CN100443269C - Robot overcurrent prevention system - Google Patents
Robot overcurrent prevention system Download PDFInfo
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- CN100443269C CN100443269C CNB2005101091507A CN200510109150A CN100443269C CN 100443269 C CN100443269 C CN 100443269C CN B2005101091507 A CNB2005101091507 A CN B2005101091507A CN 200510109150 A CN200510109150 A CN 200510109150A CN 100443269 C CN100443269 C CN 100443269C
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Abstract
The invention provides an over-current prevention device of a robot, which can protect an electrical system when the over-current is detected and avoid functional stoppage or unstable posture of the robot regardless of the status. The invention includes: an FET (80a), which is inserted in a power circuit (7a), when the FET is cut off, the power circuit (7a) is cut off to stop the switching-on to a drive circuit (72); a current sensor (80b), which produces the output that is corresponding to the current for switching-on of a motor; and an over-current inhibition unit (comparator (80c), a first delay circuit and a second delay circuit (80d, 80e), an EX-OR circuit (80f), an AND circuit (80g), a vibrator (80h), a buffer (80i), the AND circuit (80j), an insulation gate driver (80k), a latch circuit (801) and an ECU (70)), the output V1 of the current censor and the threshold value Va are compared, when the output of the current sensor exceeds the threshold value, the switch actions for switching-on/cutting-off a switch element are implemented in a first preset time (T2) so as to discontinuously cut off the power circuit.
Description
Technical field
The present invention relates to robot, relate more specifically to the overcurrent prevention system of foot type mobile robot.
Background technology
In robot, usually, detect the electric current that flows through in the motor that drives the joint, and, when overcurrent flows through, protect electrical systems such as motor by suppressing electric current by comparing detection of excessive current with threshold value.As prior art, known have following patent documentation 1 a disclosed device.In the technology of patent documentation 1, coming servomotor is driven according to the servo instruction that is provided in the device of control, threshold value is changed, the servo performance when improving high speed, and the current anomaly accuracy of detection when improving low speed according to servo instruction.
Patent documentation 1: TOHKEMY 2001-022446 number
In this structure, when detecting overcurrent, if suppress energising, then electrical system is protected, but according to circumstances, periods of robot operation stop may occur, or the attitude unsettled situation that becomes.
Summary of the invention
Therefore, the objective of the invention is to address the above problem, a kind of overcurrent prevention system of robot is provided, it protects electrical system when detecting overcurrent, and how irrespectively to avoid the function stop of robot or the instability of robot pose with situation.
In order to address the above problem, invention 1 is a kind of overcurrent prevention system of robot, and this robot comprises at least: by a plurality of connecting rods (link) of joint connection; Be configured in the motor on the above-mentioned joint; Voltage source; And drive circuit, it is configured in the power circuit that connects above-mentioned motor and voltage source, and drive to above-mentioned electrical power according to electrical instruction, the overcurrent prevention system of this robot constitutes and comprises: switch element, it is inserted in the above-mentioned power circuit, when it ends, cut off above-mentioned power circuit; Current sensor, its produce with by above-mentioned drive circuit to the corresponding output of the electric current of above-mentioned electrical power; And overcurrent suppresses the unit, its output and threshold value with above-mentioned current sensor compares, when the output of above-mentioned current sensor surpasses above-mentioned threshold value, in the 1st scheduled time, execution makes the switch motion of above-mentioned switch element conduction and cut-off, to cut off above-mentioned power circuit intermittently.
The overcurrent prevention system of the robot of invention 2 constitutes: above-mentioned overcurrent suppresses the unit when the output of above-mentioned current sensor surpasses above-mentioned threshold value, after through the 2nd scheduled time, carries out above-mentioned switch motion in above-mentioned the 1st scheduled time.
In the overcurrent prevention system of invention 4 robot, also have the temperature sensor that detects outside air temperature, and above-mentioned overcurrent suppresses the unit and changes above-mentioned threshold value according to above-mentioned detected outside air temperature.
In the overcurrent prevention system of invention 5 robot, also have the temperature sensor that detects outside air temperature, and above-mentioned overcurrent suppresses the unit and changes above-mentioned the 1st scheduled time according to the outside air temperature of above-mentioned detection.
In the overcurrent prevention system of invention 6 robot, thereby suppressing the unit, above-mentioned overcurrent make above-mentioned switch element when cutting off above-mentioned power circuit, the output abnormality alarm signal.
In the overcurrent prevention system of invention 7 robot, the artificial foot type mobile robot of above-mentioned machine.
In invention 1, owing to comprise: switch element, it is inserted in the power circuit, when it ends, the circuit of cutting off the electricity supply; Current sensor, its produce with by drive circuit to the corresponding output of the electric current of electrical power; And overcurrent suppresses the unit; its output and threshold value with current sensor compares; when the output of current sensor surpasses threshold value; in the 1st scheduled time; execution ends/switch motion of conducting switch element; to cut off above-mentioned power circuit intermittently; therefore; by during having that overcurrent flows through, cutting off the electricity supply circuit intermittently to suppress the energising amount; can be when not reaching threshold value the reduction of energising amount be limited in Min.; can protect the electrical system of motor etc., and no matter how situation can avoid periods of robot operation stop or its attitude to become unstable.
