a first and a second electronic unit (20, 30) respectively comprising a high heat density (21) and a moderate heat density electronic component; a cooling channel comprising a fan (16) and an inlet (12) provided on a front face (4A) of the cabinet; an air-component heat exchanger carrying a cooling element.According to the invention, a cross air-air exchanger is arranged in the channel and comprises: a first cooling circuit with an inlet and an outlet passing through a lower panel (8B) of the chamber; a second cooling circuit with a parallel inlet and outlet, the inlet being opposite the inlet of the channel; a fan (48), generating in the first cooling circuit an air flow perpendicular to an air flow generated in the second cooling circuit by the fan of the channel. Figure for abstract: 2.

Description

Title of the invention: Robot controller cabinet and robot comprising such a cabinet

[0001] The present invention relates to a robot controller cabinet, as well as to a robot comprising such a cabinet.

[0002] The invention relates to the field of industrial robots which generally comprise a robot arm, a robot controller and transmission cables for connecting the robot arm to the controller.

[0003] The robot arm is generally made up of several articulated elements which are movable relative to each other thanks to electric motors equipped with sensors capable of providing their position. The robot controller brings together, in a cabinet separate from the robot arm, all the electronic components capable of determining and providing the control instructions for the robot arm.

[0004] The robot controller cabinet has two functionalities which are to contain the electronic components necessary for the operation of the robot arm and to ensure good operating conditions of these electronic components.

[0005] Indeed, certain electronic components necessary for controlling the robot arm, such as amplifiers, produce a large quantity of heat during their use, while other components such as processors only function correctly when the temperature in the cabinet is not too high.

[0006] To ensure the proper functioning of all of these components, robot controller cabinets, for example known from EP3079451A1, comprise cooling elements in direct thermal contact with the electronic components and with a cooling channel. Furthermore, these cabinets separate, within two separate chambers, the electronic components generating heat and the electronic components whose operation must take place within a certain temperature range.

[0007] These cabinets separating the electronic components into two different chambers have the disadvantage of being quite expensive and bulky.

[0008] The invention therefore aims to remedy this drawback by providing a new robot controller cabinet allowing optimal operation of the electronic components, while being compact.

[0009] The invention relates to a robot controller cabinet comprising a chamber defined by an upper panel, a lower panel, two side panels, a rear panel and a front panel placed opposite the rear panel and defining a front face of the robot controller cabinet, at least a first electrical unit electronics mounted on the rear panel of the chamber, inside the chamber, and comprising at least one high heat density electronic component, at least one second electronic unit mounted on the side panel(s) or the top panel, inside the chamber, and comprising at least one moderate heat density electronic component. This robot controller cabinet also comprises a cooling channel comprising an inlet opening and at least one fan adapted to draw outside air through an inlet opening of the cooling channel and to expel it to the outside through an outlet opening located at the end opposite the inlet opening of the cooling channel.It further comprises at least one air-component heat exchanger associated with a first electronic unit and receiving, on a first side, at least one high heat density electronic component and carrying on a second side at least one cooling element arranged in the cooling channel. According to the invention, the cooling channel comprises a first portion defined between the lower panel of the chamber and an outer parallel panel defining a bottom of the robot controller cabinet and a second portion contiguous to the first portion, located between the rear panel of the chamber and an outer parallel panel defining a rear face of the robot controller cabinet. The inlet opening of the cooling channel is provided on the front face of the cabinet.A cross air-air exchanger is arranged in the cooling channel and comprises a first cooling circuit having an inlet opening passing through the lower panel of the chamber and an outlet opening passing through the lower panel of the chamber and a second cooling circuit having an inlet opening opposite the inlet opening of the cooling channel and an outlet opening parallel to the inlet opening of the second cooling circuit, being arranged at the opposite end of the cross air-air exchanger and opening into the cooling channel.At least one fan located inside the chamber opposite the inlet opening or the outlet opening of the first cooling circuit of the cross air-air exchanger generates, in the first cooling circuit, an air flow perpendicular to an air flow generated in the second cooling circuit by the fan of the cooling channel.

[0010] By virtue of the invention, the robot controller cabinet comprises a single chamber comprising both high heat density electronic components and moderate heat density electronic components while ensuring, thanks to the cross air-air exchanger, that the heat produced by the high heat density components affects in a limited manner the moderate heat density components which cannot function properly when the temperature within the chamber is too high. By comprising a single chamber to accommodate all of the electronic components, the robot controller cabinet is compact.

