Industrial systems and methods for controlling industrial systems

Abstract

Industrial systems (10a;10b) comprising an industrial actuator (12a;12b) including a primary compartment (34a) containing at least one primary electrical device (50a, 60b) and a secondary compartment (34b) containing at least one secondary electrical device (50b); a pressure system (14a;14b) configured to generate overpressure in the primary compartment relative to an external area (38) and to generate overpressure in the secondary compartment relative to an external area; power lines (16) for supplying power to each primary and each secondary electrical device; primary switches (58a) located on the power lines and arranged to selectively connect and disconnect power to each primary and each secondary electrical device; and secondary switches (58b) located on the power lines and arranged to selectively connect and disconnect power to each secondary electrical device, wherein the secondary switches are located inside the primary compartment.

Description

Technical Field

[0001] The present disclosure generally relates to explosion protection of industrial actuators. In particular, an industrial system comprising an industrial actuator including a primary compartment, a secondary compartment, and a pressure system is provided, as well as a method for controlling such an industrial system.

Background Art

[0002] In order to enable an industrial actuator to operate in an explosive environment, the housing of the industrial actuator can be purged and pressurized. Purging of the housing typically comprises introducing a non-explosive gas such as air or nitrogen into the housing to flow any explosive gas out of the housing. Such purging can comprise at least five changes of the gas within the total volume of the housing. Thus, a minimum volume five times the housing volume can be introduced into the housing and a minimum volume five times the housing volume can be导出 from the housing. In this way, the housing is purged and the housing volume is exchanged at least five times. By purging the housing, it can be ensured that any explosive gas within the housing is removed before power is supplied to the electrical devices within the housing.

[0003] By pressurizing the housing to a positive pressure with respect to the external pressure of the environment, entry of explosive gas from the environment into the housing is prevented. The positive pressure or overpressure can be, for example, 0.5 mbar. Once the housing is purged and pressurized, the electrical devices within the housing are not exposed to explosive gas and can thus operate safely.

[0004] US4985653A relates to an internal pressure explosion-proof structure for an electric drive robot. The space within the robot is divided into a plurality of chambers, each chamber containing one motor. The chambers are grouped into three larger blocks, and each block can be purged independently of the other blocks. The robot comprises six parallel power lines for supplying power to the motors.

Summary of the Invention

[0005] US4985653A uses a dedicated power line for each chamber. This requires excessive cabling and complex cabling routing. Furthermore, each power line requires a switch to disconnect the power supply to each motor. Therefore, connecting and disconnecting power to multiple motors requires operating multiple switches. Although it is said to prevent explosive gases from entering the building, it may be desirable to reduce the number of switches operating within the building to enhance safety.

[0006] The objective of this invention is to provide an improved industrial system.

[0007] A further object of the present invention is to provide an improved method for controlling industrial systems.

[0008] These objectives are achieved by the industrial system described in appended claim 1 and the method described in appended claim 9.

[0009] The present invention is based on the recognition that all downstream secondary electrical devices can be disconnected using a single secondary switch, by providing an industrial actuator comprising a primary compartment, a secondary compartment, and power lines configured to supply power to electrical devices within each compartment, and by providing a secondary switch within the primary compartment for selectively connecting and disconnecting all secondary electrical devices in the secondary compartment downstream of the primary compartment. This significantly reduces and simplifies cabling and improves safety.

[0010] According to a first embodiment, an industrial system is provided comprising: an industrial actuator having a primary compartment containing at least one primary electrical device and a secondary compartment containing at least one secondary electrical device; a pressure system configured to generate an overpressure in the primary compartment with respect to an external region outside the industrial actuator and an overpressure in the secondary compartment with respect to an external region; power lines for supplying power to each primary and each secondary electrical device; and primary switches located on the power lines, arranged to selectively connect and disconnect the power supply to each primary and each secondary electrical device. The industrial system further comprises secondary switches located on the power lines, arranged to selectively connect and disconnect the power supply to each secondary electrical device, the secondary switches being located inside the primary compartment.

[0011] In industrial systems, secondary switches are located in the power lines between the primary switch and each secondary electrical device. This ensures that the secondary switches are protected by the primary switch. By opening the secondary switches to disconnect power to each secondary electrical device and keeping the primary switch closed to provide power to each primary electrical device, power can be maintained to the primary compartment while the secondary compartment is purged and pressurized by a pressure system, for example, to replace the secondary compartment. The secondary compartment may be an attachment for an industrial actuator.