In the overcurrent prevention system of invention 2 robot, because overcurrent suppresses the unit when the output of current sensor exceeds threshold value, after through the 2nd scheduled time, in the 1st scheduled time, carry out above-mentioned switch motion, therefore, except above-mentioned effect, can also get rid of the influence of noise etc., reliably detection of excessive current.
In invention 3, in robot, more specifically say so in foot type mobile robot, because overcurrent prevention system comprises: switch element, it is inserted in the power circuit, its by the time, the circuit of cutting off the electricity supply; Current sensor, its produce with by drive circuit to the corresponding output of the electric current of a plurality of electrical powers; And overcurrent suppresses the unit; its output and threshold value with current sensor compares; when the output of current sensor also surpasses threshold value after through the 1st scheduled time; switch element is ended, thereby cut off the electricity supply circuit, therefore; by the circuit of cutting off the electricity supply during flowing through in overcurrent; in other words by promptly stopping, can protecting the electrical system of motor etc., and no matter how situation can avoid periods of robot operation stop or its attitude to become unstable.
Promptly, in foot type mobile robot, when foot trips etc. because of the road surface projection when moving (walking), for the moment there is overcurrent to flow through sometimes in the motor, but in this case, by the circuit of cutting off the electricity supply during flowing through in overcurrent, promptly by promptly stopping, the influence that the attitude of robot is controlled can be suppressed to Min., therefore can avoid the instability of attitude.
In the overcurrent prevention system of invention 4 robot, because suppressing the unit, overcurrent changes threshold value according to the outside air temperature that is detected, therefore except above-mentioned effect, when for example externally temperature is high, reduce threshold value, thereby detect overcurrent etc. easily, set threshold value for optimum value according to outside air temperature.
In the overcurrent prevention system of invention 5 robot, because suppressing the unit, overcurrent changed for the 1st scheduled time according to the outside air temperature that is detected, therefore except above-mentioned effect, when near for example can also be voltage source temperature is higher, shortened for the 1st scheduled time, to stop energising etc. in advance, set for the 1st scheduled time for optimum value according to outside air temperature.
In the overcurrent prevention system that the machine of invention 6 is gone into, thereby, overcurrent make switch element end the circuit of cutting off the electricity supply because suppressing the unit, promptly, when promptly stopping, the output abnormality alarm signal, therefore except above-mentioned effect, user (operator) can also identify taken place that overcurrent flows through unusual.
In the overcurrent prevention system of invention 7 robot, because the artificial foot type mobile robot of machine therefore can protect electrical systems such as motor, and no matter how situation can avoid periods of robot operation stop or its attitude to become unstable.Promptly, as mentioned above, in foot type mobile robot, when foot trips etc. because of the projection on road surface when moving (walking), for the moment there is overcurrent to flow through sometimes in the motor, even but in this case, also the influence that the attitude of robot is controlled can be reduced to Min., therefore can avoid attitude to become unstable.
Description of drawings
Fig. 1 is the robot of expression as the object of the mobile robot's of the present invention the 1st embodiment overcurrent prevention system, the specifically front view of foot type mobile robot.
Fig. 2 is the side view of the robot shown in Fig. 1.
Fig. 3 is the key diagram with skeleton representation robot shown in Figure 1.
Fig. 4 is to be the block diagram that the structure of control module shown in Figure 3 is represented at the center with the electrical system.
Fig. 5 comprises as the action of overcurrent prevention system and functionally represents the block diagram of the action of CPU shown in Figure 4.
Fig. 6 is the block diagram that concrete expression overcurrent shown in Figure 5 prevents the structure of circuit.
Fig. 7 (a) is the block diagram of the details of expression the 1st delay circuit, (b) is the curve map of its characteristic of expression.
Fig. 8 is the sequential chart that expression overcurrent shown in Figure 6 prevents the action of circuit.
Fig. 9 is the sequential chart that expression overcurrent shown in Figure 6 prevents the action of circuit equally.
Figure 10 (a) is that expression prevents the action of circuit by overcurrent shown in Figure 6 and the illustrative graph figure of the passing of the electric current that causes and voltage, (b) is the situation of overcurrent protection has only been carried out in expression when overcurrent flows through illustrative graph figure.
Figure 11 is the block diagram the same with Fig. 5 of the overcurrent prevention system of expression the present invention the 2nd embodiment.
Figure 12 is the flow chart of the action of expression device shown in Figure 11.
Figure 13 is illustrated in the expression threshold value Va that uses in the processing of Figure 11 and T2 (the 1st scheduled time) curve map with respect to the table characteristic of outside air temperature TA.
Figure 14 is the block diagram the same with Fig. 6 of the overcurrent prevention system of expression the present invention the 3rd embodiment.
The specific embodiment
Below, with reference to accompanying drawing, the preferred implementation of the overcurrent prevention system of robot of the present invention is described.
[embodiment 1]
Below, describe with reference to the overcurrent prevention system of accompanying drawing the robot of the 1st embodiment of the present invention.
Fig. 1 is the front view of expression as the robot of the object of the overcurrent prevention system of the 1st embodiment, and Fig. 2 is the side view of this robot.In addition,, be foot type mobile robot, more particularly, the human-like foot type mobile robot with 2 shanks and 2 arms for example arranged as robot.