[0011] For the purposes of the present invention, a high heat density electronic component is an electronic component that dissipates significant thermal power given its dimensions. This significant power dissipation being concentrated on a small quantity of material, it causes a significant increase in the temperature of the component. A high heat density electronic component dissipates, for example, thermal power ranging from 20 Watts to 200 Watts. Furthermore, an electronic component with moderate heat density is an electronic component that dissipates low thermal power but whose temperature increase must be limited for it to function correctly, i.e. which dissipates, for example, thermal power of less than 35 Watts.

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

[0013] - The cooling channel fan is placed downstream of the air-air exchanger crossed, upstream of the air-component heat exchanger and in the second portion of the cooling channel.

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

[0015] - The first electronic unit is a power supply and the high density component heat sink is an insulated gate field effect transistor or thyristor or DC-DC converter element that converts a direct current source from one specified voltage level to another different voltage level.

[0016] - The second electronic unit is a computing unit and the density component of moderate heat is a processor, or the second electronic unit is a filter unit and the moderate heat density component is a passive filter component.

[0017] - The robot controller cabinet includes a braking resistor, mounted on the rear panel of the chamber in the cooling channel downstream of the air-component heat exchanger, configured to dissipate excess energy produced by the first electronic unit.

[0018] - The outlet opening of the cooling channel is provided on the rear face of the robot controller cabinet.

[0019] - The second electronic unit is arranged inside a first drawer carried by the upper panel of the chamber, the first drawer comprising a first opening, arranged opposite one side face of the chamber, and a second opening arranged opposite the other side face of the chamber.

[0020] - A side 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 is carried by the side panel door.

[0021] The invention also relates to a multi-axis robot comprising an articulated robot arm with at least two degrees of freedom, a robot controller cabinet as mentioned above and cables connecting the robot arm to the robot controller cabinet.

[0022] The invention will appear more clearly on reading the description which follows, given solely by way of non-limiting example, and made with reference to the drawings in which:

[0023] [Fig-1] [Fig.l] is a perspective view of a multi-axis robot according to the invention comprising an articulated arm and a robot controller cabinet also according to the invention;

[0024] [Fig.2] [Fig.2] is a perspective view with a partial cutaway of the controller cabinet of the robot of [Fig.l];

[0025] [Fig.3] [Fig.3] is a perspective view from the rear of the robot controller cabinet of [Fig.2],

[0026] [Fig.4] [Fig.4] is a sectional view along the plane PI visible in [Fig.2];

[0027] [Fig.5] [Fig.5] is a sectional view along plane P2 visible in [Fig.2];

[0028] [Fig.6] [Fig.6] is a perspective view of a cross air-air exchanger of the robot controller cabinet of Figures 2 to 5, insert A) illustrates a first air cooling circuit and insert B) a second air cooling circuit;

[0029] [Fig.7] [Fig.7] is a perspective view of an air-component heat exchanger and a portion of the structure of the robot controller cabinet of Figures 2 to 5,

[0030] [Fig.8] [Fig.8] is a perspective view, similar to [Fig.2], of a robot controller cabinet according to a second embodiment of the invention.

[0031] The robot R shown in [Fig.l] comprises a robot arm 2 consisting of several articulated sections which are movable relative to each other by means of electric motors (not shown). The robot R also comprises a robot controller cabinet 4 which contains electronic units which implement • a calculation unit capable of determining motor control instructions from an application program, • amplifiers capable of generating currents in the motors from the motor control instructions and position information from the robot arm motors, • a power supply capable of providing the amplifiers and the computing unit with the necessary voltages from the mains voltage.

[0032] The robot R also includes electrical cables 6 which connect the robot arm 2 to the robot controller cabinet 4 and which transmit the currents to the motors and the position signals from the motors of the robot arm 2 to the robot controller cabinet 4.

[0033] The robot controller cabinet 4 is illustrated in detail in Figures 2 to 5. The robot cabinet 4 includes a chamber 8 defined by a top panel 8A, a bottom panel 8B, a first side panel 8C, a second side panel 8D, a rear panel 8E, and a front panel 8F. The front panel 8F is positioned opposite the rear panel 8E and defines a front face 4A of the robot controller cabinet 4.