[0012] At least one primary electrical device and at least one secondary electrical device are arranged in series with respect to the power line. Power supply to all primary and secondary electrical devices can be connected and disconnected using a primary switch. Power supply to all secondary electrical devices can be connected and disconnected using a secondary switch. By providing secondary switches within the primary compartment, the amount of cabling in the power line can be reduced.

[0013] Industrial systems also offer advantages in terms of modularity. For example, if at least one secondary compartment comprises a first secondary compartment and a second secondary compartment, the primary compartment may house a first secondary switch, and the first secondary compartment may house a second secondary switch. The second secondary compartment may be mechanically connected to the first secondary compartment and electrically powered via a power line such that power supply to electrical devices within the second secondary compartment can be connected and disconnected by the second secondary switch in the first secondary compartment. In this way, the second secondary compartment can be added to industrial actuators with minimal modification of the power line. For example, the power line for the second secondary compartment may extend only from the second secondary switch, avoiding additional power lines from a centralized control system. The second secondary compartment may include a third secondary switch on the power line to control power supply to electrical devices in a potential third secondary compartment, etc. Thus, industrial systems offer an improved modular design.

[0014] The pressure system may be a purging and pressurizing system. Therefore, the pressure system may be configured to purge and pressurize primary and secondary compartments, respectively. Purge of a compartment may comprise replacing all gases within the compartment at least five times, for example, at least ten times. Purge may comprise introducing pressurized (non-explosive) gas at a first location in the compartment and evacuating the gas at a second location in the compartment, such as the opposite side of the compartment from the first location. Pressurizing a compartment may comprise pressurizing the compartment to a positive pressure relative to the pressure in the external region, for example, to a positive pressure of at least 0.3 mbar.

[0015] Industrial systems may be placed in environments that include hazardous and non-hazardous areas. Industrial actuators may be placed entirely within hazardous areas. Power lines may enter hazardous areas from non-hazardous areas. Primary switches may be located within non-hazardous areas.

[0016] A hazardous area may be an explosive area containing flammable gases. A non-hazardous area may be a non-explosive area not containing flammable gases. In an environment, hazardous and non-hazardous areas may be separated by a wall.

[0017] The secondary compartment may be located downstream of the primary compartment with respect to the power line and the power source to which the power line is connected. An example of such a power source is the main controller of the control system according to this disclosure. Therefore, the primary and secondary compartments may be located in series with respect to the power line.

[0018] One or more of the electrical devices may be electric motors. The industrial system may further include a primary switch controller for controlling primary switches and a secondary switch controller for controlling secondary switches. The secondary switch controller may be located inside the primary compartment. When the secondary switch controller is located inside the primary compartment, the secondary switch controller is a further example of a primary electrical device.

[0019] The secondary compartment may be sealed and separated from the primary compartment.

[0020] The pressure system may include a primary valve device and a primary air line arranged to deliver pressurized air from the primary valve device to the primary compartment. In these modifications, the power line may enter the primary compartment from within the primary air line. Thus, the power line can enter the primary air line in a non-hazardous area. The primary valve device may be located in a non-hazardous area.

[0021] Optionally, the pressure system may further include a secondary valve device and a secondary air line arranged to deliver pressurized air from the secondary valve device to a secondary compartment. The secondary valve device may be located in a non-hazardous area.

[0022] The industrial system may further include a control system configured to control a pressure system, a primary switch, and a secondary switch. The control system may be located in a non-hazardous area. The control system includes at least one data processing device and at least one memory storing at least one computer program, the at least one computer program comprising program code, which, when executed by the at least one data processing device, causes or commands the at least one data processing device to perform various steps as described herein.

[0023] The industrial system may further include a cabinet. In these variations, the control system may include a primary switch, and the control system may be housed inside the cabinet.

[0024] The volume of the secondary compartment may be at least 20% smaller than the volume of the primary compartment, for example, at least 50% smaller, or for example, at least 90% smaller. In these variations, the purging time for purging the secondary compartment may be at least 20% shorter than the purging time for purging the primary compartment.

