WO2019223882A1 - Dispositif d'entraînement électrique avec surveillance d'états - Google Patents

Dispositif d'entraînement électrique avec surveillance d'états Download PDF

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Publication number
WO2019223882A1
WO2019223882A1 PCT/EP2018/063829 EP2018063829W WO2019223882A1 WO 2019223882 A1 WO2019223882 A1 WO 2019223882A1 EP 2018063829 W EP2018063829 W EP 2018063829W WO 2019223882 A1 WO2019223882 A1 WO 2019223882A1
Authority
WO
WIPO (PCT)
Prior art keywords
drive device
condition monitoring
housing
drive
rotor
Prior art date
Application number
PCT/EP2018/063829
Other languages
German (de)
English (en)
Inventor
Johannes LOSCH
Kersten REIS
Original Assignee
Harmonic Drive Ag
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Harmonic Drive Ag filed Critical Harmonic Drive Ag
Priority to EP18728575.4A priority Critical patent/EP3763021A1/fr
Priority to PCT/EP2018/063829 priority patent/WO2019223882A1/fr
Publication of WO2019223882A1 publication Critical patent/WO2019223882A1/fr

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K3/00—Details of windings
    • H02K3/46—Fastening of windings on the stator or rotor structure
    • H02K3/52—Fastening salient pole windings or connections thereto
    • H02K3/521—Fastening salient pole windings or connections thereto applicable to stators only
    • H02K3/522—Fastening salient pole windings or connections thereto applicable to stators only for generally annular cores with salient poles
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/30—Structural association with control circuits or drive circuits
    • H02K11/35—Devices for recording or transmitting machine parameters, e.g. memory chips or radio transmitters for diagnosis
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K15/00—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines
    • H02K15/0056—Manufacturing winding connections
    • H02K15/0068—Connecting winding sections; Forming leads; Connecting leads to terminals
    • H02K15/0081—Connecting winding sections; Forming leads; Connecting leads to terminals for form-wound windings
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K2203/00—Specific aspects not provided for in the other groups of this subclass relating to the windings
    • H02K2203/03—Machines characterised by the wiring boards, i.e. printed circuit boards or similar structures for connecting the winding terminations