As shown in Figure 1, robot (foot type mobile robot of more specifically saying so) 1 has a plurality of, 2 (bar) shanks 2 of more specifically saying so, and, above shank 2, be provided with matrix (upper body) 3.Above matrix 3, be formed with head 4, and, be connected with 2 (bar) arms 5 in the both sides of matrix 3.In addition, as shown in Figure 2, be provided with resettlement section 6 at the back of matrix 3.Contain battery (voltage source) 7 in the inside of matrix 3, and 6 inside contains electronic control unit described later etc. in the resettlement section.In addition, robot 1 illustrated in figures 1 and 2 is used to protect the guard shield of internal structure to cover.
Fig. 3 is the key diagram with skeleton explanation robot 1.With reference to this figure, be that the center describes its internal structure with the joint, as shown in the figure, robot 1 has on left and right sides shank 2 and arm 5 respectively by 11 motor-driven 6 joints.
That is, robot 1 has on the femoral joint of waist (thigh portion): driving makes shank 2, and (right side is R, and the left side is L around motor 10R, the 10L in the joint that vertical axle (Z axle or vertical axle) rotates.Owing to left-right symmetry, therefore omit the mark of R, L below); Driving makes (advance) the forwards, backwards motor 12 in joint of direction (around Y-axis) swing of shank 2; Driving make shank 2 to swing (about) motor 14 in direction (around the X-axis) joint of rotating, and, has the kneed motor 16 that drives bottom direction (around the Y-axis) rotation forwards, backwards that makes shank 2 at knee, and the motor 18 that has foot (ankle) joint that drives end side direction (around the Y-axis) rotation forwards, backwards that makes shank 2 on ankle makes the motor 20 of the end side of shank 2 to foot (ankle) joint that swaying direction (around X-axis) rotates with driving.
As mentioned above, in Fig. 3, represent this joint with the axis of rotation of the motor (perhaps being connected and transmitting the transmission key elements such as belt wheel of the power of this motor) that drives the joint with motor.In addition, the end at shank 2 is equipped with foot 22.
Like this, the femoral joint of shank 2 is provided with motor 10,12,14, and makes their axis of rotation quadrature, and podarthrum (ankle-joint) is provided with motor 18,20, and makes their axis of rotation quadrature.In addition, femoral joint is connected with big leg connecting rod 24 with knee joint, and knee joint is connected with shank connecting rod 26 with podarthrum.
That is, on the shoulder joint of arm 5, dispose motor 30,32,34, and make their axis of rotation quadrature.In addition, connect shoulder joint and elbow joint, connect elbow joint and wrist joint with lower arm link 44 with upper arm link 42.
Though omit in the diagram, hand 40 constitutes: have the driving mechanism of 5 fingers (finger) 40a, and can use and point the operation that 40a catches object etc.
In addition, head 4 is connected with matrix 3 by around the motor (formation neck joint) 46 of vertical axle with make head 4 around the head swing mechanism 48 that the axle with motor 46 quadratures rotates.As shown in Figure 3, but the inside of head 4 free stereo vision dispose 2 ccd video cameras 50, and, dispose voice input-output device 52.
According to said structure, shank 2 has 6 joints for left and right sides pin, and 12 frees degree are provided altogether, by driving 6 joints (joint displacement) with suitable angle, can provide desirable action to shank 2, can make robot 1 walking arbitrarily in 3 dimension solid spaces.In addition, arm 5 has 5 joints for left and right arms, and adding up to provides 10 frees degree, by driving 5 joints (joint displacement) with suitable angle, can carry out desirable operation.In addition, head 4 provides joint or the swing mechanism that is made of 2 frees degree, can make head 4 towards desirable direction by drive these joints or swinging structure with suitable angle.
On motor 10 grades, be respectively equipped with rotary encoder (not shown), the rotation of the gyroaxis by motor, any at least one signal in angle, angular speed and the angular acceleration in the joint that the output expression is corresponding.In addition, motor 10 grades are made of the DC servomotor particularly.
Known 6 axial force sensors (being designated hereinafter simply as " power sensor ") 56 are installed in foot 22, act on component Mx, My, the signal of Mz of 3 directions of component F x, Fy, Fz and moment of 3 directions of ground reaction force in the external force of robot, act on robot 1 from ground plane with output expression.
Power sensor of the same race (6 axial force sensor) 58 is installed between wrist joint and hand 40, acts on external force beyond the ground reaction force of robot 1 with output expression, specifically act on component Mx, My, the signal of Mz of 3 directions of component F x, Fy, Fz and moment of 3 directions of the external force (object reaction force) of hand 40 from object.
The output group of these power sensor 56 grades is delivered to electronic control unit (the Electric Control Unit that constitutes by the microcomputer that is housed in the resettlement section 6.Hereinafter referred to as " ECU ") 70 (only the right side of robot 1 being shown input and output) for the ease of diagram.ECU 70 has the microcomputer that is made of CPU, memory and input/output interface etc., is used to calculate the joint angle displacement and instructs the driving of controlling motor 10 grades that constitute each joint, so that robot 1 can move with stable attitude.
As mentioned above, in matrix 3, contain battery (voltage source) 7, and in resettlement section 6, contain power supply box 74, and accommodate by wireless system 76 by drive circuit (motor driver) 72 formations of DC/DC converter of the output voltage (DC voltage) of conversion battery 7 (omitting diagram) and motor 10 etc.
