JP2014039419A - Driving system, driving method, robot hand, and robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a driving system that controls a switching frequency for each inverter for controlling each phase of a motor, suppresses heat generation of each inverter and drives the motor with high efficiency, and further to provide a driving method, and a robot hand and a robot using the driving system.SOLUTION: A driving system comprises: a motor; a drive control section for controlling the motor; a power converter for driving the motor by PWM control by multiple phase inverters; a junction temperature detection section for detecting a junction temperature of a switching element of at least one or more phase inverters among the multiple phase inverters; a switching frequency adjustment section comprising frequency adjustment means for adjusting a switching frequency for each switching element by the junction temperature of the switching element detected by junction temperature detection means; and a switching signal generation section for generating a switching signal of the inverters on the basis of an adjustment frequency adjusted.

Description

  The present invention relates to a drive device, a drive method, a robot hand, and a robot.

  As a motor drive control method, a method of performing PWM control using a power converter including an inverter is widely used. However, since a so-called solid element, which is a semiconductor element and a passive element, is used in the circuit constituting the inverter, heat generation during operation is inevitable. The heat of the inverter increases the loss of the inverter itself and reduces the driving efficiency of the motor. Therefore, it is required to suppress the heat generation of the inverter.

  In Patent Document 1, for example, the switching temperature (switching frequency) is reduced so that the junction temperature does not exceed the limit temperature by comparing the preset limit temperature with the calculated junction temperature of the inverter switching element, or The junction temperature is reduced by a method such as reducing the current flowing through the switching element so that it can be utilized up to the use limit temperature of the switching element. Thus, it is disclosed that a motor control device capable of expanding the operation range of the motor can be provided.

JP 2004-208450 A

  However, even if it is the control apparatus which controls the heat_generation | fever of the inverter by patent document 1, it does not control individually for every phase of a motor. This is because, for example, in a robot device, when the robot arm or robot hand is stopped with a load applied, a current flows only in a specific phase of the motor, and the heat generation amount increases. It is controlled to suppress. However, in other phases where current does not flow or small current, the switching frequency is reduced to suppress the amount of heat generated even though the junction temperature is low. There is a possibility that the operation time is increased.

  Therefore, a switching device that controls the switching frequency for each inverter that controls each phase of the motor, suppresses heat generation of each inverter, and drives the motor with high efficiency, and a robot hand and robot using the driving device. I will provide a.

  SUMMARY An advantage of some aspects of the invention is to solve at least a part of the problems described above, and the invention can be implemented as the following forms or application examples.

  Application Example 1 A drive device according to the present application includes a motor, a drive control unit that controls driving of the motor, a power converter that drives the motor by PWM control using a multi-phase inverter, and a multi-phase inverter. A junction temperature detection unit for detecting a junction temperature of a switching element of an inverter having at least one phase and a switching frequency of PWM control for each switching element is adjusted based on the junction temperature of the switching element detected by the junction temperature detection unit A switching frequency adjusting unit including a frequency adjusting unit for generating the switching signal, and a switching signal generating unit configured to generate a switching signal of the inverter based on the adjusted frequency adjusted by the switching frequency adjusting unit.

  According to the drive device of this application example, switching is performed by calculating the junction temperature of the individual switching elements of the multi-phase inverter provided in the power converter, and adjusting the switching frequency of the inverter having a high junction temperature for each individual inverter. An increase in the junction temperature of the element can be suppressed. This is because, for example, in the case of a robot hand that often holds a target and keeps holding the gripped state, a motor that drives the fingers of the robot hand to keep the target in a gripped state. While the rotation drive is stopped, the load state is maintained in order not to release the load on the finger part. That is, a state where a current flows through the coils of the respective phases of the motor is maintained. In this state, in the coils of each phase, the degree of load varies depending on the arrangement of the finger parts that hold the object. Accordingly, a difference occurs in the junction temperature of the switching element of the inverter of each phase. However, in the conventional technology, even if there is a difference in the junction temperature, the control is performed to lower the junction temperature of all phases based on the junction temperature data of the inverter having a large junction temperature, and the load with a low junction temperature is reduced. The switching frequency is lowered to a phase with few. As a result, when changing from the stopped state to the operating state, the change interval of the current supplied to the motor is increased, the control performance which is the followability to the target value of the motor drive is lowered, the operation time is delayed, or the vibration There is a concern that the driving stability may be impaired due to the motor driving.