Definitions

  • the invention relates to a drive device according to the preamble of claim 1.
  • Condition Monitoring which is more important to control the state of actuators, eg. B. gear-motor combinations, motors without
  • WO 201 5/04361 9 A1 teaches to measure an electric current flowing through a rotary bearing in order to determine the state of the drive on the basis of a frequency distribution of measured current amplitudes.
  • DE 1 0 201 3 1 02 648 A1 describes an electric motor equipped with a vibration sensor on a ring-shaped stator flange. Ei ne integrated electric motor monitoring with a variety of distributed within the electric motor sensors is known from DE 1 00 49 506 A1.
  • WO 201 5/1 20279 A1 discloses a monitoring system for
  • a monitoring system described in WO 201/1 63035 A2 provides for drives provided with so-called “knots".
  • the nodes contain sensors and wireless transmission means to transmit status data to a receiving device.
  • WO 98/08292 A1 discloses a similar concept.
  • EP 2 21 0 1 55 B1 describes egg nen electric drive for egg n furniture with a measurement data processing device for determining the wear and a wear-dependent egg setting of operating parameters.
  • EP 2 051 086 A2 proposes to store operating data and to make residual life forecasts based thereon.
  • EP 1 489 474 A2 proposes external measuring means for data acquisition of the current spectrum of individual winding currents on an electric drive.
  • US Pat. No. 6,262,550 B1 describes a monitoring system with a motor unit arranged externally on an electric motor and provided with a motor
  • Engine monitoring center communicates.
  • Control are distributed, it is desirable, determined
  • Drive device i ntegr or thus hard-wired control can be factory provided with safeguards that limit, for example, the Motorpan voltage, the motor currents and the motor frequencies with which the drive device is acted upon. A faulty measurement or parameterization in the controller can nevertheless lead to increased wear or premature failure. Furthermore, a change in state of the drive device not from the
  • Control device are interpreted.
  • Electric drive devices in particular those intended for
  • the invention has for its object to provide an improved electric drive device in which the
  • the electric drive device which may be designed in particular as a hollow shaft motor, has at least one in a housing
  • Rotor and / or stator have drive windings for the electromagnetic operation of the rotor.
  • the drive windings si nd to a arranged in the housing interconnecting element for the formation of
  • Coil groups interconnected The coil groups are connected by means provided on the interconnection element connecting means n to a
  • Control device attachable.
  • the control device may be an internal or else an external control device, that is to say a control device arranged outside the housing.
  • the drive device further comprises means according to the invention
  • Circuit element arranged si nd The basic idea of the present invention is, on the one hand, to provide the means for condition monitoring on a component which is in any case an integral part of the drive device. In this case, it can preferably be provided that the motor windings, the
  • condition monitoring can be accommodated in the immediate vicinity of the place of origin of those physical quantities on the basis of which
  • Condition monitoring form a fixed part of the structure of the drive device component and i hre arrangement on the
  • Hierdu rch can the determination of the condition assessment used
  • the sensor contained sensor to collect data and collect n represents a first step, in which first the data collected are compared with the state of the drive device to understand the wear behavior of the drive device under specific conditions of use and to build thereon computational models.
  • Eg algorithm development or adaptation for preventive maintenance or failure prediction requires sound understanding of the respective sensor data.
  • Empirical experiments in various applications can be used for validation If necessary, an evaluation of the sensor data based on limit values can also be carried out in the first step.
  • Self-sufficient ie independent of the external or internal control device, can detect or even detect damage or wear-related state changes.
  • the condition monitoring can on the one hand by the operator of
  • Drive device can be used to optimize the maintenance plan. For example, a maintenance depending on the determined
  • the means for condition monitoring can also be used by the manufacturer or warranty provider of the drive device in order to be able to operate in the
  • the means for state monitoring can comprise, for example, a counter which determines the number of
  • the interconnection element for interconnecting the drive windings is ei ne contained in the drive device anyway assembly, the purpose of which is to electrically drive the individual drive windings so mitei each other
  • the drive windings can be combined into three groups in three-phase alternating current machines and led outwards as "u, v and w" winding connections.
  • the design of the interconnection element is fundamentally subject to the requirement of being as small as possible.
  • the drive device is connected for operation with egg ner control device, which besc marryet the drive windings of the drive device with the required for operating the rotor motor currents.
  • Control device can itself own, to the means for
  • Condition monitoring have separate sensors for measuring and controlling operating parameters. These include, for example, own rotation angle sensors as well as current and voltage measuring devices.
  • the means for condition monitoring have at least one sensor for determining a physical size of the drive device. It has proved to be advantageous