ECU 70 is connected with ECU 78 with the operation that is made of microcomputer equally by wireless system 76 and can free communication.Operation has operation with user I/F 78a with ECU 78, and user (operator) sends to ECU 70 with orders such as promptly stopping of importing of user I/F 78a by wireless system 76 from operation.
Fig. 4 is to be the block diagram that the structure of ECU 70 is represented at the center with the electrical system.
As shown in the figure, ECU 70 has CPU 70a and I/O 70b.In addition, on motor 10 grades, a public drive circuit 72 of per two motors is connected (partly show the right side of shank 2 etc., but matrix 3 or head 4 and arm 5 all being the same) with drive circuit 1, drive circuit 2 etc.
Fig. 5 comprises as the action of overcurrent prevention system and functionally represents the block diagram of the action of CPU shown in Figure 4.
As shown in the figure, CPU 70a comprises leg control part 70a1, arm control part 70a2, a control part 70a3.Leg control part 70a1 is according to the footwork parameter that is formed and stored in advance in the memory (not shown), according to generating footwork by the sensor output that I/O 70b sends from power sensor 56 and inclination sensor 60, determine joint angle command value (electrical instruction value) according to the footwork that is generated, come drive motors 10 etc. by drive circuit 72 then, to eliminate and according to the output (not shown) of rotary encoder and the deviation between the detected joint angle.Like this, drive circuit 72 comes drive motors according to electrical instruction to the electrical power of correspondence respectively.
In addition, an arm control part 70a2 and a control part 70a3 also calculate the joint angle command value according to the output of footwork that is generated and power sensor 56 etc., and come drive motors 30 etc. by drive circuit 72.And arm control part 70a2 drives control according to job content to arm 5, and simultaneously, a control part 70a3 drives control according to the indication of image identification system to motor 46 or head swing mechanism 48.
In illustrated structure, in power circuit 7a, be inserted with above-mentioned overcurrent and prevent circuit 80.
Fig. 6 represents that particularly overcurrent prevents the block diagram of the structure of circuit 80.
As shown in the figure, overcurrent prevents that circuit 80 from comprising: FET (MOSFET.Switch element) 80a, it is inserted among the power circuit 7a, and when it ended, circuit 7a cut off the electricity supply; A current sensor 80b, it produces and the corresponding output of electric current of switching on to motor 10 grades by each drive circuit 72; Overcurrent suppresses the unit, its output with current sensor 80b (V1 represents with value) compares with threshold value (Va represents with value), when the output of current sensor 80b surpasses threshold value, in the 1st scheduled time, carry out making the switch motion of switch element 80a action with the circuit 7a that cuts off the electricity supply intermittently.
Overcurrent suppresses the unit and specifically comprises: comparator 80c, its+input terminal is transfused to the output of current sensor 80b, and-input terminal is transfused to predetermined voltage as threshold value (Va represents with value); The 1st delay circuit 80d, the output (V2 represents with value) that it is transfused to comparator 80c makes this output delay scheduled time T1 (for example from 10 to 20 milliseconds); The 2nd delay circuit 80e, the output (V3 represents with value) that it is transfused to the 1st delay circuit 80d makes this output delay scheduled time T2 (the 1st scheduled time.For example from 100 to 200 milliseconds) EX-OR (XOR) circuit 80f, it is transfused to the output of the 1st delay circuit and the output (V4 represents with value) of the 2nd delay circuit; With AND circuit 80g, it is equally by above-mentioned two outputs of parallel input.The output of AND circuit 80g is by phase inverter 80g1 output, thus formation NAND circuit.The output of EX-OR circuit 80f and AND circuit 80g is represented with value V5, V6.
Fig. 7 (a) is the block diagram of the detailed content of expression the 1st delay circuit 80d, and Fig. 7 (b) is the curve map of its characteristic of expression.In this figure (a), when resistance R 1 was set maximum for respect to R2, shown in figure (b), the suppression ratio of V3 rose rapider.Though omitted diagram, the 2nd delay circuit 80e makes its time delay T2 compare with the 1st delay circuit 80d and prolonged 10 times of left and right sides this point except changing the resistance equivalence, and its structure does not have difference.
Turn back in the explanation of Fig. 6, overcurrent suppresses the unit and comprises: oscillator 80h; Buffer 80i, it is connected and is transfused to the pulse output of oscillator with oscillator 80h; AND circuit 80j, it is connected with ECU 70 with AND circuit (NAND circuit) 80g, and is transfused to their output; Insulated gate driver 80k, it is connected with AND circuit 80j by resistance, and is connected with buffer 80i.Insulated gate driver 80k is connected with FET 80a by resistance.In addition, the output V6 of AND circuit 80g is latched circuit 80l and latchs, and is removed by ECU 70.
Fig. 8 and Fig. 9 are the sequential charts that expression overcurrent shown in Figure 6 prevents the action of circuit 80.In addition, Fig. 8 shows overcurrent condition (overload state) and continues the above situation of T1+T2, and Fig. 9 shows the situation that the discontented T1+T2 of overcurrent condition just finishes.
