EP3763021A1

EP3763021A1 - Electrical drive device with condition monitoring

Info

Publication number: EP3763021A1
Application number: EP18728575.4A
Authority: EP
Inventors: Johannes LOSCH; Kersten REIS
Original assignee: Harmonic Drive Se
Current assignee: Harmonic Drive Se
Priority date: 2018-05-25
Filing date: 2018-05-25
Publication date: 2021-01-13
Also published as: WO2019223882A1

Abstract

The invention relates to an electrical drive device (1) having at least one stator (4) arranged in a housing (2) and a rotor (3) which is rotatable relative to the stator (4), wherein the rotor (3) and/or the stator (4) have drive windings (5) for electromagnetically operating the rotor (3), the drive windings (5) are connected to one another at an interconnection element (6) arranged in the housing (2) to form coil groups (u, v, w), and the coil groups (u, v, w) can be connected to an external control device by means of motor line bundles (25) provided on the interconnection element (6). The structure of the electrical drive device with condition monitoring is intended to be simplified by virtue of the drive device (1) having condition monitoring means (7, 8, 9, 14, 15) which are at least partially arranged on the interconnection element (6).

Description

Designation: Electric drive device with condition monitoring Description

The invention relates to a drive device according to the preamble of claim 1.

Condition monitoring of electric drive devices, the

so-called Condition Monitoring, which is more important to control the state of actuators, eg. B. gear-motor combinations, motors without

Gears and their surroundings can be evaluated over time.

Through an improved understanding of machine conditions can

Maintenance should be planned better. For example, preventive

Maintenance of bearing components in case of unexpected failure

Prevention, current or voltage monitoring can allow conclusions about the condition of a drive device.

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.

In addition to the direct measurements described above by way of example, indirect measurements are also possible for a condition assessment of components subject to wear. The wear on a rotary bearing of an electric drive kan n z. B. indi rectly by evaluating the motor currents are determined. For example, US 5 576 632 A describes a neural network which exhibits Fast Fourier transform calculations Applies motor current measurements to perform a condition classification of the drive.

WO 201 5/1 20279 A1 discloses a monitoring system for

Drive motors known that transmits sensor data to a remote monitoring system and provides alarms when repair needs.

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.

For an AC motor system, 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.

Detection of a failure takes place according to US 2003/01 2441 A1 du comparison of measured current and reference current for one component.

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.

For drive devices without integrated or hardwired

Control are distributed, it is desirable, determined

Reliably detect state variables. Because wear and unexpected Damage to the drive device can be done not only by their besti mmungsgemäßen, but also just by improper use or improper control. One in the

Drive device i ntegrierte 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

Robotic applications or as drives for tools in

Werkzeugmaschi nen or automation technology are provided, often have no own control, but are connected to an external control device that coordinates the movements of multiple drive devices. From DE 1 0 2014 1 08 366 A1, for example, a hollow shaft motor is known, the ei ne annular

Verschaltu ngsplati ne and egg ne second, in the axial direction thereof remote electronics board for connection to ei ne control device has.

It happens that the control device operates the drive device outside allowable operating parameters, resulting in premature wear or unexpected failure. Partial Kings nen also special ambient conditions or conditions of use on the

Drive device act, that it comes to a premature wear or premature failure despite a attitude to acceptable operating parameters.

In order to be able to better understand and understand such circumstances, on the one hand, and liability and warranty issues on the other To be able to clarify the basis of data-based basis, it is desirable to provide an independent of the actual control device and largely tamper-proof condition monitoring. The Unterbringu ng required for the collection of condition data sensors is still problematic, as this additional work steps in the assembly and additional construction space are required. The previously known solutions for condition monitoring are either too complex and bulky and / or susceptible to manipulation.

Against this background, the invention has for its object to provide an improved electric drive device in which the

Iintegration of the means for condition monitoring for a compact design over the prior art is improved.

This object is achieved by an electric drive device according to claim 1.

The electric drive device, which may be designed in particular as a hollow shaft motor, has at least one in a housing

arranged stator and a rotatable relative to the stator rotor. 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

Condition monitoring, which partly connects to the

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

Verschaltungselement and means for condition monitoring to egg ner uniform, in particular firmly connected assembly group summarized si nd. In this way, additional required assembly steps in the final assembly of the drive device can be saved or even avoided. On the other hand, the means for

Nevertheless, condition monitoring can be accommodated in the immediate vicinity of the place of origin of those physical quantities on the basis of which

Conclusions about the state of the drive device to be taken.