  • the Verschaltungselement can form an integral part of the Antriebsvorrichtu ng, so that subsequent manipulation of the means for
  • the means for r condition monitoring can be provided for measuring or determining different states of the electrical drive device, for example a. for measuring electrical currents and / or voltages and / or the waveform of electrical currents and / or voltages and / or voltages
  • electrical currents and / or voltages and / or the waveform of electrical currents and / or voltages can be monitored or reconstructed in the first place, whether the electric drive devices are driven and loaded with the maximum exciter voltages u and maximum excitation currents provided for their operation. In the presence of too high a motor voltage it can
  • condition monitoring means are designed to measure a temperature and / or at least one spatial and / or temporal temperature profile, the thermal load can be determined
  • the temperature can be a reference point for how much the drive device is loaded.
  • the temporal course of the temperature can, for example. Provide information about whether sufficient cooling of the drive device is given or ei ne thermal overload has taken place.
  • Thermal overloads can occur even with sufficient cooling ku then when the drive device is operated in an inadmissible manner, for example, in continuous operation instead of i m optionally only permissible intermittent operation.
  • the determination of a spatial temperature profile requires the measurement of the temperature at least two spatially separated locations.
  • One of the measuring locations may, for example, be located in the vicinity of components which are thermally loaded with motor currents
  • Temperature history could then provide information, for example, whether the cause of thermal overloading causal in the
  • Temperature window operated wi rd. A continuous or regular storage of measured values could thus be omitted.
  • Mechanical vibrations or vibrations and / or static and / or dynamic accelerations can be deduced, on the one hand, from the state of wear or damage of mechanical components such as, for example, rolling bearings.
  • mechanical components such as, for example, rolling bearings.
  • the moving components present in the drive train cause, for example, ever-increasing mechanical oscillations and / or changes in their frequency and / or vibrations and / or dynamic accelerations.
  • Signatures take place, which can then be assigned to specific wear or damage patterns.
  • Rolling differ. Depending on the recognized signature and the frequency or the conditions under which the signature is recognized, this can be due to internal causes in the drive device or to external, in the
  • Drive device registered causes are closed. For example, an imbalance occurring on the tool operated by the drive device can be measured. Since such an imbalance may only occur with egg nem specific tool, this is then not measurable under all operating conditions, which is why a lying in the drive device itself U cause for the imbalance can be excluded with a certain probability.
  • electrical and / or electromagnetic and / or magnetic fields can be provided to measure the currents and voltages applied to the drive windings or to determine the state of the drive windings.
  • condition monitoring means are designed to detect partial discharges, the state of wear or damage to the drive windings and / or the insulation system can be assessed.
  • Drive device is operated in the intended installation position.
  • it can be determined whether the installation position or the position of the drive device in the room during operation changes in a permissible or impermissible manner.
  • it can be recognized on the one hand whether the drive device is operated with permissible operating parameters with regard to its installation position.
  • damage and / or wear images can be better understood or interpreted.
  • Installation position has relevance for the design of pivot bearings, for example. If, for example, a drive device designed for a horizontal mounting position with small axial forces, this drive device must not be in vertical installation position can be operated, otherwise the pivot bearing could be charged in the drive device in an inadmissible manner. In drive devices, which are formed from a motor-gearbox combination, it can n occurrences that, depending on the installation position another
  • Lubricating concept for the mechanical components must be provided. It is designed for a horizontal mounting position
  • Drive device operated vertically or with highly variable mounting positions, it may, for example, come to m occurrence of lack of lubrication and thus premature wear ß.
  • the means for condition monitoring can be optionally galvanically separated from the drive windings. This ensures that the monitoring or recording of the state of the drive device has virtually no effect on the operation of the rotor.
  • the interconnecting element can be designed annularly in accordance with an embodiment of the invention and substantially coaxial with the device Be aligned axis of rotation of the rotor.
  • the interconnection element can be made particularly space-saving in this way.
  • the wiring element, the stator and the housing can be any type of the wiring element, the stator and the housing.
  • the potting material preferably consists essentially of an epoxy resin material or
  • the means for r condition monitoring can have an evaluation module connected to at least one sensor for evaluating sensor data, which is arranged on the, preferably inner space of the housing, in particular on the interconnection element.
  • the evaluation module is arranged on the interconnection element and in connection with a non on the
  • the collected measured values and / or data of the condition monitoring can already be in the electrical