With reference to Fig. 8 overcurrent shown in Figure 6 is prevented that the action of circuit 80 from describing.At moment t1, when the output of current sensor 80b surpassed threshold value Va, the output V2 of comparator 80c became the H level, but made its output V3 postpone T1 by the 1st delay circuit 80d.This is the misoperation that is caused by noise etc. in order to eliminate.
And at moment t2, when the output V3 of the 1st delay circuit 80d was the H level, the input of EX-OR circuit 80f also became the H level.On the other hand, the output V3 of the 1st delay circuit 80d is postponed T2 by the 2nd delay circuit 80e, the result, and its output V4 still is the L level.In addition, the 2nd delay circuit 80e is set makes it postpone T2, this is in order to confirm whether overcurrent is momentary.According to this intention, T2 is configured to about 10 times the value of T1.
Therefore, at moment t2, the output V5 of EX-OR circuit 80f is the H level.On the other hand, though be the L level to the input V4 of AND circuit 80g, this output is inverted in phase inverter 80g1, the result, and the output V6 of AND circuit 80g also is the H level.
The output V6 of AND circuit 80g delivers to AND circuit 80j by latch cicuit.The other end of AND circuit 80j is transfused to the output of ECU 70, still, because ECU 70 exports ON signal (H level signal) usually, so AND circuit 80j is output as the H level.
As a result, the pulse of oscillator 80h output offers the door terminal of FET 80a by insulated gate driver 80k.FET 80a is according to the H level (door current potential) of pulse output and conducting, and to drive circuit 72 energisings, and become according to the L current potential non-conduction, thereby stop energising.Like this, carry out switch motion, can cut off energising intermittently, can suppress the electric power quantity delivered, in other words can suppress overcurrent to the power circuit 7a that disposes drive circuit 72 by making FET 80a conduction and cut-off.
Next,, will become the H level, so the output of EX-OR circuit 80f becomes the L level, and the output of AND circuit 80g also becomes the L level at the output V4 of moment t3 the 2nd delay circuit 80e as long as continue to detect overcurrent.Therefore, the output of AND circuit 80j also becomes the L level.As a result, the output of insulated gate driver 80k becomes the L level, and FET 80a also all cuts off to the energising of each drive circuit 72 by (becoming non-conduction).In addition, buffer 80i becomes high impedance status when V5 is the L level, does not therefore produce output.
In addition, as shown in Figure 8, when detecting less than overcurrent at moment t4, output V2 is inverted to the L level.In addition, shown in Fig. 7 (b), reduce at electric current under the situation of (returning to normal value), postpone hardly, therefore exporting V3, V4 also almost is inverted to the L level simultaneously.
Before ECU 70 removed latching of OFF state, FET 80a still was a cut-off state.
When latching by ECU 70 releasings, the output of insulated gate driver 80k becomes the H level, and the energising to drive circuit 72 is opened in FET 80a conducting (becoming conducting) once more.In addition, buffer 80i becomes high impedance status when V5 is the L level, does not therefore produce output.
In addition, under situation shown in Figure 9, at moment t3, the output of current sensor 80b is less than threshold value Va, therefore detects less than overcurrent, so value V2, V3, V4, V5 all are the L level.As a result, after carrying out switch motion, open once more and can not be cut off to the energising of drive circuit 72.
Figure 10 (a) is the illustrative graph figure of the passing of the electric current that causes of action of expression present embodiment and voltage, and Figure 10 (b) is the illustrative graph figure that only carries out the situation of overcurrent protection when being illustrated in overcurrent and flowing through.Shown in Figure 10 (b), when not having excess current protective function, just there is big electric current to flow through, and having under the situation of excess current protective function, owing to electric current sharply reduces after this, so in robot 1, cause function stop and attitude instability.
On the other hand, under the situation of this embodiment shown in Figure 10 (a), carry out switch motion owing to during having that overcurrent flows through, limit, so the reduction of voltage is very small.That is, by detect overcurrent during the inhibition of current limit, can the energising amount when not reaching threshold value Va reduce being suppressed to Min..
Therefore, though the motion algorithm of robot 1 and be intended to inconsistent, thereby but, the foot 22 of robot 1 in motor 18,20 etc., has under the situation that overcurrent flows through when tripping because of the projection on road surface etc., this phenomenon can be avoided in hundreds of millisecond usually, therefore thinks to make pose recovery according to the motion control of returning behind the regular event (according to the joint angle command value).
Promptly, in this embodiment, by T2 time delay is set, can distinguish because of the unusual overcurrent that produces of the systems such as short circuit of wiring with because of foot in walking 22 is tripped etc. at short notice because of loading the excessive overcurrent that produces by projection, and the circuit 7a that only during having that overcurrent flows through, cuts off the electricity supply intermittently.Like this, can protect electrical systems such as motor 18,20, simultaneously can avoid the function stop of robot 1 or the instability of attitude, and how have nothing to do with the situation of robot.Especially, in this embodiment,, be very useful therefore for the instability of avoiding attitude because robot 1 is a foot type mobile robot.
In addition, prevent circuit 80 owing to constitute overcurrent, so structure is very simple with discrete circuit.
And, prevent in the circuit 80 in overcurrent, constitute when the output V1 of current sensor 80b surpasses threshold value Va, after through T1 (the 2nd scheduled time), during T2 (the 1st scheduled time), carry out switch motion, therefore except above-mentioned effect, can also eliminate the influence of noise etc., and detection of excessive current reliably.