[0034] The panels 8A, 8B, 8C, 8D, 8E, 8F together define the interior volume V8 of the chamber 8 of the robot controller cabinet 4.

[0035] The front panel 8F comprises an opening 9A. The opening 9A is closed by a door 9B hinged on the front panel 8F. The door 9B can be operated from outside the robot controller cabinet 4 and has a disconnector 9C visible in [Fig. 3]. When the door 9B is placed in the open position as in Figures 2 and 3, it is possible to access the interior volume V8 of the chamber 8 from outside the cabinet. The door 9B carries a cam lock 7 comprising a handle 7A on the front face 4A of the robot controller cabinet and a bolt 7B allowing, by its actuation, to keep the door 9B in the closed position. When the door 9B is closed, the interior volume V8 of the chamber 8 is sealed.

[0036] The robot controller cabinet 4 comprises a cooling channel 10, visible in [Fig. 5]. The cooling channel 10 comprises a first portion 10A defined between the bottom panel 8B of the chamber 8 and an outer panel 4B, parallel to the bottom panel 8B. The outer parallel panel 4B defines a bottom of the robot controller cabinet 4. The cooling channel 10 comprises a second portion 10B defined between the rear panel 8E of the chamber 8 and an outer panel 4C, parallel to the rear panel 8E. The outer parallel panel 4C defines a rear face of the robot controller cabinet 4. The cooling channel 10 is also delimited by the first side panel 8C and the second side panel 8D.

[0037] The two portions 10A and 10B of the cooling channel are contiguous and form a right angle at their junction, in the lower rear part of the robot controller cabinet 4.

[0038] The cooling channel 10 comprises an inlet opening 12 provided on the front face 4A of the robot controller cabinet 4 and an outlet opening 14 located at the end opposite the inlet opening of the cooling channel 10 and provided on the rear face 4C of the robot controller cabinet 4. The outlet opening 14 is grid-shaped.

[0039] The cooling channel 10 comprises at least one fan 16 capable of sucking in outside air through the inlet opening 12 of the cooling channel 10 and of discharging it to the outside through the outlet opening 14 of the cooling channel 10. Preferably, the fan 16 is placed in the second portion 10B of the cooling channel 10. Advantageously, the cooling channel 10 receives several fans 16, for example four fans 16 arranged over the entire width of the rear face 4C of the robot controller cabinet 4 as visible by tearing in [Fig. 4],

[0040] The robot controller cabinet 4 comprises a cross air-air exchanger 40. The cross air-air exchanger 40 is visible within the robot controller cabinet in Figures 2, 4 and 5 and in isolation in [Fig.6]. The cross air-air exchanger 40 is positioned in an opening not shown in the lower panel 8B of the chamber 8, such that it is contained in the first portion 10A of the cooling channel 10, opposite the inlet opening 12 of the cooling channel 10.

[0041] The cross air-air exchanger 40 comprises a support 41 and a stack 42 of plates 43. The support 41 hermetically closes the opening of the lower panel 8B of the chamber 8.

[0042] The plates 43 are parallelepipedal-shaped sheets. The plates 43 are parallel to the support 4L. As shown in [Fig.6], the plates 43 are spaced apart so as to allow a passage space 44 for an air flow. In other words, an air flow passage space 44 is defined between two adjacent plates 43.

[0043] For each air flow passage space 44, a front opening 44A parallel to the front face 4A of the robot controller cabinet 4, a rear opening 44B parallel to the rear face 4C of the robot 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.

[0044] The passage spaces 44 are alternately closed on their front 44A and rear 44B openings or on their side openings 44C and 44D. In other words, for two adjacent passage spaces 44, the first passage space 44 allows the flow of a first air flow F1 from its first side opening 44C to its second side opening 44D and the second passage space 44 allows the flow of a second air flow F2 from its front 44A opening to its rear 44B opening.

[0045] These alternating closures of the openings of the passage spaces 44 create two cooling circuits within the crossed air-air exchanger 40.

[0046] The first cooling circuit comprises two inlet openings 45 passing through the support 41 on the side of the side panel 8C and which are connected under the support 41, opposite the lateral openings 44C of the passage spaces 44. The first cooling circuit comprises an outlet opening 46 passing through the support 41 and extending parallel to the side panel 8D of the chamber 8. The first cooling circuit comprises all the passage spaces 44 for which the front 44A and rear 44B openings are closed.