Advantage of this construction according to the invention is that the means for

Condition monitoring form a fixed part of the structure of the drive device component and i hre arrangement on the

Verschaltungselement i nneren of the housing are hidden. Hierdu rch can the determination of the condition assessment used

physical sizes targeted and the required space inside the housing is not or only slightly larger.

The possibility of doing so independently of the

Drive device operating control device and the therein

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.

In addition, manipulation of the condition monitoring during normal operation is made more difficult by the arrangement of the condition monitoring means on the interconnection element in the interior space of the drive device. The invention makes it possible that the drive device

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

Condition should always be planned so that unforeseen failures are avoided.

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

Be able to investigate failure causes condition monitoring afterwards. This in particular without access to the control device itself. In the most simple variant, the means for state monitoring can comprise, for example, a counter which determines the number of

Switch-on operations or operating hours.

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

interconnect and summarize that a smaller number of

Connecting lines must be led to the control unit.

For example, 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. there 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 beschältet the drive windings of the drive device with the required for operating the rotor motor currents. The

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.

It may preferably be provided that 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

provide at least one sensor on the Verschaltungselement, so that the installation of the sensor i n ei nem step with the egg nbau the Verschaltungselementes done. A separate assembly step for

Attachment of a sensor at a particular measuring point, for example within a drive winding, can thus be dispensed with. Since the Verschaltungselement usually in close proximity to the stator and rotor of

Drive device is installed, is also a sufficiently close spatial relationship between the sensor and to be determined by him NEN

physical size given to the stator and rotor. After assembly, the Verschaltungselement can form an integral part of the Antriebsvorrichtu ng, so that subsequent manipulation of the means for

Condition detection be further complicated.

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

b. for measuring a temperature and / or at least one

spatial and / or temporal temperature profile and / or c. for determining a Grenztemperaturüber- or undershooting and / or

d. for measuring mechanical vibrations or vibrations

and / or static and / or dynamic accelerations and / or

e. for measuring electrical and / or electromagnetic and / or magnetic fields and / or

f. for measuring the ambient pressure and / or

G. for measuring the humidity and / or

H. for the determination of partial discharges and / or

i. for determining the installation position of the drive device and / or a change in their position in space.

In training the condition monitoring means for measuring

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

For example, to egg ner overloading of the insulation system, come to its premature aging or even voltage breakdowns. In the presence of high motor currents may cause thermal overloads of the electrical conductors and their isolation u nd thus their failure. Inadmissible combinations of motor current and motor voltage outside admissible operating parameters can also indicate an overloading of the drive device with too great a load, incorrect control or mechanical damage in the drive train. The evaluation of the waveforms of electrical currents or voltages can make it possible to draw conclusions about what kind of damage it is. From US 6,262,550 B1 si nd corresponding evaluation known.

When the 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

Times or continuously measured. On the one hand, 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 Kü 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

Drive device or to locate outside. For example. In spite of compliance with mechanical and electrical limit values, thermal overloading may occur if the drive device is operated at too high an ambient temperature. When the condition monitoring means are designed to determine if the temperature exceeds or falls below the limit value, the sensor can do so

be formed so that a signal is only generated when the

Drive device above or below a permitted

Temperature window operated wi rd. A continuous or regular storage of measured values could thus be omitted.

In the formation of the means for condition monitoring for measurement

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. With progressive wear or damage, 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. Upon detection of these vibrations, vibrations or accelerations, on the one hand, it is possible for the wear or damage of a number of components to be detected

be closed back.

The recognition of certain vibrations or accelerations can be achieved, for example, by comparing measured values with known ones

Signatures take place, which can then be assigned to specific wear or damage patterns. Thus, for example, a known for an imbalance Signatu r strong of a signature of a defective

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.

In the formation of the means for condition monitoring for measurement

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.

By means of a moisture sensor, it can be deduced that the drive device is or has been used under the ambient conditions intended for it.

When the 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.

In the case of the egg nbaulage the drive device and / or a change in their position in space is essentially determined whether the

Drive device is operated in the intended installation position. In addition, 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. As a result, it can be recognized on the one hand whether the drive device is operated with permissible operating parameters with regard to its installation position. On the other hand damage and / or wear images can be better understood or interpreted. The

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. As a means for determining the mounting position and / or egg ner change the position of the drive device i m space come position sensors for egg nsatz.

Advantageously, 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.

According to a particularly preferred embodiment, the

Verschaltungselement is designed as Verschaltungsplati ne n. A training as interconnection board has the advantage that the

Verschaltu ngselement easy to manufacture and at the same time ei ne has a very small size. In addition, it has been found that the circuit board designed as a circuit board element can be easily equipped with additional electronic components. The additional electronics in the form of sensor modules and optionally memory and / or evaluation modules enables the detection of the various

physical sizes in the drive device.

