• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    industrial robot having electronic drive devices distributed on the robot structure in an industrial robot, the electronic drive devices (d1-d6) for electrical supply and control of electric motors (m1-m6) of the robot are distributed on the robot structure , each adjacent to the respective electric motor (m1-m6). the electronic drive devices (d1-d6) are connected in series to each other and to a central processing unit (5). in this series connection, an ethernet line (e) is included for the communication of the electronic drive devices (d1-d6) with the central processing unit (5). thanks to this series connection, the robot beam is drastically simplified and the operations for its replacement are consequently easier and faster. the structure of the links between the robot and the control unit is also greatly simplified. the invention is applicable to robots equipped with conventional electric motors, thanks to the fact that each electronic drive device (d1-d6) is mounted on the body of the respective electric motor (m1-m6) with the interposition of an adapter plate (a ) which also helps to dissipate the heat generated by the electric motor in order to reduce the torque "throttling" of the motor due to overheating.
    公开号:BR102013028345B1
    申请号:R102013028345-2
    申请日:2013-09-20
    公开日:2021-09-14
    发明作者:Giorgio Alotto
    申请人:Comau S.P.A.；
    IPC主号:
    专利说明:

    [0001] The present invention relates to an industrial robot of the type comprising: a robot structure, and electronic means to control the robot structure, in which the robot structure comprises: a plurality of mobile robot elements in relation to one another to the others, and a plurality of drive means, each for driving the movement of a respective robot element, each of said drive means associated with a respective robot element comprising at least one electric drive motor, in that said electronic means comprise: a central electronic control unit, located in a position away from the structure of the robot, and a plurality of electronic drive devices, each for the supply of power and control of the electric motor associated with a respective element of robot, said electronic drive devices connected to said central electronic control unit, and in which said devices drive electronics are distributed over the structure of the robot, each one adjacent to the respective electric motor.
    [0002] Industrial robots that have the characteristics described above are, for example, illustrated in the documents: EP 0 728 559 B1 and US 6,731,091 B2.
    [0003] In a conventional type robot control system, the control panel is located in a position distant from the robot structure and includes both the central control unit, which is designed to receive instructions from the user program and to generate the motion trajectories that must be implemented by the robot motors, and the electronic drive devices of the various robot motors that receive motion instructions from the central unit, and transform them into electrical current signals to be sent to the motors of robots to ensure the execution of the user's program.
    [0004] In the documents identified above, in fact, it has already been proposed to distribute the aforementioned electronic drive devices in the robot structure, each adjacent to the respective electric motor. However, solutions of this type that have been provided so far show that there has been no understanding, not even a vague idea of all the possibilities that are offered by a control architecture with electronic drive devices distributed in the robot structure.
    [0005] It should also be considered that a very present problem in the field of industrial robots is the degree of complexity of the robot's wire bundle, which implies a considerable waste of time, both during the initial installation of the robot, as well as every time the robot wire bundle has to be replaced. The bending and torsional deformations to which the cables are subjected during the movement of the robot's elements, in fact, impose a relatively short service life for the beam itself, with the consequent need for replacement.
    [0006] A simplification of the robot's wire bundle would simultaneously solve the problem of low durability (since a simplified bundle can be more easily positioned inside the robot in a way that minimizes deformations), as well as the problem of complexity and length of the beam replacement operations.
    [0007] Based on the prior art indicated above, the problem underlying the invention is, therefore, to take advantage of a control architecture of electronic drive devices distributed over the robot structure, in order to drastically simplify the beam of robot wires so as to increase the durability of the beam and simplify replacement operations.
    [0008] In order to achieve this objective, the invention refers to an industrial robot with all the characteristics that were indicated at the beginning of this description and further characterized by the fact that: said central electronic control unit is solely connected to the first of the aforementioned electronic drive devices distributed on the robot structure, the other electronic drive devices to be connected in series with said first electronic transmission device, each electronic drive device is rigidly connected to the body of the respective motor electrical, with the interposition of an adapter plate, a connector unit is mounted on top of each electronic actuation device, said unit including a first electrical connector and a second electrical connector, to provide said series connection of each electronic drive device between the central electronic control unit ico and the other drive electronic devices, said electrical connectors, including connecting elements with an Ethernet line connecting said drive electronic devices together with said central control unit. of the robot, the connecting wire bundle between the control cabinet and the robot frame, and the electrical connectors arranged at the base of the robot frame for connection to the control frame are all drastically simplified. In particular, in any part of the robot structure, the wiring includes only the necessary connections between two successive electronic drive devices, in this specific case an electrical power supply line, a line for control signals and an Ethernet communication line . This represents a drastic simplification compared to known solutions, in which all electronic devices are connected in parallel with the central control unit, so that the input cables in the robot structure comprise a certain number of cables which is a multiple than in the case of the present invention. The Ethernet line is preferably a real-time EtherCat or Powerlink Ethernet line, or similar.