[0025] A power line may be a cable harness. Therefore, a power line may consist of multiple cables. Examples of power line cables include power cables and signal cables for electrical equipment. When any of the switches are disconnected, all cables in the power line passing through that switch are disconnected. The power line may have a cover that encloses all the cables.

[0026] The industrial actuator may be an industrial robot such as a painting robot. The industrial robot may include a manipulator that is programmable in three or more axes, such as six or seven axes. For this purpose, the industrial robot may include joints for each axis for driving a distal link relative to a proximal link of the joint. Each section may include zero, only one, or a plurality of links. An example of a secondary section for an industrial robot is an attachment such as an end effector or other tool. Alternative types of industrial actuators may include feeders, conveyors, and positioners.

[0027] According to a second aspect, a method of controlling an industrial system is provided. The method includes providing an industrial system according to the first aspect, controlling a primary switch to adopt a disconnected state, controlling a secondary switch to adopt a disconnected state, generating an overpressure with respect to an external region in a primary section while the primary switch and the secondary switch are in their respective disconnected states by a pressure system, after generating the overpressure in the primary section, controlling the primary switch to adopt a connected state to provide power to each primary electrical device, generating an overpressure with respect to an external region in a secondary section while the primary switch is in the connected state by the pressure system, and after generating the overpressure in the secondary section, controlling the secondary switch to adopt a connected state to provide power to each secondary electrical device.

[0028] The method may further include, after generating the overpressure in the secondary section, controlling the secondary switch to adopt a disconnected state, and physically separating the secondary section from the primary section while the secondary switch is in the disconnected state after generating the overpressure in the secondary section.

[0029] The method may further include controlling one or more of at least one primary electrical device while the primary switch is in the connected state and the secondary switch is in the disconnected state.

[0030] As used herein, the terms distal and downstream are used interchangeably, and the terms proximal and upstream are used interchangeably.

Brief Description of the Drawings

[0031] Further details, advantages, and aspects of the present disclosure will become apparent from the following description in conjunction with the drawings. [Figure 1] FIG. 1 schematically represents a side view of an industrial system. [Figure 2] FIG. 2 is a diagram of an industrial system. [Figure 3] FIG. 3 schematically represents a cross-sectional view of a power line. [Figure 4] FIG. 4 is a diagram of an industrial system according to a further example.

Modes for Carrying Out the Invention

[0032] Hereinafter, an industrial system including an industrial actuator including a primary compartment, a secondary compartment, and a pressure system, and a method for controlling such an industrial system will be described. The same or similar reference numerals are used to indicate the same or similar structural features.

[0033] FIG. 1 schematically represents a side view of an industrial system 10a. The industrial system 10a includes an industrial robot 12a, a pressure system 14a, and a power line 16. The industrial system 10a is disposed in an environment 18 including a hazardous area 20 and a non-hazardous area 22 separated by a wall 24 here. The hazardous area 20 is an explosive area, and the non-hazardous area 22 is a non-explosive area.

[0034] The industrial robot 12a is an example of an industrial actuator according to the present disclosure. As shown in FIG. 1, the industrial robot 12a is here positioned entirely within the hazardous area 20.

[0035] This specific, non-limiting example of an industrial robot 12a comprises a base 26, an attachment 28, a first link 30a rotatable relative to the base 26 at a first joint 32a, a second link 30b rotatable relative to the first link 30a at a second joint 32b, a third link 30c rotatable relative to the second link 30b at a third joint 32c, a fourth link 30d rotatable relative to the third link 30c at a fourth joint 32d, and a fifth link 30e rotatable relative to the fourth link 30d at a fifth joint 32e. The fifth link 30e includes an interface (not shown) to which the attachment 28 is connected.

[0036] The industrial robot 12a in this example comprises a primary compartment 34a and a secondary compartment 34b, as schematically shown in Figure 1. The secondary compartment 34b is located distal to the primary compartment 34a. In this example, the housing formed by the base 26 and links 30a-30e constitutes the primary compartment 34a, and the housing of the attachment 28 constitutes the secondary compartment 34b. The volume of the primary compartment 34a may be, for example, 100-300 liters. The volume of the secondary compartment 34b may be, for example, 3-15 liters. Thus, in this example, the primary compartment 34a is substantially larger than the secondary compartment 34b.

[0037] The boundary between sections 34a and 34b is formed here at the interface between the fifth link 30e and the attachment 28. In the primary section 34a of this example, the base 26 is in fluid communication with the fifth link 30e through links 30a to 30d.