  By using the drive device of this application example for the robot hand, the switching frequency can be individually adjusted according to the junction temperature for each phase inverter. Therefore, even when shifting from the standby state in which the motor is loaded to the drive state, the delay of the operation time is suppressed, and the operation time can be shortened, that is, the productivity can be increased.

  [Application Example 2] In the application example described above, based on the converter temperature detection means for detecting the temperature of the power converter, and the temperature data of the power converter detected by the converter temperature detection means, the switching A frequency adjusting means selecting section that selects the frequency adjusting means provided in the frequency adjusting section.

  According to the application example described above, since the temperature of the power converter can be detected as temperature data by the converter temperature detecting means, the thermal effect on the electronic device, for example, various sensors arranged in the vicinity of the power converter can be reduced. Can be suppressed.

  [Application Example 3] The driving method of this application example is a driving method of a driving device in which a motor is driven by PWM control by a multi-phase inverter, and the switching elements of at least one or more inverters of the multi-phase inverter are joined. A junction temperature detecting step for detecting temperature, a switching frequency adjusting step for obtaining a switching frequency corresponding to the junction temperature of the switching element detected by the junction temperature detecting step by a frequency adjusting means, and the switching frequency adjusting step. And a switching signal generation step of generating a switching signal of the inverter based on the acquired switching frequency.

  According to the driving method of this application example, the junction temperature is calculated for the switching elements of the individual inverters of the multi-phase inverter included in the power converter, and the junction frequency is adjusted by lowering the switching frequency of the individual inverters when the junction temperature is high. The rise in temperature can be suppressed for each inverter.

  [Application Example 4] In the above application example, the converter temperature detection step of detecting the temperature of the power converter including the plurality of inverters, and the temperature data of the power converter detected by the converter temperature detection step And a frequency adjusting means selecting step for selecting the frequency adjusting means.

  According to the application example described above, since the temperature of the power converter can be detected, the influence of heat on an electronic device, for example, various sensors, disposed in the vicinity of the power converter can be suppressed.

  [Application Example 5] A robot hand according to this application example is provided with a plurality of finger portions for gripping an object, a base on which the plurality of finger portions are movably provided, and provided on the base. A drive unit that changes a distance between the plurality of finger units by driving base ends of the plurality of finger units, and the drive unit controls a motor and drive of the motor. A power converter that drives the motor by PWM control using a plurality of phase inverters, a junction temperature detecting unit that detects a junction temperature of switching elements of at least one phase inverter of the plurality of phase inverters, and the junction temperature A switch comprising frequency adjusting means for adjusting a switching frequency of PWM control for each switching element based on the junction temperature of the switching element detected by the detecting means And grayed frequency adjuster, characterized in that it comprises a switching signal generator for generating a switching signal of the inverter based on the adjusted frequency adjusted by the switching frequency adjuster.

  In the case of a robot hand that often holds a target and keeps holding the gripped state, the motor that drives the fingers of the robot hand rotates in order to keep the target in the gripped state. While being in the stop state, the load state is maintained in order not to release the load on the finger portion. That is, a state where a current flows through the coils of the respective phases of the motor is maintained. In this state, in the coils of each phase, the degree of load varies depending on the arrangement of the finger parts that hold the object. Therefore, a difference also occurs in the junction temperature of the switching elements of the inverters of each phase, that is, the heat generation amount. However, in the prior art, even if there is a difference in the heat generation amount, the control is performed to lower the junction temperature of all phases based on the junction temperature data of the inverter having a high junction temperature, and the load with a low junction temperature is reduced. The switching frequency is lowered to a phase with few. As a result, when changing from the stopped state to the operating state, the change interval of the current supplied to the motor is increased, the control performance which is the followability to the target value of the motor drive is lowered, the operation time is delayed, or the vibration There is a concern that the driving stability may be impaired due to the motor driving.

