公开(公告)号：EP2531328B1

公开(公告)日：2015-04-08

申请号：EP10703810.1

申请日：2010-02-05

申请人： ABB AG

发明人： KOCK, Sönke, Dr.-Ing. ,  HOFSCHULTE, Jens

IPC分类号： B25J9/12 ,  B25J19/00

CPC分类号： B25J19/00 ,  B25J9/126 ,  H02P29/62

公开(公告)号：EP2531328A1

公开(公告)日：2012-12-12

申请号：EP10703810.1

申请日：2010-02-05

申请人： ABB AG

发明人： KOCK, Sönke ,  HOFSCHULTE, Jens

IPC分类号： B25J9/12 ,  B25J19/00

CPC分类号： B25J19/00 ,  B25J9/126 ,  H02P29/62

摘要： The invention proposes a method for heating of robots in cold environments, whereby the robot possesses permanent magnet brushless or three-phase synchronous motors (1) with three motor phases comprising three stator coils (L
1 , L
2 , L
3 ) connected to an inverter (3) controllable by a control-unit (4) and with a rotor with permanent magnet excitation (2). A current is applied to at least one phase respectively stator coil (L
1 , L
2 , L
3 ) of the motor (1) if the motor stands still creating a directed magnetic flux (Φ) which interacts with the permanent magnets of the rotor in such a way that the resulting torque will be close to zero. Further the invention proposes a system for heating of robots in cold environments whereby the inverters (3) and motors (1) in standstill are used to heat up the critical drive train components, where by at least one supervisory-control-unit (5) monitors the motor temperature in order to avoid overheating.