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

in particular by means of encapsulation, preferably egg ner vacuum Vergusskapselu ng, be firmly bound together with each other. This can be ei ne good electrical insulation, good heat dissipation and protection against moisture and manipulation can be achieved. The potting material preferably consists essentially of an epoxy resin material or

Polyurethane.

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. Alternatively, it is also possible that the evaluation module is arranged on the interconnection element and in connection with a non on the

Verschaltungselement arranged sensor is.

By means of an evaluation module, the collected measured values and / or data of the condition monitoring can already be in the electrical

Drive device to be processed. In this way, the amount of data to be stored and / or to be transmitted to the outside can be reduced or already converted into meaningful secondary values, eg.

Error codes are processed. By generating secondary values, an interpretation of the determined sensor data can already be carried out.

For this purpose, so-called 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.

According to a further embodiment of the invention, 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.

The advantages of this embodiment are that the means for

Condition monitoring, including, if necessary, generation of

Secondary values and storage of the determined data in the

The interior of the drive device i ntegrated si nd. The recording of the sensor data or secondary values can, for example, a subsequent

Support for the identification of causes of failure, as the funds for

Condition monitoring such as a car error memory or egg n

Flight data recorders can support a subsequent reconstruction of the circumstances that cause the error.

Also, a gradual progressive change in the

Drive device present, physical sizes can by

Record tion of the determined sensor values in a storage device better done. By creating a temporally distributed database, an individual evaluation of the change of physical quantities in a drive device becomes possible. 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. At the

Occurrence of a wear and / or damage event can be resorted to data from the prestorage memory in order to reconstruct the U mstände immediately before the occurrence of the event can. It can also be provided that the means for condition monitoring have a transmission device for transmitting sensor data and / or secondary data determined from sensor data, wherein the

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

Be provided by means of which ei n reading the sensor data or secondary data without disassembling the

Drive device for direct access is possible. 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.

It can be provided that the transmission device is designed for continuous and / or periodic and / or event-based and / or manually triggered data transmission.

For example, 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

Drive device is installed. It is also possible, the status information in addition or alternatively to a remote, external

To transmit monitoring device. The supervisor may, for example, contact the supplier or manufacturer of the

Drive device are operated so that in case of deviations from predetermined operating parameters early intervention by the

Manufacturer by offering maintenance or repair.

The transmission can also be triggered event-based or manually instead of a continuous or periodic transmission.

For example, 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.

In addition, it can be provided that the transmission device is designed for wireless data transmission, so that it can be applied to a

Wire connection can be dispensed with.

Alternatively, however, it can also be provided that the

Transmission device for wired data transmission

is formed when the drive device, for example, operated in a radio-interference area wi rd or before an unauthorized

Radio access is to be protected.

It can additionally be provided that the means for

Condition monitoring has a connected to the Übertragungssei device interface for connecting egg ner Ausleseei direction. The

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.

Preferably, it can be provided that the interface separated from a externa ßeren, electrically connected to the coil groups

Power connection of the drive device is formed. 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.

It may be advantageous if the interface is accessible from an outside of the housing to facilitate reading the state information.

In contrast, it can also be provided that 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

Condition information of the drive device.

For certain applications, it may additionally be provided that the means for condition monitoring at least one further sensor for a measurement of a physical quantity on a component of

Drive device has ng. For example, an additional sensor may be attached to the rotor which acts on the rotor

Measures torque directly on the rotor. In this way, the quality and accuracy of the determined state information can be improved.

The drive device may preferably have a gear, preferably a gearbox, in particular a gear

Voltage shaft gear or harmonic drive 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. In this case, the rotor may be formed as a hollow shaft for the passage of lines.

In such an embodiment of the drive device, it has proven to be particularly advantageous, 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.

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

Drive energy. 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.

Presentation of the invention

Other objects, advantages, features and applications of the present invention will become apparent from the following description of an embodiment with reference to the drawings. All described and / or illustrated features alone or in any meaningful combi nation form the subject of the present

Invention, also independent of its summary in the claims or their dependency.

Here are partly schematic:

FIG. 1 shows a drive device according to the invention,

2 shows an assembly of circuit board and

Drive windings of the drive device according to Figure 1 and 3 shows a equipped with means for condition monitoring

Circuit board of the drive device according to FIG. 1

Figure 4 ei ne sectional view of the drive device.

The same or equivalent components are in the following

Illustrated figures of Zeichnu ng by ei ner embodiment with reference numerals, u m to improve the readability.