  The robot hand of this application example can adjust the switching frequency of each phase inverter according to the junction temperature by using the driving device according to the application example described above. Therefore, even when shifting from the standby state in which the motor is loaded to the drive state, the delay of the operation time is suppressed, and the operation time can be shortened, that is, the productivity can be increased.

  Application Example 6 In the application example described above, the switching temperature detecting means for detecting the temperature of the power converter, and the switching based on the temperature data of the power converter detected by the converter temperature detecting means. A frequency adjusting means selecting section that selects the frequency adjusting means provided in the frequency adjusting section.

  According to the application example described above, since the temperature data of the power converter can be detected by the converter temperature detecting means, heat to an electronic device, such as a force sensor, disposed in the vicinity of the power converter. The influence can be suppressed.

  Application Example 7 A robot according to this application example includes a motor, a drive control unit that controls driving of the motor, a power converter that drives the motor by PWM control using a multi-phase inverter, and a multi-phase inverter. A junction temperature detection unit for detecting a junction temperature of a switching element of an inverter having at least one phase and a switching frequency of PWM control for each switching element is adjusted based on the junction temperature of the switching element detected by the junction temperature detection unit A switching frequency adjustment unit that includes a frequency adjustment unit that performs a switching signal generation unit that generates a switching signal of the inverter based on the adjustment frequency adjusted by the switching frequency adjustment unit. Features.

  According to the robot of this application example, the switching frequency can be individually adjusted according to the junction temperature of the switching element for each phase inverter. Therefore, even when shifting from the standby state in which the motor is loaded to the drive state, the delay of the operation time is suppressed, and the operation time can be shortened, that is, the productivity can be increased.

  Application Example 8 In the application example described above, the switching temperature detecting means for detecting the temperature of the power converter, and the switching based on the temperature data of the power converter detected by the converter temperature detecting means. A frequency adjusting means selecting section that selects the frequency adjusting means provided in the frequency adjusting section.

  According to the application example described above, since the temperature of the power converter can be detected, the thermal influence on an electronic device, such as a force sensor, disposed in the vicinity of the power converter can be suppressed.

The block diagram which shows the drive device which concerns on 1st Embodiment. The block diagram which shows the drive device which concerns on 2nd Embodiment. The flowchart which shows the drive method which concerns on 3rd Embodiment. The flowchart which shows the drive method which concerns on 4th Embodiment. The external view which shows the robot hand which concerns on 5th Embodiment. The external view which shows the robot which concerns on 6th Embodiment. The external view which shows the robot which concerns on 7th Embodiment.

  Embodiments according to the present invention will be described below with reference to the drawings.

(First embodiment)
FIG. 1 is a block diagram of a drive device that drives a two-phase motor including an inverter according to the first embodiment. As shown in FIG. 1, the drive device 100 includes a motor 10, a drive control unit 20, and an inverter unit 30 as a power converter that performs PWM control on the motor 10. The drive control unit 20 receives an instruction signal from a device control unit Cd that controls a device including the drive device 100, such as a robot, and sends a predetermined control signal. In this embodiment, the two-phase motor 10 is described as an example. However, the present invention is not limited to this, and a single-phase motor or a three-phase or more motor may be used.

  The inverter unit 30 includes a first phase inverter 31 including a switching element (not shown) that controls the first phase of the motor 10, a second phase inverter 32 including a switching element (not shown) that controls the second phase of the motor 10, Is included. Based on the control signal from the drive control unit 20, the first phase inverter 31 generates the switching frequency of the first phase inverter 31 in the first phase inverter switching signal generation unit 41 and sends it to the first phase inverter 31. Similarly, the switching frequency of the second phase inverter 32 is generated in the second phase inverter switching signal generator 42.