[embodiment 2]
Figure 11 is the block diagram the same with Fig. 5 of the overcurrent prevention system of expression the present invention the 2nd embodiment.
With the difference with the 1st embodiment is that focus describes, in the 2nd embodiment, temperature sensor 90 is set to detect outside air temperature TA, change threshold value Va and scheduled time T2 (the 1st scheduled time) according to detected value, and ECU 70 (being CPU 70a more accurately) has the software engineering of use and carries out overcurrent and prevent that the overcurrent of moving from preventing the 70a4 of portion.
Shown in Fig. 2 dotted line, in the 2nd embodiment, temperature sensor 90 concrete configurations are on the appropriate location in the face of the outside of resettlement section 6, with the signal of the outside air temperature TA around the output expression robot 1.In addition, give identical symbol and omit explanation for the parts identical with the 1st embodiment.
Figure 12 is that the overcurrent of expression CPU 70a prevents the flow chart that moves.
Describe below, in S10, read by the detected outside air temperature TA of temperature sensor 90, advance to step S12, according to the outside air temperature TA that reads, characteristic shown in retrieval Figure 13 (a) is selected threshold value Va, and the characteristic shown in retrieval Figure 13 (b) is selected scheduled time T2 (the 1st scheduled time).
Threshold value Va is configured to along with outside air temperature TA increase and reduces.This be because: therefore predict when externally temperature TA is very high, motor 18,20 etc. and their drive circuit 72 also can heat up, and detect overcurrent easily.Scheduled time T2 also is configured to along with outside air temperature TA increase and reduces.This also is according to same reason, switches on to drive circuit 72 in advance in order to shorten the switch motion time.
Next, advance to S14, judge whether the output V1 of the current sensor 80b that is detected surpasses threshold value Va, more precisely whether surpasses the value of selecting in S12.When negating, skip later processing at S16, and for certainly the time, enter S16, make the value of timer TC1 increase progressively 1, advance to S18, whether the value of judging timer TC1 is above above-mentioned T1.Be back to S16 when negating at S18.
On the other hand, advance to S20 for certainly the time at S18, and the switch motion of the FET 80a that in the 1st embodiment, narrates of beginning.
Next, advance to S22, make the value of the 2nd timer TC2 increase progressively 1, and advance to S24, judge whether the value of timer TC2 surpasses the value of selected T2.Be back to S20 when negating at S24.Like this, circuit 7a intermittently cuts off the electricity supply in can be during T2.
Advance to S26 at S24 for certainly the time, judge once more whether the output V1 of the current sensor 80b that is detected surpasses threshold value Va.Skip later processing at S26 when negating, and certainly the time, advance to S28, FET 80a is ended cut off the electricity supply circuit 7a, and by wireless system 76 and operation with ECU 78 output abnormality alarms.As a result, can detect overcurrent during internal cutting off power circuit 7a.
The overcurrent prevention system of the robot of the 2nd embodiment as above constitutes, and therefore can obtain the effect identical with the 1st embodiment.
In addition; detect outside air temperature TA owing to constitute; and change threshold value Va and scheduled time T2 according to the outside air temperature TA that is detected; therefore except above-mentioned effect, when motor 18,20 etc. has the tendency of intensification, can detect overcurrent in advance by reducing threshold value; and by shortening scheduled time T2; also the energising of drive circuit 72 can be cut off in early days, like this, drive circuit 72 etc. can be protected better.
And, owing to constitute when FET 80a being ended cut off the electricity supply circuit 7a, the output abnormality alarm signal, therefore on the basis of above-mentioned effect, user (operator) can recognize unusual that overcurrent flows through.
In addition, in above-mentioned example, when FET 80a has surplus to the patience of temperature, can prolong scheduled time T1 according to the outside air temperature TA that is detected.Like this, can get rid of the influence of noise etc. better.
In addition, also can append the temperature that temperature sensor detects battery 7 or drive circuit 72, and according to the temperature change threshold value Va and/or the T2 that are detected.And, equally the voltage that voltage sensor detects battery 7 or drive circuit 72 can be set, and change threshold value Va and/or T2 according to the voltage that is detected.In addition, the walking condition that it is also conceivable that robot waits and changes threshold value Va and/or T2.
[embodiment 3]
Figure 14 is the block diagram same with Fig. 6 of the overcurrent prevention system of expression the present invention the 3rd embodiment.
With the difference with the 1st, the 2nd embodiment is that focus describes, in the 3rd embodiment, with structure realization and the similar structure of the 2nd embodiment of the 1st embodiment.Promptly, with ECU 70 dividually, to be arranged near the of temperature sensor 90 by the 2nd ECU (ECU 2) 92 that single chip microcomputer constitutes and connect by suitable cable (not shown), the output TA of temperature sensor 90 is input among the 2nd ECU 92, the 2nd ECU 92 according to this input value change to be input to comparator 80c-value that is equivalent to threshold value Va of input terminal.