[0038] Attachment 28 may be an end effector. In Figure 1, attachment 28 is exemplified as a coating device for applying a coating medium to an object, such as a bell atomizer equipped with a rotatable bell cup 36.

[0039] Figure 1 further shows the external region 38 outside the industrial robot 12a. The external region 38 is the area of ​​the hazardous region 20 outside compartments 34a and 34b.

[0040] The industrial system 10a further comprises a control system 40. The control system 40 is configured to control the industrial robot 12a and the pressurization system 14a. A power line 16 is routed from the control system 40 to the industrial robot 12a.

[0041] The pressure system 14a in this example comprises a primary valve device 42a, a primary air line 44a, a secondary valve device 42b, and a secondary air line 44b. The primary air line 44a is connected between the primary valve device 42a and the primary compartment 34a, here to the base 26. The secondary air line 44b is connected between the secondary valve device 42b and the secondary compartment 34b. Each of the valve devices 42a and 42b is positioned within the non-hazardous area 22. Each of the air lines 44a and 44b passes through the wall 24 from the non-hazardous area 22 to the hazardous area 20. As shown in Figure 1, the power line 16 enters the primary air line 44a within the non-hazardous area 22. Thus, in the hazardous area 20, the power line 16 is led to the industrial robot 12a inside the primary air line 44a.

[0042] The industrial system 10a further includes a pressure source 46, such as a compressor. By controlling the primary valve device 42a, pressurized gas from the pressure source 46 is guided into the primary compartment 34a through the primary air line 44a. By controlling the secondary valve device 42b, pressurized gas is guided into the secondary compartment 34b through the secondary air line 44b. For this purpose, the valve devices 42a and 42b are controlled by the control system 40. The pressure source 46 may also be controlled by the control system 40. The pressure system 14a allows each of the compartments 34a and 34b to be purged and pressurized independently of the external area 38, thereby providing electrical safety.

[0043] The industrial system 10a in this example further comprises a cabinet 48. The control system 40 is located inside the cabinet 48.

[0044] Figure 2 is a diagram of the industrial system 10a. Figure 2 shows further details of the industrial system 10a. The industrial robot 12a in this example comprises a number of primary electric motors located within a primary compartment 34a, here, a first primary electric motor 50a1 for driving the first joint 32a, a second primary electric motor 50a2 for driving the second joint 32b, a third primary electric motor 50a3 for driving the third joint 32c, a fourth primary electric motor 50a4 for driving the fourth joint 32d, and a fifth primary electric motor 50a5 for driving the fifth joint 32e. One, some, or all of the primary electric motors 50a1-50a5 may also be referred to by reference numeral "50a". Primary electric motor 50a is an example of a first electrical device according to the present invention.

[0045] The industrial robot 12a in this example further comprises a secondary electric motor 50b located within a secondary compartment 34b. In this particular example, the secondary electric motor 50b is positioned to drive the rotation of the bell cup 36. The secondary electric motor 50b is an example of a secondary electrical device according to the present disclosure.

[0046] The control system 40 in this example includes a main controller 52. The main controller 52 includes a data processing device 54 and a memory 56. The memory 56 has a stored computer program. The computer program includes program code, which, when executed by the data processing device 54, causes the data processing device 54 to perform and / or instruct it to perform various steps as described herein.

[0047] The industrial system 10a further comprises a primary switch 58a and a secondary switch 58b. The industrial system 10a further comprises a primary switch controller 60a for controlling the primary switch 58a and a secondary switch controller 60b for controlling the secondary switch 58b. As shown in Figure 2, the secondary switch 58b, and here the secondary switch controller 60b, are also located inside the primary compartment 34a. Since the secondary switch controller 60b is located inside the primary compartment 34a, the secondary switch controller 60b is a further example of a primary electrical device according to the present disclosure.

[0048] The primary switch 58a and the primary switch controller 60a are located in the non-hazardous area 22. In this example, the primary switch 58a and the primary switch controller 60a form part of the control system 40 and are therefore also located inside the cabinet 48.

