JP2005161444A - Inspection method of motor power line - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To enable anybody to easily inspect a motor power line, by eliminating the necessity of checking the electric continuity by connecting a tester by cutting off the power line. <P>SOLUTION: This inspection method of the motor power line is characterized in that, when inspecting the power line for supplying electric power from a motor driver to a motor for driving a motion member via speed reducer; first of all, electric power supply to the motor driver is cut off in a Step S3; and next, counter electromotive force is supplied to the motor driver via the power line from the motor by rotating an output shaft of the motor inversely via the speed reducer by moving the motion member by external force in a Step S4; to finally confirm whether a power pilot lamp of the motor driver is turned on by its counter electromotive force in a Step S5. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a method for checking a motor power line suitable for use in checking a power line (power supply wiring) that supplies electric power from a motor driver to a motor that drives a moving member via a speed reducer.

  Examples of the motion member driven by the motor via the speed reducer include a movable part of the robot such as an arm or a leg of a humanoid robot. A motor driver (motor drive circuit) is used as a motor for driving such a motion member. As a method for checking (disconnection check) of the power line that supplies power from (1), a method of checking the continuity of the power line using a tester or measuring a voltage or current flowing through the power line is generally used.

By the way, in general, an apparatus that drives a moving member with a motor is provided with a pilot lamp that is turned on by supplying power to a motor driver that supplies electric power to the motor. In some cases, a robot is provided with a lamp that represents an operation mode or an internal state (pseudo emotion) (see Patent Document 1).
Japanese Patent Laid-Open No. 2003-71761

  However, in the conventional inspection method described above, it is necessary to cut the power line somewhere and connect the tester there, and further turn off the output from the motor driver, or depending on the measurement method, it is necessary to measure the output. There was a problem that it was complicated.

  The inventor who has studied this problem cannot use the lamp described in Patent Document 1 for an operation control system because it is used for an operation control system. The inventors came up with the idea that the pilot lamp that is turned on when the power is supplied is connected to the motor driver, and that when the motor output shaft is rotated by an external force, the motor generates a counter electromotive force according to Fleming's right-hand rule.

  The present invention aims to advantageously solve the problems of the conventional method in view of the above knowledge of the present inventor, and the motor power line inspection method of the present invention drives a moving member via a speed reducer. When inspecting a power line that supplies power to the motor from the motor driver, first, the power supply to the motor driver is turned off, and then the moving member is moved by an external force to reverse the speed reducer. By rotating the output shaft, back electromotive force is supplied from the motor to the motor driver via the power line, and it is confirmed whether the power pilot lamp of the motor driver is lit by the back electromotive force. It is characterized by.

  According to such an inspection method, there is no need to cut the power line and connect the tester to perform a continuity check, etc., and the power supply pilot of the motor driver by moving the moving member with an external force such as a hand while the power supply to the motor driver is turned off. Just check whether the lamp is lit or not, and if it is lit, there will be no disconnection of the power line. If it is not lit, it will be found that there is a disconnection of the power line, so anyone can easily check the motor power line. Can do. Moreover, since the back electromotive force is used, the inspection can be performed without a power source.

  In the motor power line inspection method of the present invention, the moving member may be a movable part of a robot, and in particular, the movable part may be at least one of an arm and a leg of a walking robot. . In this way, the movable parts of the robot, in particular the arms and legs of the walking robot, are relatively long and easy to apply, and the moment is large and easy to move with external force, so by moving the movable part with external force, The power line of the motor that drives the movable part of the robot can be easily checked.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is a flowchart showing an inspection procedure of an embodiment of the motor power line inspection method of the present invention, and FIGS. 2A and 2B are walking robots to which the inspection method of the embodiment can be applied. FIG. 3 is a perspective view showing a torso frame of the humanoid robot and a control system electrical device mounted thereon, and FIG. 4 is a perspective view of the humanoid robot. 5 is a perspective view showing the arm structure, FIG. 5 is a block diagram schematically showing a drive system of the shoulder roll shaft in the arm structure, and FIGS. 6A and 6B are arms in the inspection method of the above embodiment. 6 (c) and 6 (d) are explanatory views showing lighting of the pilot lamp on the chest due to the movement of the arm.