[0047] Opposite each inlet opening 45 is positioned a fan 48 which discharges air from the interior volume V8 of the chamber 8 following the first cooling circuit. The fans 48 are positioned in the interior volume V8 of the chamber 8. The fans 48 generate in the first cooling circuit the air flow F1, represented by arrows in FIGS. 4 and 6. Within the crossed air-air exchanger 40, the air flow F1 goes from the inlet openings 45 to the outlet opening 46 via passage spaces 44. In a variant not shown, the first cooling circuit comprises a single inlet opening 45 passing through the support 41 and extending parallel to the side panel 8C of the chamber 8. In this case, a single fan 48 is advantageously provided.

[0048] In a variant not shown, the fan(s) 48 are positioned opposite the outlet opening 46 of the first cooling circuit.

[0049] The second cooling circuit comprises an inlet opening formed by all of the front openings 44A of the passage spaces 44. The inlet opening of the second cooling circuit is therefore opposite the inlet opening 12 of the cooling channel 10. An outlet opening of the second cooling circuit is formed by all of the rear openings 44B of the passage spaces 44. The outlet opening of the second cooling circuit is therefore parallel to the inlet opening of the second cooling circuit. The outlet opening of the second cooling circuit opens into the first portion 10A of the cooling channel 10.The fans 16 positioned in the cooling channel 10 downstream of the cross air-air exchanger 40 generate within the cross air-air exchanger 40 an air flow F2, represented by arrows in FIGS. 5 and 6, going from the inlet opening of the second cooling circuit to the outlet opening of the second cooling circuit, passing through the passage spaces 44 whose lateral openings 44C, 44D are closed.

[0050] In a variant not shown, the fans 16 are positioned upstream of the crossed air-air exchanger 40 and generate an air flow F2 similar to that described previously.

[0051] Thus, within the crossed air-air 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.

[0052] The robot controller cabinet 4 comprises first electronic units 20. The first electronic units 20 are mounted on the rear panel 8E of the room 8, in the interior volume V8 of room 8. These first electronic units 20 are for example a power supply unit 20A and a power unit 20B.

[0053] The first electronic power supply unit 20A is composed of one or more printed circuits comprising at least one high heat density component 21 symbolically represented in the figures, such as for example an insulated gate field effect transistor (in English Metal Oxide Semiconductor Field Effect Transistor), a thyristor or a DC-DC converter element which converts a direct current source from a specified voltage level to another different voltage level. A high heat density component 21 is an electronic component which dissipates a significant thermal power given its dimensions. This significant power dissipation being concentrated on a small quantity of material, it causes a significant increase in the temperature of the component. A high heat density electronic component dissipates a thermal power ranging for example from 20 Watt to 200 Watt.

[0054] The first electronic power unit 20B is for example an amplifier composed of printed circuits comprising at least one high heat density component 21 such as a switching module. Preferably the switching module is an Insulated-Gate Bipolar Transistor.

[0055] The first electronic power unit 20B is capable of generating the currents in the motors of the robot arm 2 from the amplifier control instructions and the position information of the motors of the robot arm 2.

[0056] The first electronic units 20 comprise high heat density components 21. To improve the evacuation of the heat produced by these high heat density components 21, 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 carries on a second side 24B a cooling element 26 as visible in FIGS. 5 and 7. The cooling element 26 is for example a set of fins. The cooling element 26 is made of a material with high thermal conductivity such as, for example, aluminum.

[0057] The air-component heat exchanger 24 is positioned in an opening 28 of the rear panel 8E such that the first electronic units 20 are in the interior volume V8 of the chamber 8 and the cooling element 26 is in the second portion 10B of the cooling channel 10. The air-component heat exchanger 24 is fixed to the rear panel 8E by means of screws 27 taken in tapped holes 29 and hermetically closes the opening 28 of the rear panel 8E. Advantageously, the air-component heat exchanger 24 is po located such that, in the cooling channel 10, the cooling element 26 is downstream of the fans 16.

[0058] The rear panel 8E comprises as many openings 28 as first electronic units 20.