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

Voltages and / or the waveform of electrical currents and / or voltages u nd / to measure egg ner temperature and / or at least one spatial and / or temporal temperature profile and / or to determine a Grenztemperaturüber- or undershooting and / or for measuring mechanical Vibrations and / or vibrations and / or static and / or dynamic accelerations and / or for measuring electrical and / or electromagnetic and / or magnetic fields and / or for measuring the ambient pressure and / or for measuring the atmospheric humidity and / or Determination of partial discharges on the drive windings 5 and to determine the installation position of the drive device 1 and / or a change in its position in space. In the present case, the sensor 7 serves to monitor the winding temperature of a drive winding 5. The sensor 8 is used to measure

Motor currents with which ei ne of the coil groups u, v, w during the operation of i m present example designed as a three-phase alternator drive device 1 is traversed. The sensor 9 is used to measure moisture in the inner space 110 of the housing 2. In addition, further sensors can be mounted on the housing

Verschaltungselement 6 are provided in order to i nnenraum 1 0 of the housing 2 prevailing and for the condition monitoring i nessessante physical variables to measure.

In the present case, 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.

The interconnecting element 6 and also the coil arrangement of

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

to operate electromagnetically. For example, the electric

Drive device as Synch ronmaschine or synchronous servo motor is formed n.

It is also conceivable ei ne variant in which one or more

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 drehest 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 mgibt.

In the presently illustrated embodiment, 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

simultaneously increases the output from the Antriebsvorrichtu ng 1 torque. The reduction gear 27 may alternatively also in the

Housing 2 i be integrated.

The reduction gear 27 may, for example, a

Span tion shaft gear, so ei n so-called Harmony Drive gearbox be that underpinned on the input side adjacent rotational movement of the rotor 3. It is also conceivable that the Untersetzu ngsgetriebe 27 as

Planetary gear or the like. Is formed. Egg n output 29 of the

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.

The Vergusskapselung 1 3, with which the Verschaltungselementes 6 and the arrangement of the drive windings 5 joined together makes the

Drive windings 5 and the interconnection element 6 to a

unified and non-destructive building construction. The

Encapsulation 1 3 is used for electrical insulation and the

Heat dissipation and moisture protection of the electronic

Components on the Verschaltungselement 6. On the other hand offers the Vergusskapselung 1 3 a certain manipulation protection for the arranged on the Verschaltungselement 6 components, the only under

Destruction of Vergusskapselung 1 3 are accessible. The

Vergusskapselung can, for example, from egg nem epoxy resin or

Polyurethane exist.

At the Verschaltungselement 6 also egg n motor cable bundle 25 is also attached, which is an electrical Verbi tion to the outside

Contacting the coil groups u, v, w interconnected

Drive windings 5 is used. In addition, a data transmission line 26 is provided which is in electrical communication with the means n to r

Condition monitoring on the Verschaltungselement 6 is.

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 Übertragungssei device.

On the housing 2 of the drive device 1, a power connection 1 9 is provided, i n which the Motorleitungsbü 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 Verbindungsleitu ng 24 are connected to the by the

Sensors 7, 8, 9 collected state data to the Ausleseei device 1 8 to transmit.

As an alternative to transmission by means of the wired interface 1 7, 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.

In addition to the arranged on the Verschaltungselement 6 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. For example, 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 device due to i nneren or external heat development takes place.

By arranging the Verschaltungsplati ne 1 1 in the immediate vicinity of the drive windings 5 can be measured with sufficient accuracy and quality measured on the drive windings 5 physical variables without the sensor in question directly on or in the n

Drive winding 5 must be provided. In this way, the assembly of the entire electric drive device simplifies significantly, as a vorbestückte circuit board 1 1 may have the desired sensors and ei n additional assembly costs to the

Drive windings 5 can be omitted.

The Verschaltungsplati ne 1 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

Wear on the teeth of the transmission components. 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 Rückwi tion or Eg egg nwirkung 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

Ei nflussnahme on the excitement of the drive windings is possible, a high reliability is given.

The evaluation module 1 4, the memory module 1 5 and the

Übertragungsseinrichtu 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.