  As shown in FIGS. 2 (a) and 2 (b), the humanoid robot has two legs 2 under the body 1, and these legs 2 balance the dynamics in an inverted pendulum by a known method. While walking. This humanoid robot also has arms 3 on the left and right as viewed from the robot itself of the body 1 and a head 4 on the body 1.

  The fuselage 1 here comprises an upper half 1a and a lower half 1b that are connected to each other at the waist so as to be able to rotate back and forth and to the left and right. As shown in FIG. A fuselage outer shell 5, a detachable tower bar 6 as a front reinforcing member, and two detachable pipe frames 7 as a rear reinforcing member, as shown in FIG. The body upper half cover 8 is disposed inside the body upper half cover 8. Further, as shown in FIG. 3, the frame 12 of the lower body half 1b has a substantially inverted T shape when viewed from the front, and as shown in FIG. 2, the lower body front half cover 10 and the bottom cover 11 It is arranged inside.

  As shown in FIG. 3, a speaker panel 13 is mounted on the upper half 1a of the fuselage 1 above the tower bar 6 of the fuselage outer shell 5, and a plurality of motor drivers are provided in the fuselage outer shell 5, respectively. A plurality of motor driver units 14 each including a substrate are accommodated, a wireless LAN unit 15 is mounted beside the rear part of the fuselage outer shell 5, and a triaxial gyroscope and a triaxial acceleration sensor are installed in the rear part of the fuselage outer shell 5. Is housed, a rear driver unit 17 is mounted between the front and rear of the fuselage outer shell 5, and visual control is provided on both sides of the rear of the fuselage outer shell 5. Two computer units 18 in which a large number of computer boards for the system and operation calculation system are collected are mounted. Two battery units 19 are mounted on the lower half 1 b of the body 1 on the left and right side portions of the frame 12 corresponding to the T-shaped arm portion. The tower bar 6 fixed to the front portion of the body outer shell 5 is provided with a pilot lamp 20 described later.

  On the other hand, as shown in FIG. 4, the arm 3 is drivingly coupled to the body shell 5 constituting the frame structure of the upper half 1a of the body 1 through a shoulder pitch axis and a shoulder roll axis. Although a shoulder pitch axis driving device is not shown, it is built in the fuselage outer shell 5 and rotates the shoulder frame 21 around the shoulder pitch axis P with respect to the fuselage outer shell 5. The arm 3 is rotated around the shoulder roll axis R with respect to the shoulder frame 21 by decelerating the rotation by the speed reducer 23 and transmitting it to the shoulder frame 21.

  As shown in FIG. 5, the motor 22 is supplied with power from a motor driver 24 on a motor driver board mounted on one of the motor driver units 14 via a power line 25, and the motor driver 24 A motor power supply is received via a power switch 26 from a power supply circuit (not shown) that is mounted on the body shell 5 and adjusts and outputs the power from the battery unit 19 to an appropriate voltage. Is activated. The pilot lamp 20 is composed of a light emitting diode (LED) provided between the downstream of the power switch 26 and the ground, and normally lights up when the power switch 26 is turned on.

  In the method of checking the motor power line of this embodiment, when checking the continuity of the power line 25 connecting the motor 22 and the motor driver 24 of the shoulder roll shaft driving device, as shown in FIG. In S1, the power switch 26 is turned on, and then in Step S2, it is confirmed whether or not the pilot lamp 20 is lit. If it is not lit at this time, the power circuit upstream of the power switch 26, the battery unit 19 and the like are defective.

  If the pilot lamp 20 is turned on in step S2, then in step S3, the power switch 26 is turned off, and in the subsequent step S4, the arm 3 that is lowered as shown in FIG. Then, the arm 3 is lifted and rotated as shown by an arrow S in FIG. 6B, thereby moving the joint, that is, the shoulder roll shaft here. Thereby, the rotation of the arm 3 is reversely increased by the speed reducer 23 and transmitted to the output shaft of the motor 22, and the output shaft of the motor 22 is rotated at a high speed, so that a counter electromotive force is generated in the motor 22.