[0049] Since the primary switch 58a is located in the non-hazardous area 22 and the primary compartment 34a is located in the hazardous area 20, the primary switch 58a is located upstream of the primary compartment 34a. The secondary switch 58b, located within the primary compartment 34a, is therefore located within the compartment upstream of the secondary compartment 34b. Thus, in the industrial system 10a, compartments 34a and 34b are arranged in series, and each switch 58a and 58b is located upstream of the respective compartments 34a and 34b. Therefore, the industrial system 10a can be said to constitute a cascade purge system.

[0050] Switches 58a and 58b are each located on the power line 16. The secondary switch 58b is located downstream of the primary switch 58a. Therefore, the secondary switch 58b is powered by the voltage protected by the primary switch 58a. When both switches 58a and 58b are closed, the power line 16 supplies power from the main controller 52 to each primary electric motor 50a, secondary switch controller 60b, and secondary electric motor 50b. When the primary switch 58a is open, the power supply to all primary electric motors 50a, secondary switch controller 60b, and secondary electric motor 50b is cut off, regardless of the state of the secondary switch 58b. When the primary switch 58a is closed and the secondary switch 58b is open, the power line 16 supplies power to all primary electric motors 50a and secondary switch controller 60b, but not to the secondary electric motor 50b. From this perspective, the first switch 58a is associated with the primary section 34a, and the second switch 58b is located within the primary section 34a but is associated with the secondary section 34b.

[0051] The industrial system 10a in this example further comprises a primary purge sensor 62a positioned within a primary compartment 34a adjacent to its primary outlet 64a, and a secondary purge sensor 62b positioned within a secondary compartment 34b adjacent to its secondary outlet 64b. The primary outlet 64a is located in the region opposite the primary compartment 34a to the primary air line 44a. Correspondingly, the secondary outlet 64b is located in the region opposite the secondary compartment 34b to the secondary air line 44b.

[0052] Each purge sensor 62a, 62b is configured to sense the gas pressure inside their respective compartments 34a, 34b and the gas flow exiting their respective outlets 64a, 64b. The primary purge sensor 62a communicates with the control system 40, in this case its main controller 52, via an electrically safe primary purge sensor cable 66a. Similar to the power line 16, the primary purge sensor cable 66a runs between the hazardous area 20 and the non-hazardous area 22 inside the primary air line 44a. The secondary purge sensor cable 66b runs from the secondary switch controller 60b to the secondary purge sensor 62b.

[0053] The power line 16 in this example comprises multiple cables. Figure 2 shows that the power line 16 comprises multiple primary motor power cables 68a. Each primary motor power cable 68a is arranged to supply power to and thereby control the associated primary electric motor 50a. The primary electric motor 50a may be powered, for example, by a three-phase current.

[0054] Figure 2 further illustrates that the power line 16 in this example comprises multiple primary motor signal cables 70a. Each primary motor signal cable 70a is configured to receive sensor information from one or more sensors (not shown) associated with one of the primary electric motors 50a.

[0055] Figure 2 further illustrates that the power line 16 in this example comprises a controller power cable 72 and a controller signal cable 74. The controller power cable 72 supplies power to the secondary switch controller 60b at a voltage of, for example, 24V. The controller signal cable 74 is used to communicate control data, including arbitrary data for the secondary purge sensor 62b, between the control system 40 and the secondary switch controller 60b. The primary motor signal cable 70a and / or the controller signal cable 74 may be, for example, Ethernet®, CAN (Controller Area Network), or SPI (Serial Peripheral Interface) cables.

[0056] To provide electrical safety for the industrial robot 12a, compartments 34a and 34b may be purged and pressurized. Primary compartment 34a may be purged first. After opening the primary switch 58a, the pressure system 14a is controlled to supply pressurized air to primary compartment 34a, here by controlling the primary valve device 42a. A first relatively high pressurized gas flow is led from the primary air line 44a into primary compartment 34a and exits to the external area 38 through the primary outlet 64a. This flushes out all explosive gases in the primary compartment 34a; in other words, the primary compartment 34a is purged. Once a sufficient amount of gas has passed through the primary outlet 64a, as determined by the primary purge sensor 62a, a second, relatively low-pressure gas flow is introduced into the primary compartment 34a, maintaining an overpressure, e.g., 0.5 mbar, within the primary compartment 34a relative to the external region 38. This purges and pressurizes the primary compartment 34a. Next, the primary switch 58a is closed, supplying power from the power line 16 to the primary electric motor 50a and the secondary switch controller 60b.