    [0009] In addition, the arrangement of the adapter plate between each electronic drive device and the body of the electric motor to which it is connected, allows the use of conventional electric motors. The adapter plate can be a separate element from the body of the drive device, or it can be an integrated part within it. The adapter plate is arranged with one or more passages for connections between the electronic drive device and the engine. It also contributes to the dissipation of part of the heat generated by the motor, thus reducing the torque "throttling" of the motor itself, due to overheating.
    [0010] The provision of an Ethernet line guarantees the effective communication of each electronic drive device and the central control unit, despite the series connection mentioned above.
    [0011] According to another preferred feature, a layer of thermal insulation material can be interposed between the adapter plate and the electric motor body, in order to further reduce the motor torque "throttling" due to a overheating.
    [0012] Additional features and advantages of the present invention will be apparent from the following description with reference to the accompanying drawings, provided purely by way of non-limiting example, in which:
    [0013] Figure 1 is a schematic perspective view of an example of an embodiment of the robot according to the invention;
    [0014] Figure 2 is a diagram illustrating the connection between the drive electronics associated with the robot's electric motors;
    [0015] Figure 3 is an enlarged-scale perspective view of one of the robot's electric motors with the above unit including the adapter plate, the electronic transmission device and the connector unit;
    [0016] Figure 4 is a perspective view, on an enlarged scale only of the connector unit; and
    [0017] Figures 5, 6 are two perspective views of the adapter plate.
    [0018] With reference to figure 1, reference 1 generally designates an industrial robot, including a robot frame 2 of any known type, and a control panel 3 located at a position remote from the robot frame 2 and connected thereto by means of one or more connecting cables 4. The robot structure 2 is typically that of a six-axis manipulator robot, with a base 201, a tower 202 can rotate around a vertical axis I on the base 201, an arm 203 pivotally mounted to the tower 202 about a horizontal axis II, another arm 204 pivotally mounted to the arm 203 about an axis III parallel to axis II, and a robot handle frame 205 which is rotatably mounted about the axis IV of the arm 204 and on two more mutually orthogonal axes V and VI. The movement of the above robot elements about the six axes I, II, III, IV, V and VI is controlled by respective electric drive motors M1, M2, M3, M4, M5 and M6 associated with the robot frame.
    [0019] The robot according to the invention is of the type in which the electronic drive devices associated with the various electric motors M1-M6 are distributed on the robot structure and are each mounted directly on the body of the respective electric motor . All electronic drive devices are then connected to a central electronic processing unit (CPU) 5, located in cabinet 3.
    [0020] As can be seen in figure 2, the drive electronics associated with motors M1, M2, ..., M6 are respectively designated by D1, D2, ... D6. The various electronic drive devices D1-D6 are connected together and with the central processing unit 5 in series. Therefore, each of the D1-D6 drive electronics is provided with a connector unit including a first X1 connector and a second X2 connector. The central processing unit 5 is connected, via a single cable 6, with a first drive device D1 which is then in turn connected in series with other electronic drive devices. The connecting cable 6, between the central unit 5 and the first drive device D1, as well as each of the cables connecting two successive drive devices includes, in the case of the illustrated example, a supply line P, a signal line S is an E Ethernet communication line. As already indicated, the Ethernet line is preferably an EtherCat, Powerlink real-time Ethernet line, or similar.
    [0021] Figure 3 shows, in detail, on an enlarged scale, the electric motor M1 with a body in which the electronic device D1 is directly attached. In figure 3, only the outer casing of device D1 is visible, in the form of a flat box. The internal parts of this enclosure are neither illustrated nor described in detail here, since each electronic actuation device can be supplied according to the state of the art, and since the internal configuration of the device, taken in isolation, is not part of this invention.
    [0022] As shown, the electronic drive device D1 is mounted on the body of the electric motor M1 with the interposition of an adapter plate A of a metallic material, which is connected to the motor, by means of screws V1. The structure of adapter plate A is visible in figures 5, 6, and has holes A1 for the passage of fixing screws to the motor body, and openings of A2 for the passage of connections between the electronic drive device and the electric motor . As already indicated above, the adapter plate can also be constituted by a body part of the drive device, formed together as a single piece.
    [0023] Figure 4 shows the detail of the connector unit in a perspective view, the connector unit being generally designated by reference C1, and including the two connectors X1 and X2 mounted on a base B provided with screws V3 for fastening to the housing of the drive device.