  In the next step S5, it is confirmed whether or not the pilot lamp 20 has been turned on by this back electromotive force. As shown in FIG. When the light is lit as shown in d), as shown in FIG. 5, the back electromotive force passes through the power line 25 and passes through the flywheel diode (not shown) of the output of the motor driver 24 so that the pilot lamp 20 is lit. It can be seen that 25 is normal. On the other hand, when the pilot lamp 20 is not lit, the power line 25 between the motor driver 24 and the motor 22 is defective.

  Therefore, according to the inspection method of this embodiment, it is not necessary to cut the power line and connect the tester to perform the continuity check, etc., and move the arm 3 with an external force such as a manpower while the power supply to the motor driver 24 is turned off. By simply checking whether or not the pilot lamp 20 of the motor driver 24 is lit, if it is lit, there is no disconnection of the power line 25; In addition, the motor power line 25 can be inspected. Moreover, since the back electromotive force is used, inspection can be performed without a power source.

  In the inspection method of this embodiment, since the moving member is a movable part of the robot, particularly the arm of the walking robot, it is relatively long so that it can be easily handled and has a large moment and is easily moved by external force. By moving the arm with an external force, the power line 25 of the motor 22 that drives the arm can be easily checked.

  Although the present invention has been described based on the illustrated example, the present invention is not limited to the above example. For example, the exercise member may be the head 4 that moves the neck joint or the lower half 1b of the trunk that moves the waist joint. In addition, the inspection method of the present invention can be used to check the motor power line of the leg driving device of the humanoid robot, the motor power line of the leg driving device of the walking robot other than the humanoid robot, and the walking robot. The present invention can also be applied to the inspection of the motor power line of the driving device for other movable parts such as robots, and the external force for moving the movable part at the time of inspection is not limited to human power but may be generated by other power.

  Thus, according to the motor power line inspection method of the present invention, there is no need to cut the power line and connect the tester to check the continuity, etc., and the power supply to the motor driver is turned off with the external force of the manpower etc. Since it is only necessary to check whether or not the power pilot lamp of the motor driver is lit, anyone can easily check the motor power line. Moreover, since the back electromotive force is used, the inspection can be performed without a power source.

It is a flowchart which shows the check procedure of one Example of the check method of the motor power line of this invention. (A), (b) is the front view and side view which show the whole humanoid robot which can apply the inspection method of the said Example. It is a perspective view which shows the body frame of the said humanoid robot, and the control system electrical equipment mounted in it. It is a perspective view which shows the arm structure of the said humanoid robot. It is a block diagram which shows typically the drive system of the shoulder roll axis | shaft in the said arm structure. (A), (b) is explanatory drawing which shows how to move the arm in the inspection method of the said Example, (c), (d) is explanatory drawing which shows lighting of the pilot lamp of the chest by the movement of the arm. is there.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Body 1a Upper half of fuselage 1b Lower half of fuselage 2 Leg 3 Arm 4 Head 5 Body shell 6 Tower bar 7 Pipe frame 8 Upper half cover of fuselage 10 Front cover of lower half of fuselage 11 Bottom cover 12 For lower half of fuselage Frame 13 Speaker panel 14 Motor driver unit 15 Wireless LAN unit 17 Rear driver unit 18 Computer unit 19 Battery unit 20 Pilot lamp 21 Shoulder frame 22 Motor 23 Reducer 24 Motor driver 25 Power line 26 Power switch P Shoulder pitch axis R Shoulder roll axis

Claims (3)

When checking the power line that supplies power from the motor driver to the motor that drives the moving member via the speed reducer,
First, turn off the power supply to the motor driver,
Next, by moving the moving member with an external force and rotating the output shaft of the motor via the reduction gear, the back electromotive force is supplied from the motor to the motor driver via the power line.
A method for checking a motor power line, wherein whether or not a power pilot lamp of the motor driver is lit by the counter electromotive force is confirmed.   The motor power line inspection method according to claim 1, wherein the moving member is a movable part of a robot.   The motor power line inspection method according to claim 2, wherein the movable part of the robot is at least one of an arm and a leg of a walking robot.

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