[0057] After purging and pressurizing the primary compartment 34a, the secondary compartment 34b can be purged and pressurized in a corresponding manner. In this way, compartments 34a and 34b are purged in succession. After purging and pressurizing the secondary compartment 34b, the second switch 58b is closed to supply power from the power line 16 to the second electric motor 50b.

[0058] After purging and pressurizing compartments 34a and 34b, the industrial robot 12a is protected from explosion. That is, potentially flammable gases from the external area 38 are prevented from entering either compartment 34a or 34b, and therefore are prevented from being ignited by either the electric motor 50a or 50b or any other electrical device therein. When compartments 34a and 34b are purged and pressurized, they may be protected in accordance with the International Organization for Standardization (ISO) standard ISO 6184-2:1985.

[0059] The pressure system 14a in this example includes a primary air line 44a dedicated to the primary compartment 34a and a secondary air line 44b dedicated to the secondary compartment 34b, so that the purging of the primary compartment 34a and the secondary compartment 34b is independent. Since the secondary switch 58b is located inside the primary compartment 34a, the secondary compartment 34b can be purged while the primary compartment 34a is protected and the primary electrical equipment within it is operating. The ability to keep the proximal primary compartment 34a operational during the purging of the secondary compartment 34b is of great value. For example, after replacing attachment 28 with a new attachment 28, only the relatively small secondary compartment 34b is purged, while the primary compartment 34a remains purged and pressurized. The new attachment 28 can be purged simultaneously with driving joint 32a to 32e in the primary compartment 34a to position the new attachment 28 at a target position for performing a task. Simultaneous operation of the primary electric motor 50a in the primary compartment 34a and purging of the secondary compartment 34b enables more efficient operation.

[0060] In an alternative example, the pressure system 14a includes a valve (not shown) between the primary compartment 34a and the secondary compartment 34b. In this way, pressurized air can be guided from the primary compartment 34a to the secondary compartment 34b. In this example, the secondary compartment 34b is sealed and isolated from the primary compartment 34a only when the valve is closed. Also in this example, the secondary air line 44b may be omitted.

[0061] Figure 3 schematically shows a cross-sectional view of the power line 16 at an upstream location in the primary section 34a, such as within the non-hazardous area 22. The primary motor power cable 68a and the primary motor signal cable 70a are shown as solid circles. The controller power cable 72 and the controller signal cable 74 are shown as dashed circles. Figure 3 further shows that the power line 16 in this example includes a secondary motor power cable 68b and a secondary motor signal cable 70b, shown here as dashed-dot circles. The second motor power cable 68b supplies power to the second electric motor 50b. The secondary motor signal cable 70b provides communication data between the control system 40 and sensors associated with the secondary electric motor 50b. As shown in Figure 3, all cables of the power line 16 are housed within a cable harness, where they are enclosed by a cover 76, such as a sleeve.

[0062] Figure 4 is a diagram of industrial system 10b by further example, illustrating the main differences from industrial system 10a. Industrial system 10b comprises an industrial robot 12b containing n compartments, where n is an integer greater than 1. The nth compartment 34n has a design corresponding to the secondary compartment 34b of industrial system 10b. Industrial system 10b shown in Figure 4 comprises at least two secondary compartments, such as the first secondary compartment 34b and the second secondary compartment 34n, and at least two secondary switches, such as the first secondary switch 58b in the primary compartment 34a and the second secondary switch 58n in the first secondary compartment 34b. The industrial system 10b in Figure 4 further comprises at least one electrical device in each compartment 34a, 34b, and 34n, for example, a primary electric motor 50a and a primary-secondary switch controller 60b in the primary compartment 34a, a first secondary electric motor 50b and a second secondary switch controller 60n in the first secondary compartment 34b, and a second secondary electric motor 50n in the second secondary compartment 34n.

[0063] The industrial system 10b in Figure 4 further comprises a pressure system 14b including a primary valve device 42a and primary air line 44a associated with a primary compartment 34a, a first secondary valve device 42b and first secondary air line 44b associated with a first secondary compartment 34b, and a second secondary valve device 42n and second secondary air line 44n associated with a second secondary compartment 34n. The industrial system 10b in Figure 4 further comprises a primary purge sensor 62a and primary purge sensor cable 66a associated with a primary compartment 34a, a first secondary purge sensor 62b and first secondary purge sensor cable 66b associated with a first secondary compartment 34b, and a second secondary purge sensor 62n and second secondary purge sensor cable 66n associated with a second secondary compartment 34n. As shown in Figure 4, a single controller power cable 72 of the power line 16 is used to supply power to the first secondary switch controller 60b and the second secondary switch controller 60n, respectively.