    [0024] Again with reference to figure 3, as mentioned above, the layer S1 of thermal insulating material, eg PTFE, is preferably interposed between the adapter plate A and the body of the electric motor.
    [0025] As already discussed above, due to the arrangement of the series connection of the drive electronics distributed over the robot structure, and the Ethernet communication line, on the one hand, an efficient control of the robot motors is enabled and , on the other hand, the robot wire bundle, the connecting bundle between the robot frame and the control cabinet, and the associated connectors arranged at the robot base are all drastically simplified. The arrangement of a simpler and less bulky beam inside the robot allows a very simplified arrangement of the beam in a way that reduces the bending and torsional deformations to which the equipment itself is subjected during the use of the robot, which provides an increase in service life of the beam. Furthermore, the simplification of the beam guarantees the possibility of replacing the beam with simple and fast operations. The connectors arranged on the base of the robot for connection to the control cabinet are also drastically simplified.
    [0026] Naturally, without prejudice to the principle of the invention, the construction details and embodiments may vary widely with respect to what is described and illustrated purely by way of example, without departing from the scope of the present invention.
    权利要求:
    Claims (4)
    [0001]
    1. Industrial robot comprising: a robot structure (2), and electronic means (5, D1-D6) for power supply and control of the robot structure (2), wherein the robot structure (2) comprises: a plurality of robot elements (201-205), movable relative to one another, a plurality of drive means, each for driving the movement of a respective robot element (201-205), wherein each of said means of drive associated with a respective element of the robot (201-205) comprises at least one electric drive motor (M1M6) wherein said electronic means comprise: a central electronic processing unit (5), located in a remote position of the robot structure , and a plurality of electronic drive devices (D1-D6), each for the supply of electrical power and control of the electric motor (M1-M6), associated with each respective robot element (201-205), said electronic devices (D1-D6) being connected to said unit of electronic processing center (5), in which said electronic drive devices (D1-D6) are distributed on the robot structure, each adjacent to the respective electric motor (M1M6), and in which said central processing unit electronics (5) is connected only to the first of said electronic drive devices (D1-D6) distributed on the robot structure (2), the other electronic drive devices being connected in series with said first electronic drive device (D1 ), a connector unit (C1-C6) is mounted on top of each electronic drive device (D1-D6), including a first electrical connector (X1) and a second electrical connector (X2), for series connection of said electronic drive device (D1-D6) between the central electronic processing unit (5) and the other electronic drive devices (D1-D6), and said first and second electrical connector (X 1, X2) include connecting elements in an Ethernet line (E), which connect together said electronic drive devices (D1 -D6) and said central processing unit (5), wherein said robot is characterized by fact that: each electronic drive device (D1 -D6) is rigidly connected to the body of the respective electric motor with the interposition of an adapter plate (A), and the series connection of said electronic drive devices (D1 -D6) with the electronic central processing unit (5) comprises a supply line (P), a signal line (S) and said Ethernet line (E).
    [0002]
    2. Robot, according to claim 1, characterized in that said first and second electrical connectors (X1, X2) are part of a connector unit (C1-C6) comprising a base (B) provided with screws (V3) for fixing in the housing of the respective electronic drive device (D1 -D6), said first and second connectors (X1, X2) having their bodies mounted above said base (B).
    [0003]
    3. Robot, according to claim 2, characterized in that said adapter plate (A) is made of metallic material, provided with holes (A1) for the engagement of screws for fixation on the body of the respective electric motor ( M1-M6), and has passages (A2) for the connections between the electronic drive device (D1-D6) and the respective electric motor (M1-M6).
    [0004]
    4. Robot, according to claim 3, characterized in that a layer (S1) of thermally insulating material is interposed between said adapter plate (A) and the body of the respective electric motor (M1-M6).
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    同族专利:
    公开号 | 公开日
    KR20140038329A|2014-03-28|
    BR102013028345A2|2017-12-19|
    US9138894B2|2015-09-22|
    EP2711142B1|2014-09-17|
    JP2014061586A|2014-04-10|
    KR101858273B1|2018-05-15|
    CN103770108A|2014-05-07|
    US20140081453A1|2014-03-20|
    JP6108167B2|2017-04-05|
    EP2711142A1|2014-03-26|
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    法律状态:
    2017-12-19| B03A| Publication of a patent application or of a certificate of addition of invention [chapter 3.1 patent gazette]|
    2018-11-21| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2020-02-27| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|
    2021-08-10| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2021-09-14| B16A| Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 20/09/2013, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
    申请号 | 申请日 | 专利标题
    EP12185131.5|2012-09-20|
    EP12185131.5A|EP2711142B1|2012-09-20|2012-09-20|Industrial robot having electronic drive devices distributed on the robot structure|
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