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2. 发明公开

EP2711142A1 Industrial robot having electronic drive devices distributed on the robot structure 有权
标题翻译： Industrieroboter mit am Roboter verteilten Motortreibern
公开(公告)号：EP2711142A1
公开(公告)日：2014-03-26
申请号：EP12185131.5
申请日：2012-09-20
申请人： Comau S.p.A.
发明人： Alotto, Giorgio
IPC分类号： B25J9/16 , H02K11/00
CPC分类号： B25J9/12 , B25J9/161 , H02K5/225 , H02K11/35
摘要： In an industrial robot, the electronic drive devices (D1-D6) for the electrical supply and control of electric motors (M1-M6) of the robot are distributed on the robot structure, each being 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 communication of the electronic drive devices (D1-D6) with the central processing unit (5). Thanks to this series connection, the robot harness is dramatically simplified and the operations for its replacement are consequently easier and faster. The structure of the connectors 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 "derating" of the motor due to overheating.
摘要翻译：在工业机器人中，机器人的电动机（M1-M6）的供电用电子驱动装置（D1-D6）分布在机器人结构上，各自与各电动机（M1-M6 ）。电子驱动装置（D1-D6）彼此串联连接到中央处理单元（5）。在该串联中，包括用于电子驱动装置（D1-D6）与中央处理单元（5）通信的以太网线（E）。由于这种串联连接，机器人线束被大大简化，因此更换的操作更容易和更快。机器人和控制单元之间的连接器的结构也大大简化。本发明适用于配备有常规电动机的机器人，由于每个电子驱动装置（D1-D6）安装在各个电动机（M1-M6）的主体上，插入适配板（A ），这也有助于消散由电动机产生的热量，以便减少由于过热导致的电动机“降额”的转矩。

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