In the evaluation module 14, 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

1 drive device

2 housings

3 rotor

4 stator

5 drive winding

6 interconnection element

7 sensor

8 sensor

9 sensor

10 interior

11 Circuit board

12 axis of rotation

13 encapsulation

14 evaluation module

15 storage device

16 transmission device

17 interface

18 readout device

19 power connection

20 outside

21 sensor

22 control device

23 Connecting cable drive control

24 Connection line condition monitoring

25 motor cable bundles

26 data transmission line

27 reduction gear

28 sensor

29 exit

U, V, w coil groups 1, 2, 3

Claims

claims

1 . Electric drive device (1) with in a housing (2)

arranged at least egg nem stator (4) and a relative to the stator (4) rotatable rotor (3), said rotor (3) and / or stator (4) drive windings (5) for the electromagnetic operation of the rotor (3), the Antriebswicklu (5) on a in the housing (2) arranged Verschaltungselement (6) for bildu ng of coil groups (u, v, w) are interconnected with each other and the coil groups (u, v, w) by means of the Verschaltungselement (6) provided

Motor line bundles (25) are connectable to a control device (22), dadu rch characterized in that the drive device (1) comprises means (7, 8, 9, 14, 1 5) for condition monitoring, the zumi ndest partially to the Verschaltungselement (6) arranged si nd.

2. Electric drive device according to claim 1, characterized

characterized in that the condition monitoring means comprise at least one sensor (7, 8, 9) for determining a physical size of the drive device (1).

3. Electric drive device according to egg nem of the preceding one

Claims, characterized in that the means for

condition monitoring

a. for measuring electrical currents and / or voltages and / or the waveform of electrical currents and / or voltages and / or b. for measuring a temperature and / or at least one Räu mlichen and / or temporal temperature profile and / or

c. for determining a limit temperature overflow or underflow

and or

d. for measuring mechanical oscillations or vibrations and / or static and / or dynamic accelerations and / or e. for measuring electrical and / or electromagnetic and / or magnetic fields and / or

f. for measuring the ambient pressure and / or

G. for measuring the humidity and / or

H. for the determination of partial discharges and / or

i. for determining the eggplant position of the drive device (1) and / or a change in its position in space

trained si nd.

4. Drive device (1) according to egg nem of the preceding claims, characterized in that the means for condition monitoring of the drive windings (5) are electrically isolated.

5. Drive device (1) according to egg nem of the preceding claims, characterized in that the interconnection element (6) as

Circuit board (1 1) is formed.

6. Drive device (1) according to egg nem of the preceding claims, characterized in that the interconnection element (6) ri ngförmig formed and substantially coaxially aligned with the axis of rotation (1 2) of the rotor (3).

7. Drive device (1) according to egg nem of the preceding claims, characterized in that the interconnection element (6), the stator (4) and the housing (2) by means of Vergusskapselung (1 3), preferably a Vakuu m-Vergusskapselung, firmly together are connected.

8. Drive device (1) according to egg nem of the preceding claims, characterized in that the means for condition monitoring with at least egg nem sensor (7, 8, 9) connected evaluation module (14) for evaluating sensor data having on the, preferably in the interior (10) of the housing (2), in particular on the interconnecting element (6) is arranged.

9. Drive device (1) according to one of the preceding claims, characterized in that the means for condition monitoring comprise a memory device (15) for recording sensor data and / or by means of the evaluation module (14) generated secondary data, wherein the memory device on the housing (2 )

preferably in the interior (10) of the housing (2), in particular on or on the interconnecting element (6) is arranged.

10. Drive device (1) according to one of the preceding claims, characterized in that the means for condition monitoring comprise a transmission device (16) for transmitting sensor data and / or secondary data determined from sensor data, wherein the transmission device (16) preferably in the interior (10). of the housing (2), in particular on the Verschaltungselement (6) is arranged.

11. Drive device (1) according to claim 10, characterized in that the transmission device (16) is designed for continuous and / or periodic and / or event-based and / or manually triggered data transmission.

12. Drive device (1) according to any one of claims 10 or 11, characterized in that the transmission device (16) is designed for wireless or wired data transmission.

13. Drive device (1) according to claim 12, characterized in that the means for wired condition monitoring connected to the transmission device (16) interface (17) for

Connecting a read-out device (18), preferably that the interface (17) is formed separately from an outer power connection (19) of the drive device (1) which is electrically connected to the coil groups.

14. Drive device (1) according to claim 13, characterized in that the interface (17) accessible from an outer side (20) of the housing (2) or in the interior (10) of the housing (2) and is accessible only when the housing is open ,

15. Drive device (1) according to one of the preceding claims, characterized in that the means for condition monitoring at least one further sensor (21) for a measurement of a physical quantity on a component of the drive device (1).

16. Drive device (1) according to one of the preceding claims, characterized by a gear, preferably a

Reduction gear (27), the input side with the rotor (3) is operatively connected and the output side of the output

Drive device (1) forms.

17. Drive device (1) according to claim 16, characterized in that the interconnection element (6) axially between the

Drive windings (5) and the transmission or on the opposite side of the transmission of the stator (4) and the rotor (3) is arranged.