  • Error codes are processed. By generating secondary values, an interpretation of the determined sensor data can already be carried out.
  • signatures in the evaluation module or in an interface connected to the evaluation module can be used for the individual measured values
  • Memory device are deposited for comparison. It is also conceivable that the stored in the evaluation module signatures of measured values of time to be updated on time so that better detection of wear or damage conditions becomes possible.
  • condition monitoring means it is also possible for the condition monitoring means to have a memory device for recording sensor data and / or secondary data generated by the evaluation module, the memory device being mounted on the housing, preferably in the interior of the housing, is arranged in particular on or on the interconnection element.
  • Condition monitoring including, if necessary, generation of
  • the recording of the sensor data or secondary values can, for example, a subsequent
  • Flight data recorders can support a subsequent reconstruction of the circumstances that cause the error.
  • the memory device can preferably also be designed such that it forms a pre-memory with a data buffer which is continuously overwritten with new data.
  • Occurrence of a wear and / or damage event can be resorted to data from the prestorage memory in order to reconstruct the U mplace immediately before the occurrence of the event can.
  • the means for condition monitoring have a transmission device for transmitting sensor data and / or secondary data determined from sensor data, wherein the
  • n can Transmission device preferably in the nenraum of the housing, in particular on the interconnection element is arranged n can.
  • the condition monitoring means can in addition to egg ner on or on the Verschaltungselement encapsulated configuration, ie inaccessible, as long as the drive device is not disassembled, even with a
  • the generated state information can thus be read out while the drive device is still in the installed operating state or at least not decomposed state.
  • the transmission device is designed for continuous and / or periodic and / or event-based and / or manually triggered data transmission.
  • the sensory ascertained state information can be transmitted continuously and / or periodically to another device, for example to the control station of the system in which the
  • the supervisor may, for example, contact the supplier or manufacturer of the
  • the transmission can also be triggered event-based or manually instead of a continuous or periodic transmission.
  • the transmission device can only be at or after Determining a bearing damage ei ne issue a corresponding error message, so that a repair can be done in good time before ei nem final failure of the Antriebssei device.
  • a manual triggering of the transmission of status data comes into consideration when the state of the drive device is to be read out manually by maintenance personnel.
  • the transmission device is designed for wireless data transmission, so that it can be applied to a
  • Wire connection can be dispensed with.
  • Radio access is to be protected.
  • Transmission equipment may be connected to a standard interface, such as a USB interface or other digital interfaces, so that it can be read using a conventional data cable.
  • a standard interface such as a USB interface or other digital interfaces
  • a separate port for reading out the status information can ensure that the wiring of the drive device with its control device remains unchanged and readout of status information can even take place during operation. It is also conceivable Transmission via the motor cable or encoder cable or as so-called single-cable solution.
  • the interface is accessible from an outside of the housing to facilitate reading the state information.
  • the interface is arranged in the interior of the housing and is accessible only when the housing is open. This makes it difficult for unauthorized persons to read out the
  • the means for condition monitoring at least one further sensor for a measurement of a physical quantity on a component of
  • an additional sensor may be attached to the rotor which acts on the rotor
  • the drive device may preferably have a gear, preferably a gearbox, in particular a gear
  • the input side with the rotor wirkverbu NEN and the output side forms an output of the drive device.
  • the Antriebsvorrichtu ng then forms together with the transmission a structural unit, which, for example, is particularly suitable for applications i n robotics n can.
  • the rotor may be formed as a hollow shaft for the passage of lines.
  • the Verschgli ngselement axially between the drive windings and the transmission or on the transmission to arrange the opposite side, so that the means for
  • Condition monitoring can simultaneously monitor the components of the drive device such as the transmission or the application.
  • engine D side The output side of an electric motor is commonly referred to as "engine D side", the opposite side of the engine as “engine N side”.
  • the arrangement of the interconnection element on the motor N side allows a simpler cable routing of the motor strands to supply r
  • An arrangement of the interconnection element on the engine D side can qualitatively improve the monitoring of the state on the output side, for example the state of a flanged transmission.
  • FIG. 1 shows a drive device according to the invention
  • FIGS. 1 and 4 show a drive device 1 according to the invention with a housing 2 and a rotor 3 arranged therein.
  • the rotor 3 is rotatable in the housing with respect to a stator 4 which is fixedly mounted in the housing 2 and is also shown in FIG 2 stored.
  • a plurality of drive windings 5 distributed over the circumference are provided on the stator 4, which are connected together to form a connection element 6 to form coil groups u, v, w.