More particularly, output TA to temperature sensor 90 carries out the A/D conversion and is input to the 2nd ECU 92, the 2nd ECU 92 determines suitable magnitude of voltage Va according to characteristic shown in Figure 13, carries out D/A conversion then, with its output (magnitude of voltage Va) be input to comparator 80c-input terminal.In addition, the 2nd ECU 92 is connected to connecting circuit fork on the comparator 80c, by on draw (pull-up) resistance 94 to be connected with battery 7.In addition, remaining structure is identical with the 1st embodiment.
In the 3rd embodiment,,, can obtain the effect identical with the 2nd embodiment except not changing the T2 this point according to the outside air temperature TA that is detected by structure as above.And, though temperature sensor 90 is output as than the simulation output that is easier to be subjected to influence of noise, but owing to be provided with the 2nd ECU 92 dividually with ECU 70, therefore by the 2nd ECU 92 is arranged on temperature sensor 90 near shorten the length of stube cable, can avoid misoperation.
As mentioned above, in the 1st～the 3rd embodiment, robot 1 has at least: by a plurality of connecting rods (for example big leg connecting rod 24 and shank connecting rod 26) of joint connection; Be configured in the motor (for example motor 16) on the above-mentioned joint; Voltage source (battery) 7; With drive circuit 72, it is configured among the power circuit 7a that connects above-mentioned motor and voltage source, and drive above-mentioned motor to above-mentioned electrical power according to electrical instruction, the overcurrent prevention system of robot of the present invention constitutes and comprises: FET (switch element) 80a, it is inserted in the above-mentioned power circuit, when it ends, cut off above-mentioned power circuit; Current sensor 80b, its produce with by above-mentioned drive circuit to the corresponding output of the electric current of above-mentioned electrical power; And overcurrent suppresses unit (comparator 80c, the 1st delay circuit 80d, the 2nd delay circuit 80e, EX-OR circuit 80f, AND circuit 80g, oscillator 80h, buffer 80i, AND circuit 80j, insulated gate driver 80k, latch cicuit 80l, ECU (CPU 70a), overcurrent prevents the 70a4 of portion, S10 to S28), its output V1 and threshold value Va with above-mentioned current sensor compares, when the output of above-mentioned current sensor surpasses above-mentioned threshold value, in the 1st scheduled time (T2), carry out the switch motion that makes above-mentioned switch element conduction and cut-off, to cut off above-mentioned power circuit intermittently.
In addition, above-mentioned overcurrent suppresses the unit and constitutes when the output of above-mentioned current sensor surpasses above-mentioned threshold value, after through the 2nd scheduled time (T1), carries out above-mentioned switch motion (S10 to S22) in above-mentioned the 1st scheduled time (T2).
In addition, robot, more specifically the foot type mobile robot 1 of saying so comprises at least: matrix 3; The a plurality of shanks 2 that are connected with above-mentioned matrix by the 1st joint; The foot 22 that is connected with above-mentioned a plurality of shanks end separately by the 2nd joint; Be configured in a plurality of motors 10 on above-mentioned the 1st, the 2nd joint etc. respectively; Voltage source (battery) 7; And drive circuit 72, it is configured among the power circuit 7a that connects above-mentioned a plurality of motors and voltage source, and switch on respectively to above-mentioned a plurality of motors according to electrical instruction and to drive above-mentioned a plurality of motor, the overcurrent prevention system of robot of the present invention constitutes and comprises: FET (switch element) 80a, it is inserted among the above-mentioned power circuit 7a, when it ends, cut off above-mentioned power circuit; Current sensor 80b, its produce with by above-mentioned drive circuit to the corresponding output of the electric current of above-mentioned a plurality of electrical powers; And overcurrent suppresses unit (comparator 80c, the 1st delay circuit 80d, the 2nd delay circuit 80e, EX-OR circuit 80f, AND circuit 80g, oscillator 80h, buffer 80i, AND circuit 80j, insulated gate driver 80k, latch cicuit 80l, ECU (CPU 70a), overcurrent prevents the 70a4 of portion, S10 to S28), its output V1 and threshold value Va with above-mentioned current sensor compares, when the output of above-mentioned current sensor surpasses above-mentioned threshold value in the 1st scheduled time (T2), above-mentioned switch element is ended, thereby cut off above-mentioned power circuit.
In addition, also have the temperature sensor 90 that detects outside air temperature TA, and above-mentioned overcurrent inhibition unit changes above-mentioned threshold value Va (S12, the 2nd ECU92) according to above-mentioned detected outside air temperature TA.
In addition, also have the temperature sensor 90 that detects outside air temperature TA, and above-mentioned overcurrent suppresses the unit and changes above-mentioned the 1st scheduled time (T2) (S12) according to the outside air temperature TA of above-mentioned detection.
In addition, thereby suppressing the unit, above-mentioned overcurrent make above-mentioned switch element when cutting off above-mentioned power circuit, output abnormality alarm signal (S28).
In addition, robot 1 is a foot type mobile robot.
In addition, in above-mentioned example, only be provided with current sensor 80b, but can be provided with at each drive circuit 72 at a place.
In addition, as the foot type mobile robot illustration 2 pin robots, but be not limited to this, also can be the above robot of 3 pin or 3 pin.