[0064] While this disclosure has been described with reference to exemplary embodiments, it will be understood that the present invention is not limited to those described above. For example, it will be understood that the dimensions of parts may be modified as needed. Accordingly, the present invention is intended to be limited only by the appended claims.

Claims

1. Industrial systems (10a; 10b), - An industrial actuator (12a; 12b) comprising a primary compartment (34a) containing at least one primary electrical device (50a, 60b) and a secondary compartment (34b) containing at least one secondary electrical device (50b), - A pressure system (14a; 14b) configured to generate overpressure in the primary compartment (34a) with respect to the external region (38) outside the industrial actuator (12a; 12b), and to generate overpressure in the secondary compartment (34b) with respect to the external region (38), - Power lines (16) for supplying power to each primary electrical device (50a, 60b) and each secondary electrical device (50b), - A primary switch (58a) is provided on the power line (16) and is arranged to selectively connect and disconnect the power supply to each primary electrical device (50a, 60b) and each secondary electrical device (50b), The industrial system (10a; 10b) further comprises a secondary switch (58b) provided on the power line (16) and arranged to selectively connect and disconnect the power supply to each secondary electrical device (50b), wherein the secondary switch (58b) is located inside the primary compartment (34a).

2. The industrial system (10a; 10b) according to claim 1, wherein the secondary compartment (34b) is sealed and separated from the primary compartment (34a).

3. The industrial system (10a; 10b) according to claim 1 or 2, wherein the pressure system (14a; 14b) comprises a primary valve device (42a) and a primary air line (44a) arranged to guide pressurized air from the primary valve device (42a) to the primary compartment (34a), and the power line (16) enters the primary compartment (34a) from within the primary air line (44a).

4. The industrial system (10a; 10b) according to any one of claims 1 to 3, further comprising a control system (40) configured to control the pressure system (14a; 14b), the primary switch (58a), and the secondary switch (58b).

5. The industrial system (10a; 10b) according to claim 4, further comprising a cabinet (48), wherein the control system (40) comprises the primary switch (58a), and the control system (40) is housed inside the cabinet (48).

6. The industrial system according to any one of claims 1 to 5, wherein the volume of the secondary compartment (34b) is at least 20% smaller than the volume of the primary compartment (34a).

7. The industrial system (10a; 10b) according to any one of claims 1 to 6, wherein the power line (16) is a cable harness.

8. The industrial system (10a; 10b) according to any one of claims 1 to 7, wherein the industrial actuator (12a; 12b) is an industrial robot.

9. A method for controlling an industrial system (10a; 10b), - To provide an industrial system (10a; 10b) according to any one of claims 1 to 8, - Control the primary switch (58a) to adopt the disconnected state, - Control the secondary switch (58b) to adopt the disconnected state, - The pressure system (14a; 14b) generates an overpressure in the primary compartment (34a) relative to the external region (38) while the primary switch (58a) and the secondary switch (58b) are in their respective off states, - After generating the overvoltage in the primary compartment (34a), the primary switch (58a) is controlled to adopt a connected state in order to provide power to each primary electrical device (50a, 60b), - The pressure system (14a; 14b) generates an overpressure in the secondary compartment (34b) relative to the external region (38) while the primary switch (58a) is in the connected state, A method comprising: - After generating the overvoltage in the secondary compartment (34b), controlling the secondary switch (58b) to adopt a connected state in order to provide power to each secondary electrical device (50b).

10. - After generating the overpressure in the secondary compartment (34b), the secondary switch (58b) is controlled to adopt the disconnected state, The method according to claim 9, further comprising: generating the overpressure in the secondary compartment (34b), and then physically separating the secondary compartment (34b) from the primary compartment (34a) while the secondary switch (58b) is in the disconnected state.

11. The method according to claim 9 or 10, further comprising controlling one or more of at least one primary electrical device (50a, 60b) while the primary switch (58a) is in the connected state and the secondary switch (58b) is in the disconnected state.

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