  • the connection element 6 is provided with the sensors 7, 8, 9 shown in FIG.
  • These sensors can be used to measure electrical currents and / or
  • the sensor 7 serves to monitor the winding temperature of a drive winding 5.
  • the sensor 8 is used to measure
  • the sensor 9 is used to measure moisture in the inner space 110 of the housing 2.
  • further sensors can be mounted on the housing
  • the interconnection element 6 is designed as a circuit board 1 1, which is placed on the arrangement of the drive windings 5 and thus encapsulated to form an optional encapsulation 1 3.
  • the interconnection element 6 and the arrangement of the drive windings 5 on the stator 4 thus form a unitary assembly.
  • Drive windings 5 are annular.
  • the thus likewise ri ngförmig formed stator 4 is in the inner space 1 0 of the drive device 1 coaxially aligned with a rotation axis 1 2 of the rotor 3.
  • the rotor 3 has either permanent magnets or likewise drive windings 5, which serve as counter elements to the drive windings 5 of the stator 4, around the rotor 3 within the drive device 1
  • Permanent magnets are arranged on the stator 4 and the
  • Drive windings 5 are arranged on the rotor 3 in this case would be the drive windings 5 connected to egg nem loom connected to the rotor 3 interconnection element 6 with each other.
  • the drive device 1 can also be designed as an external rotor with egg nem ri ngförmigen rotor 3 n, the stator 4 u m forum.
  • the rotor 3 is connected to a front side of the housing 2 flanged reduction gear 27, which underpins the movement of the rotor 3 and
  • the reduction gear 27 may alternatively also in the
  • Housing 2 i be integrated.
  • the reduction gear 27 may, for example, a
  • Reduction gear 27 forms the output of the drive device. 1
  • the rotor 3 may be formed as a hollow shaft and fully penetrate the drive device 1 to serve egg nen channel for the passage of cables or lines.
  • Such motors are particularly suitable, for example, for use with industrial robots and machine tools.
  • Encapsulation 1 3 is used for electrical insulation and the
  • Vergusskapselung can, for example, from egg nem epoxy resin or
  • Polyurethane exist.
  • a data transmission line 26 is provided which is in electrical communication with the means n to r
  • the means for condition monitoring are on the interconnection element 6 shown in FIG. 3, the three sensors 7, 8, 9, an evaluation module 14, a memory device 1 5, and a transmission device 1 6.
  • the transmission device 1 6 can either with the
  • Data transmission line 26 are in electrical connection, or be designed as a wireless nikssei device.
  • a power connection 1 9 is provided, i n which the Motor Arthursbü bundle 25 opens, and at which a Steuerei device 22 for Ansteuu ng of the drive device 1 by means of a connecting line 23 can be connected. Furthermore, there is provided an interface 1 7, in which the data transmission line 26 opens. To the interface 1 7 kan n a read-out device 1 8 by means of a Vietnamesesleitu ng 24 are connected to the by the
  • the transmission to the read-out device 118 can also take place wirelessly, if provided on the Verschaltungselement 6
  • Transmission device 1 6 is suitable for wireless transmission.
  • sensors 7, 8, 9 further sensors 21, 28 for direct measurement determim mter physical variables in the housing 2 distributed or arranged on the outer side 20 of the housing 2.
  • sensors 7, 8, 9 further sensors 21, 28 for direct measurement determim mter physical variables in the housing 2 distributed or arranged on the outer side 20 of the housing 2.
  • a sensor 28 for measuring the temperature on the outside 20 of the housing 2 and a sensor 21 for measuring the temperature of the housing 2 on the inside can be provided, so that by means of a difference formation
  • Temperature value of the sensor 28 and the temperature of the sensor 21 can be closed on whether ei ne temperature load of
  • Drive windings 5 can be omitted.
  • the Verschaltungsplati ne 1 unlike the Anordnu shown in Figure 4 can be arranged on the reduction gear 27 side facing the stator 4, the so-called engine D side, so that the sensors arranged on the Verschaltungselement 6 also physical quantities can take, which occur in the transmission gear 27 Ü. These are, for example, bearing damage or damage or
  • a particular advantage of the present invention is that the means for condition monitoring can be completely spatially separated from the excited with the operating voltage components of the drive device 1, so that on the one hand ei ne monitoring the condition of Vorrichtu ng is possible, but a sudwi tion or Eg egg n moral the condition monitoring on the operation of the drive device 1 can be avoided. It is thus possible, for example, to read out the drive device 1 during operation with respect to its status information. Because of the means for r condition monitoring none
  • Clearlysseinrichtu ng 1 6 si nd present formed by a microcontroller, which transmits all the sensor data of the sensors 7, 8, 9, 21, 28 via the present digital interface 1 7 to the Ausleseeinrichtu ng 1 8.
  • preprocessing of the status data stored in the memory module 1 5 can take place, so that the read-out unit 18 can either retrieve sensor raw data for further processing or the result of a calculation already carried out in the evaluation module 14.
  • Such an outcome could be, for example, an error code indicating that a particular component needs to be replaced.
  • the means for r condition monitoring can be functionally separated by the arrangement on the interconnection board for controlling the
  • Drive device 1 for example, are provided galvanically isolated, so that the survey of the Stati nformationen has no effect on the operation of the drive device 1. LIST OF REFERENCE NUMBERS