[0059] The robot controller cabinet 4 comprises a second electronic unit 30. For example, the second electronic unit 30 generates the control instructions intended for the first electronic power units 20B which will allow the correct actuation of the motors of the robot arm 2 with a view to the action to be carried out by the robot arm 2.

[0060] The second electronic unit 30 comprises at least one moderate heat density component 31. Preferably, the second electronic unit 30 is a computing unit and the moderate heat density component 31 is, for example, a processor. A moderate heat density component 31 is an electronic component that dissipates low thermal power but whose temperature increase must be limited for it to operate correctly, i.e. which dissipates thermal power less than 35 Watt.

[0061] The second electronic unit 30 is arranged inside a first drawer 34. The first drawer 34 is provided with a parallelepiped chassis. The first drawer 34 is carried by the upper panel 8A, in the interior volume V8 of the chamber 8.

[0062] The first drawer 34 is preferably mounted on rails not shown and parallel to the side panels 8C, 8D of the chamber 8. The first drawer 34 can slide on the rails, which allows easy disassembly of the first drawer 34 through the front door 9B of the robot controller cabinet 4.

[0063] The drawer 34 comprises a first opening 34A provided on one of its faces, preferably on the face opposite the rear panel 8E. This first opening 34A allows the connection cables 36 to pass from the second electronic unit 30 to the first electronic unit 20.

[0064] The first drawer 34 comprises an internal fan 37 which generates an air flow F3 internal to the first drawer 34. The internal air flow F3 flows between a first opening 35A provided on a first lateral face 34B of the first drawer 34 opposite the side panel 8D towards a second opening 35B provided on a second lateral face 34C of the first drawer 34 opposite the side panel 8C. The air flow F3 is superimposed on the air flow F1 which enters the first drawer 34 through the first opening 35A and exits through the second opening 35B. The air flows F1 and F3 dissipate the heat produced, inside the first drawer 34, by the moderate heat density components 31 towards the interior volume V8 of the chamber 8 which is larger than the volume of the drawer 34 in which the moderate heat density components 31 are positioned.

[0065] The robot controller cabinet 4 comprises a second electronic unit 30 consisting of a filtering unit 64 fixed on the side panel 8D. The filtering unit 64 is placed between the electrical network and the power supply unit 20A and has the function of filtering all electrical disturbances. It contains electronic components with moderate heat density 31 such as for example a passive filtering component.

[0066] The robot controller cabinet 4 includes a braking resistor 38. The braking resistor 38 is mounted on the rear panel 8E of the chamber 8 in the cooling channel 10. In other words, the braking resistor 38, which is visible in FIGS. 2 and 4, is outside the interior volume V8 of the chamber 8. The braking resistor 38 is arranged opposite the outlet opening 14 of the cooling channel 10. The braking resistor 38 is powered by the first power electronic unit 20B when the motors of the robot arm 2 output power. In other words, the braking resistor 38 dissipates the excess power produced by the first power electronic unit 20B.

[0067] When the robot R is in operation, the high heat density components 21 produce heat which must be removed to allow the moderate heat density components 31 to operate properly.

[0068] The fans 48 generate an air flow FL. The air flow Fl enters the cross-air air exchanger 40 through the openings 44C of the passage spaces 44 and exits through the openings 44D. The air flow Fl then enters the chamber 8 through the outlet opening 46. In the interior volume V8 of the chamber 8, the air flow Fl follows the side panel 8D then the first drawer 34, then the side panel 8C to the opening 45 at the level of the lower panel 8B. The air flow Fl therefore completes a cycle within the interior volume V8 of the chamber 8.

[0069] The air flow F3 internal to the first drawer 34 is in the same direction as the air flow FL

[0070] The air flow Fl ensures the thermal dissipation of the heat generated by the electronic components with moderate heat density 31. The air flow Fl is cooled by the air flow F2 during its passage through the crossed air-air exchanger 40.

[0071] The fans 16 of the cooling channel 10 generate the 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 spaces 44 within the cross air-air exchanger 40. Since the cross air-air exchanger 40 is placed at the inlet of the cooling channel 10, the temperature of the air flow F2 at the inlet of the cross air-air exchanger 40 is that 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 able to cool the air flow FL After its passage through the air-air exchanger 40, the air flow F2 is in contact in the cooling channel 10 with the cooling elements 26 of the air-component heat exchangers 24 whose temperature can reach 85 degrees Celsius. The heat generated by the high heat density electronic components 21 is collected by the air-component heat exchangers 24 and is 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 exchangers 24 is lower than the temperature of the cooling elements 26 of the air-component heat exchangers 24.

