Drive inverter shared by different motors in a vehicle

• US 9,919,602 B2
• Filed: 03/26/2014
• Issued: 03/20/2018
• Est. Priority Date: 03/27/2013
• Status: Active Grant

• Current Assignee: ABB Schweiz AG (ABB Limited)
• Original Assignee: ABB Schweiz AG (ABB Limited)
• Inventors: Fuhlbrigge, Thomas A., Martinez, Carlos, Stabb, Harald Josef, Rossano, Gregory F.
• Primary Examiner(s): Brown, Drew J
• Application Number:
  US14/780,542
• Publication Number:
  US 20170144547A1
• Time in Patent Office: 1,455 Days
• CPC Class Codes: B60L 1/003 to auxiliary motors, e.g. for pumps, compressors
• CPC Class Codes: B60L 15/007 Physical arrangements or structures of drive train converters specially adapted for the propulsion motors of electric vehicles
• CPC Class Codes: B60L 15/20 for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
• CPC Class Codes: B60L 2200/44 Industrial trucks or floor conveyors
• CPC Class Codes: B60L 2240/421 Speed
• CPC Class Codes: B60L 2240/425 Temperature
• CPC Class Codes: B60L 2260/32 Auto pilot mode
• CPC Class Codes: B60L 50/51 characterised by AC-motors
• CPC Class Codes: B60L 50/66 Arrangements of batteries
• CPC Class Codes: B60L 58/21 having the same nominal voltage
• CPC Class Codes: Y02P 90/60 Electric or hybrid propulsion means for production processes
• CPC Class Codes: Y02T 10/64 Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/70 Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/72 Electric energy management in electromobility

Abstract

The drive inverter units that power the traction motors and steering motors of a manned or unmanned vehicle such as a mobile robot or automated guided vehicles (AGVs), industrial trucks or remote controlled vehicles that are equipped with a robot arm or other actuated mechanisms are also used to power the axes of the robot arms or other additional high power actuators (e.g. a lift table). The traction and steering motors can be disconnected from the drive and the motors of a robot arm or actuator can be connected to the drive and vice versa. The prerequisite is that driving and robot arm/actuator motion do not take place at the same time.

Claims

1. A vehicle comprising at least one actuated mechanism and further comprising:

two or more electric motors, one of said two or more motors used for locomotion of said vehicle and all others of said two or more motors used for other than locomotion of said vehicle, said all others of said two or more motors comprising one or ore electric motors connected to said at least one actuated mechanism, with only one of said two or more motors being powered at a given time; and

at least one drive inverter unit shared between said two or more motors and configured for providing power to said only one of said two or more motors at said given time, wherein said at least one driver inverter unit is further configured for storing for each of said two or more motors that is not powered at said given time an associated set of parameters and configuration data in order to provide data for controlling the vehicle.

2. The vehicle of claim 1, wherein said at least one drive inverter unit switches between said stored associated set of parameters for each said two or more motors as said drive inverter unit switches between providing power to one of said two or more motors to another of said two or more motors.

3. The vehicle of claim 1 wherein said vehicle is a mobile platform.

4. The vehicle of claim 3 wherein said mobile platform comprises two powered wheels each with an associated traction motor.

5. The vehicle of claim 3 further comprising a robot mounted on said mobile platform.

6. The vehicle of claim 5 wherein said robot has an arm with one or more of said actuated mechanisms with an associated motor that receives power from said at least one drive inverter unit.

7. The vehicle of claim 3 further comprising a lift table mounted on said mobile platform.

8. The vehicle of claim 7 further comprising a robot mounted on said lift table.

9. The vehicle of claim 3 further wherein said mobile platform comprises wheels or caterpillars on motor driven articulated mechanisms and said one of said two or more electric motors used for locomotion of said mobile platform are said articulated mechanism driving motor.

10. The vehicle of claim 9 further comprising a mechanism attached to said mobile platform configured to actuate an attached tool, said attached mechanism having others of said two or more motors for operating said attached mechanism.

11. The vehicle of claim 3 wherein said mobile platform has three or more omni-directional wheels for locomotion each with an associated one of three or more of said two or more motors.

12. The vehicle of claim 1 further comprising a switching unit mounted on said vehicle to connect to said drive inverter unit only that one of said two or more motors that is to receive power from said drive inverter unit at said given time.

13. The vehicle of claim 1 further comprising legged mechanisms for locomotion each with an associated motor.

14. The vehicle of claim 1 further comprising a combination of wheels and legged mechanisms for locomotion each with an associated motor.

15. The vehicle of claim 1, further comprising visual detection means configured to provide detection data of said vehicle for remote control of said vehicle.

16. A method for electrically powering a vehicle having at least an actuated mechanism and two or more electric motors with only one motor of said two or more motors powered at a given time and at least one drive inverter unit connects to said two or more motors, said method comprising:

using one of said two or more motors for traction for said vehicle;

using all others of said two or more motors for other than traction of said vehicle, said all others of said two or more motors comprising one or more electric motors connected to said at least one actuated mechanism; and

sharing between said two or more electric motors said at least one drive inverter unit for delivering electric power to only one motor of said two or more motors, said at least one drive inverter unit only delivering at a given time electric power to that one of said two or more motors that is powered at said given time;

storing for each of said two or more motors that is not powered at said given time an associated set of parameters and configuration data in order to provide data; and

controlling the vehicle by using said data.

17. The method of claim 16 further comprising:

storing said set of parameter and configuration data of two or more different motors of said two or more motors switching between the motors during runtime of said vehicle, provided that each of said motors is not moving.

18. The method of claim 16 further comprising:

providing visual detection means on said vehicle in order to provide detection data of said vehicle; and

remotely controlling said vehicle by using said detection data received from said detection means.