CN109551460B - 机器人控制装置、机器人以及机器人系统 - Google Patents

机器人控制装置、机器人以及机器人系统 Download PDF

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Publication number
CN109551460B
CN109551460B CN201811122009.4A CN201811122009A CN109551460B CN 109551460 B CN109551460 B CN 109551460B CN 201811122009 A CN201811122009 A CN 201811122009A CN 109551460 B CN109551460 B CN 109551460B
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CN
China
Prior art keywords
robot
control device
unit
robot control
electric wire
Prior art date
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Active
Application number
CN201811122009.4A
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English (en)
Chinese (zh)
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CN109551460A (zh
Inventor
山崎武马
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Seiko Epson Corp
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Seiko Epson Corp
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Publication date
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Publication of CN109551460A publication Critical patent/CN109551460A/zh
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Publication of CN109551460B publication Critical patent/CN109551460B/zh
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0025—Means for supplying energy to the end effector
    • B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/02—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for suppression of electromagnetic interference
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/12—Arrangements for reducing harmonics from AC input or output
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters with pulse width modulation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
    • H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
    • H02P3/18—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an AC motor
    • H02P3/22—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an AC motor by short-circuit or resistive braking
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45083—Manipulators, robot
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/12—Arrangements for reducing harmonics from AC input or output
    • H02M1/126—Arrangements for reducing harmonics from AC input or output using passive filters

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Manipulator (AREA)
  • Control Of Electric Motors In General (AREA)
CN201811122009.4A 2017-09-27 2018-09-26 机器人控制装置、机器人以及机器人系统 Active CN109551460B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017-186230 2017-09-27
JP2017186230A JP6904201B2 (ja) 2017-09-27 2017-09-27 ロボット制御装置、ロボット、及びロボットシステム

Publications (2)

Publication Number Publication Date
CN109551460A CN109551460A (zh) 2019-04-02
CN109551460B true CN109551460B (zh) 2023-06-06

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CN201811122009.4A Active CN109551460B (zh) 2017-09-27 2018-09-26 机器人控制装置、机器人以及机器人系统

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Country Link
US (1) US11305438B2 (https=)
JP (1) JP6904201B2 (https=)
CN (1) CN109551460B (https=)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4275252A4 (en) * 2021-01-08 2024-07-10 Kinova Inc. SIGNAL TRANSMISSION DEVICE FOR ARTICULATED MECHANISM

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103095196A (zh) * 2011-11-04 2013-05-08 Juki株式会社 电动机控制装置及电动机控制方法

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US3991352A (en) * 1975-06-19 1976-11-09 Westinghouse Electric Corporation Apparatus and method for reducing effective inductance in a dynamic braking circuit
JP2856253B2 (ja) * 1988-06-02 1999-02-10 株式会社明電舎 ロボット用ブレーキ制御装置
JPH1177573A (ja) * 1997-09-02 1999-03-23 Denso Corp ロボット制御装置
EP1899192B1 (en) * 2005-06-22 2019-09-11 Continental Automotive Systems, Inc. Power generation system suitable for hybrid electric vehicles
FR2920611B1 (fr) * 2007-09-04 2012-05-18 Alstom Transport Sa Dispositif de freinage electrique securitaire avec moteur a aimants permanents et regulation du couple de freinage.
JP4361116B2 (ja) * 2008-01-09 2009-11-11 ファナック株式会社 ダイナミックブレーキ回路故障検出機能を備えたモータ駆動装置
KR101220367B1 (ko) * 2010-08-31 2013-01-09 현대자동차주식회사 플러그인 하이브리드 자동차의 충전장치 및 방법
JP5923822B2 (ja) * 2012-02-09 2016-05-25 ミネベア株式会社 ブラシレスモータの駆動制御装置
JP5421405B2 (ja) * 2012-02-28 2014-02-19 ファナック株式会社 ダイナミックブレーキ制御手段を備えるモータ駆動装置
JP5998548B2 (ja) * 2012-03-14 2016-09-28 富士電機株式会社 電力変換装置
JP5997953B2 (ja) * 2012-07-11 2016-09-28 ミネベア株式会社 モータの駆動制御装置
JP5552564B1 (ja) * 2013-09-24 2014-07-16 川崎重工業株式会社 多軸ロボットの動力遮断装置及び多軸ロボット
JP5653570B1 (ja) * 2014-03-07 2015-01-14 三菱電機株式会社 ブレーキ付電動機
US20150349626A1 (en) * 2014-05-30 2015-12-03 Hamilton Sundstrand Corporation Output filter for paralleled inverter
JP6488632B2 (ja) * 2014-10-22 2019-03-27 セイコーエプソン株式会社 ロボット
DE102014222678A1 (de) * 2014-11-06 2016-05-12 Kuka Roboter Gmbh Verfahren und System zum Stillsetzen von Achsen eines Industrieroboters
JP6536319B2 (ja) * 2015-09-25 2019-07-03 株式会社デンソーウェーブ ロボットシステム
JP6285477B2 (ja) * 2016-02-26 2018-02-28 ファナック株式会社 ダイナミックブレーキ回路保護機能を有するモータ駆動装置
JP2018182778A (ja) * 2017-04-03 2018-11-15 ファナック株式会社 モータ駆動装置

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103095196A (zh) * 2011-11-04 2013-05-08 Juki株式会社 电动机控制装置及电动机控制方法

Also Published As

Publication number Publication date
JP6904201B2 (ja) 2021-07-14
US20190091881A1 (en) 2019-03-28
CN109551460A (zh) 2019-04-02
US11305438B2 (en) 2022-04-19
JP2019058989A (ja) 2019-04-18

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