[0072] As the air flow F2 intersects the air flow F1 and is in contact with the cooling elements 26 of the air-component heat exchangers 24, it ensures both the heat dissipation of the heat generated by the high heat density electronic components 21 and the heat dissipation of the heat generated by the moderate heat density electronic components 31.

[0073] Advantageously, in certain applications where it may be necessary to stack several robot controller cabinets 4, the flow of the air stream F2 ensures that the heat production of a first robot controller cabinet 4 discharged through the outlet opening 14 does not impact the cooling of a second cabinet 4 positioned above or below.

[0074] The combined action of the air flows F1 and F2 makes it possible to dissipate the heat generated by the high heat density components 21 and to maintain in the interior volume V8 of the chamber 8 a correct operating temperature for the moderate heat density elements 31.

[0075] Thanks to the crossed air-air exchanger 40 which allows a heat exchange between the two air flows F1 and F2, the heat produced by the first electronic units 20 affects the second electronic units 30 in a limited manner.

[0076] In the second embodiment shown in [Fig. 8], elements similar to those of the first embodiment bear the same references. If a reference is used in the remainder of the description without being shown in [Fig. 8] or shown in [Fig. 8] without being mentioned in the description, it designates the same element as that bearing the same reference in the first embodiment. In the following, we mainly describe what distinguishes this second embodiment from the first.

[0077] In the second embodiment, the side panel 8C comprises an opening 50 closed by a side door 51. The side door 51 allows, in the open position, access to the interior volume V8 of the chamber 8.

[0078] The front panel 8F has only one opening corresponding to the inlet opening 12 of the cooling channel 10.

[0079] The outlet opening 14 of the cooling channel 10 is provided on an oblique face 4D of the robot controller cabinet 4. The oblique face 4D extends between the top panel of chamber 8A and rear panel 4C of robot controller cabinet 4.

[0080] The first drawer 34 is preferably mounted on rails not shown and parallel to the front 8F and rear 8E panels of the chamber 8. The first drawer 34 can slide on the rails which allows easy disassembly of the first drawer 34 through the side door 51 of the robot controller cabinet 4.

[0081] The door 51 comprises on its internal face 51A, facing the internal volume V8 of the chamber 8, a second drawer 54. A second electronic unit 30 is positioned inside the second drawer 54. The second drawer 54 comprises an opening on one of its faces, preferably on its upper face 54A facing the upper panel 8A of the chamber 8, which allows the passage of a connection cable 36 to the first 20 and second 30 electronic units located outside the drawer 54.

[0082] The second electronic units 30 are therefore contained in a first drawer 34 and / or a second drawer 54.

[0083] In other words, the second electronic unit 30 is placed on the upper panel 8A of the chamber 8 and / or is carried by the door 51 of the side panel 8C.

[0084] The air flow F1 generated to ensure the heat dissipation of the electronic components with moderate heat density 31 performs a cycle in the chamber 8 similar to that described previously. In the interior volume V8 of the chamber 8, the air flow F1 enters through the outlet opening 46, then follows the side panel 8D then the first drawer 34 then the second drawer 54 to the openings 45 at the level of the lower panel 8B.

[0085] In a variant not shown, the filtering unit 64 is fixed on the side panel 8C and the side panel 8D comprises an opening 50 closed by a door 51.

[0086] The advantages of the invention arise from the use of a cross-air-air exchanger 40 which makes it possible to set up an air flow F1 internal to a single chamber 8 which passes through side panels 8C and 8D and an upper panel 8A and an open air flow F2 perpendicular to the air flow F1 and which passes through a rear panel 8E. It is then possible to have in the same chamber 8 two distinct cooling regimes. First electronic units 20 mounted on the rear panel 8E of the chamber 8 and comprising high heat density electronic components 21 are mainly cooled by the air flow F2 and second electronic units 30 mounted on the side panel(s) 8C or 8D or the upper panel 8A and comprising moderate heat density electronic components 31 are mainly cooled by the air flow 1.The air flow 1 makes it possible to maintain the air in the chamber 8 at a temperature compatible with the operation of the electronic components with moderate heat density equipping second electronic units 30. but also the first 20 electronic units as may be the case.