Claims (7)
1. the overcurrent prevention system of a robot, this robot has at least: a plurality of connecting rods that connect by the joint; Be configured in the motor on the above-mentioned joint; Voltage source; And drive circuit, it is configured in the power circuit that connects above-mentioned motor and voltage source, and drives to above-mentioned electrical power according to electrical instruction, it is characterized in that, comprising: switch element, it is inserted in the above-mentioned power circuit, when it ends, cut off above-mentioned power circuit; Current sensor, its produce with by above-mentioned drive circuit to the corresponding output of the electric current of above-mentioned electrical power; And overcurrent suppresses the unit, its output and threshold value with above-mentioned current sensor compares, when the output of above-mentioned current sensor surpasses above-mentioned threshold value, in the 1st scheduled time, execution makes the switch motion of conduction and cut-off repeatedly of above-mentioned switch element, thereby cuts off above-mentioned power circuit intermittently.
2. the overcurrent prevention system of robot according to claim 1, it is characterized in that, above-mentioned overcurrent suppresses the unit when the output of above-mentioned current sensor surpasses above-mentioned threshold value, after through the 2nd scheduled time, carries out above-mentioned switch motion in above-mentioned the 1st scheduled time.
3. the overcurrent prevention system of a robot, this robot comprises at least: matrix; The a plurality of shanks that are connected with above-mentioned matrix by the 1st joint; The foot that is connected with above-mentioned a plurality of shanks end separately by the 2nd joint; Be configured in a plurality of motors on above-mentioned the 1st, the 2nd joint respectively; Voltage source; And drive circuit, it is configured in the power circuit that connects above-mentioned a plurality of motors and voltage source, and switch on respectively to above-mentioned a plurality of motors according to electrical instruction and to drive, it is characterized in that, comprise: switch element, it is inserted in the above-mentioned power circuit, when it ends, cuts off above-mentioned power circuit; Current sensor, its produce with by above-mentioned drive circuit to the corresponding output of the electric current of above-mentioned a plurality of electrical powers; And overcurrent inhibition unit, its output and threshold value with above-mentioned current sensor compares, and when the output of above-mentioned current sensor also surpasses above-mentioned threshold value after through the 1st scheduled time, above-mentioned switch element is ended, thereby cut off above-mentioned power circuit.
4. according to the overcurrent prevention system of any described robot in the claim 1～3, it is characterized in that, also have the temperature sensor that detects outside air temperature, and above-mentioned overcurrent inhibition unit changes above-mentioned threshold value according to above-mentioned detected outside air temperature.
5. according to the overcurrent prevention system of any described robot in the claim 1～3, it is characterized in that, also have the temperature sensor that detects outside air temperature, and above-mentioned overcurrent inhibition unit changes above-mentioned the 1st scheduled time according to above-mentioned detected outside air temperature.
6. the overcurrent prevention system of robot according to claim 3 is characterized in that, when above-mentioned overcurrent inhibition unit cuts off above-mentioned power circuit in that above-mentioned switch element is ended, and the output abnormality alarm signal.
7. according to the overcurrent prevention system of any described robot in the claim 1～3, it is characterized in that the artificial foot type mobile robot of above-mentioned machine.
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| JP2004303837 | 2004-10-19 | ||
| JP2004303837 | 2004-10-19 | ||
| JP2005136011 | 2005-05-09 |
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| JP2011176898A (en) * | 2008-06-19 | 2011-09-08 | Panasonic Corp | Motor control apparatus |
| JP6232752B2 (en) * | 2013-05-31 | 2017-11-22 | セイコーエプソン株式会社 | DRIVE DEVICE, ELECTRONIC COMPONENT CONVEYING DEVICE, AND ELECTRONIC COMPONENT INSPECTION DEVICE |
| CN106597924B (en) * | 2016-11-28 | 2018-12-25 | 南京熊猫电子股份有限公司 | A kind of the intelligent power monitoring device and all-purpose robot of all-purpose robot |
| CN109324220A (en) * | 2018-09-06 | 2019-02-12 | 上海有个机器人有限公司 | Robot door-plate over-current protection method and system, storage medium and terminal |
| CN110429560A (en) * | 2019-07-26 | 2019-11-08 | 上海快仓智能科技有限公司 | Power-supply management system, method for managing power supply and the mobile robot of mobile robot |
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| JPH07261801A (en) * | 1994-03-16 | 1995-10-13 | Fujitsu Ltd | Method and unit for motion mechanism control |
| JPH08126990A (en) * | 1994-10-31 | 1996-05-21 | Yaskawa Electric Corp | Method and device for releasing joint of articulated robot from restraint |
| JP2003153583A (en) * | 2001-11-12 | 2003-05-23 | Denso Corp | Monitor of dc servo motor and monitor system of robot |
| JP2004268216A (en) * | 2003-03-11 | 2004-09-30 | Rorze Corp | Automatic machine device having safety protection means |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07261801A (en) * | 1994-03-16 | 1995-10-13 | Fujitsu Ltd | Method and unit for motion mechanism control |
| JPH08126990A (en) * | 1994-10-31 | 1996-05-21 | Yaskawa Electric Corp | Method and device for releasing joint of articulated robot from restraint |
| JP2003153583A (en) * | 2001-11-12 | 2003-05-23 | Denso Corp | Monitor of dc servo motor and monitor system of robot |
| JP2004268216A (en) * | 2003-03-11 | 2004-09-30 | Rorze Corp | Automatic machine device having safety protection means |
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