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)

Abstract

La présente invention concerne un dispositif d'entraînement (1) électrique muni d'au moins un stator (4) disposé dans un boîtier (2) ainsi que d'un rotor (3) rotatif par rapport au stator (4). Le rotor (3) et/ou le stator (4) comprennent des enroulements d'entraînement (5) pour la commande électromagnétique du rotor (3), les enroulements d'entraînement (5) étant câblés les uns aux autres sur un élément de câblage (6) disposé dans le boîtier (2) pour former des groupes de bobines (u, v, w). Les groupes de bobines (u, v, w) peuvent être connectés à un système de commande externe au moyen de faisceaux de conducteurs de moteur (25) disposés au niveau de l'élément de câblage (6). La constitution du dispositif d'entraînement électrique avec une surveillance d'états doit être simplifiée du fait que le dispositif d'entraînement (1) comprend des moyens (7, 8, 9,14, 15) pour la surveillance d'états qui sont disposés au moins en partie au niveau de l'élément de câblage (6).
PCT/EP2018/063829 2018-05-25 2018-05-25 Dispositif d'entraînement électrique avec surveillance d'états WO2019223882A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP18728575.4A EP3763021A1 (fr) 2018-05-25 2018-05-25 Dispositif d'entraînement électrique avec surveillance d'états
PCT/EP2018/063829 WO2019223882A1 (fr) 2018-05-25 2018-05-25 Dispositif d'entraînement électrique avec surveillance d'états

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2018/063829 WO2019223882A1 (fr) 2018-05-25 2018-05-25 Dispositif d'entraînement électrique avec surveillance d'états

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WO2019223882A1 true WO2019223882A1 (fr) 2019-11-28

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Cited By (2)

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DE102019107897A1 (de) * 2019-03-27 2020-10-01 Lock Antriebstechnik Gmbh System mit einer Mehrzahl von Getriebemotoren und wenigstens einem Sensor
EP3893369A1 (fr) * 2020-04-08 2021-10-13 Andreas Stihl AG & Co. KG Générateur doté d'un dispositif de communication

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EP3893369A1 (fr) * 2020-04-08 2021-10-13 Andreas Stihl AG & Co. KG Générateur doté d'un dispositif de communication

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