[0087] As far as technically feasible, the above-mentioned embodiments and variants may be combined with each other.

Claims

1. Claims Robot controller cabinet including: - a chamber (8) defined by an upper panel (8A), a lower panel (8B), two side panels (8C, 8D), a rear panel (8E) and a front panel (8F) placed opposite the rear panel (8E) and defining a front face (4A) of the robot controller cabinet (4), - at least one first electronic unit (20) mounted on the rear panel (8E) of the chamber (8), inside the chamber, and comprising at least one high heat density electronic component (21), - at least one second electronic unit (30) mounted on the side panel(s) (8C, 8D) or the top panel (8A), inside the chamber (8), and comprising at least one electronic component with moderate heat density (31), - a cooling channel (10) comprising • an inlet opening (12), • at least one fan (16) capable of sucking in outside air through the inlet opening (12) of the cooling channel (10) and of discharging it to the outside through an outlet opening (14) located at the end opposite the inlet opening (12) of the cooling channel (10), - at least one air-component heat exchanger (24) associated with a first electronic unit (20) and receiving, on a first side, at least one high heat density electronic component (21) and, carrying on a second side, at least one cooling element (26), arranged in the cooling channel (10), characterized in that - 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 a bottom of the robot controller cabinet (4), a second portion (10B) contiguous to the first portion (10A), located between the rear panel (8E) of the chamber (8) and an outer parallel panel (4C) defining a rear face of the robot controller cabinet (4), the inlet opening (12) of the cooling channel (10) is provided on the front face (4A) of the cabinet (4), a cross air-air exchanger (40) is arranged in the cooling channel (10) and comprises: a first cooling circuit having an inlet opening (45) passing through the lower panel (8B) of the chamber (8) and an outlet opening (46) passing through the lower panel (8B) of the chamber (8), a second cooling circuit having an inlet opening (44A) opposite 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, being arranged at the opposite end of the cross air-air exchanger (40) and opening into the cooling channel (10), at least one fan (48), located inside the chamber (8) opposite the inlet opening (45) or the outlet opening (46) of the first cooling circuit of the crossed air-air exchanger (40), generates, in the first cooling circuit, an air flow (Fl) perpendicular to an air flow (F2) generated in the second cooling circuit by the fan (16) of the cooling channel (10).

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

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

4. A robot controller cabinet according to one of claims 1 to 3, characterized in that the first electronic unit (20) is a power supply and the high heat density component (21) is an insulated gate field effect transistor or a thyristor or a DC-DC converter element which converts a direct current source from a specified voltage level to another different voltage level.

5. Robot controller cabinet according to any one of the preceding claims, characterized in that: - the second electronic unit (30) is a computing unit and the moderate heat density component (31) is a processor or - the second electronic unit is a filtering unit (64) and the moderate heat density component is a passive filtering component.

6. A robot controller cabinet according to any preceding claim, characterized in that the robot controller cabinet (4) comprises a braking 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), configured to dissipate excess energy produced by the first electronic unit (20).

7. Robot controller cabinet according to any one of the preceding claims, characterized in that the outlet opening (14) of the cooling channel (10) is provided on the rear face (4C) of the robot controller cabinet (4).

8. A robot controller cabinet according to any one of the preceding claims, characterized in that the second electronic unit (30) is arranged inside a first drawer (34) carried by the upper panel (8A) of the chamber (8), the first drawer (34) comprising a first opening (35A), arranged opposite a side face (8D) of the chamber (8), and a second opening (35B) arranged opposite the other side face (8C) of the chamber (8).

9. A robot controller cabinet according to any one of claims 1 to 7, characterized in that a side panel (8C, 8D) of the chamber (8) comprises an opening (50) closed by a door (51) and in that the second electronic unit (30) is placed on the upper panel (8A) of the chamber (8) and / or is carried by the door (51) of the side panel (8C, 8D).

10. Multi-axis robot comprising: - a robot arm (2) articulated with at least two degrees of freedom, - a robot controller cabinet (4) according to one of claims 1 to 9, - cables (6) connecting the robot arm (2) to the robot controller cabinet (4).

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