  The driving apparatus 100 further includes a junction temperature calculation unit 50 as a junction temperature detection unit and a switching frequency adjustment unit 60. Bonding temperature calculation unit 50 includes a first phase bonding temperature calculation unit 51 and a second phase bonding temperature calculation unit 52. The junction temperature calculation unit 50 includes electrical angle information from each of the first phase inverter 31 and the second phase inverter 32 from the inverter unit 30, and phase current of each phase, that is, torque to each phase output from the drive control unit 20. The command is acquired, and the junction temperature is calculated from the heat generation amount of the switching element of the inverter as the load amount of each of the first phase inverter 31 and the second phase inverter 32. The calculated junction temperature data is sent to the switching frequency adjustment unit 60.

  The switching frequency adjustment unit 60 includes a first phase adjustment table 61 and a second phase adjustment table 62 that are used as a switching frequency of PWM (Pulse With Modulation) control corresponding to the junction temperature of the inverter. The adjustment tables 61 and 62 can select a switching frequency corresponding to the junction temperature so that the switching frequency is lowered when the junction temperature of the inverters 31 and 32 is high and the switching frequency is raised when the junction temperature is low. Has a table.

  In the switching frequency adjustment unit 60, the adjusted switching frequency of the first phase inverter 31 selected from the first phase adjustment table 61 is sent to the first phase inverter switching signal generation unit 41 and is based on the adjusted switching frequency. A control signal for the first phase inverter 31 is generated, and the first phase inverter 31 is controlled. Similarly, the adjusted switching frequency of the first phase inverter 31 selected from the second phase adjustment table 62 is sent to the second phase inverter switching signal generator 42, and the second phase inverter based on the adjusted switching frequency. 32 control signals are generated, and the second phase inverter 32 is controlled.

  As described above, the junction temperature of the inverters 31 and 32 is calculated, and when either the first phase inverter 31 or the second phase inverter 32 or both of them have a high junction temperature, the connection temperature is increased by adjusting the switching frequency. Can be suppressed. Further, by calculating the junction temperatures of the first phase inverter 31 and the second phase inverter 32, even if the junction temperature of either the first phase inverter 31 or the second phase inverter 32 is low, the other The switching frequency of only the inverter having a high junction temperature can be reduced and the junction temperature can be suppressed.

  This is because, for example, when the two-phase motor 10 provided in the drive device 100 according to the present embodiment is used in a robot hand that grips the target object and has a long operation time while maintaining the gripped state, for example, In order to maintain the gripping state, the motor for driving the finger part of the robot hand is in a stopped state, but the load state is maintained in order not to release the load on the finger part. That is, a state in which a current flows through each phase coil is maintained. In this state, the load amount differs between the first-phase coil and the second-phase coil depending on the arrangement of the finger parts that hold the object. Therefore, a difference also occurs in the inverter junction temperature of each phase. However, in the prior art, even if there is a difference in the junction temperature, it is controlled to lower the junction temperature of all phases based on the junction temperature data of the inverter with a higher junction temperature, and the load with a low junction temperature is reduced. The switching frequency is lowered to a phase with few. As a result, when changing from the stopped state to the operating state, the change interval of the current supplied to the motor is increased, the control performance which is the followability to the target value of the motor drive is lowered, the operation time is delayed, or the vibration There is a concern that the driving stability may be impaired due to the motor driving.

  However, in the driving apparatus 100 according to the present embodiment, the state in which the load is applied to the motor 10 is maintained by individually adjusting the switching frequency according to the junction temperature in each of the first phase inverter 31 and the second phase inverter 32. Even when the standby state is shifted to the driving state, the delay of the operation time is suppressed, and the operation time can be shortened, that is, the productivity can be increased.

  In the driving device 100 of the present embodiment, the example in which the junction temperature of each inverter 31 and 32 is obtained by calculating from the electrical angle and current value in the junction temperature calculation unit 50 has been described. For example, each phase inverter A temperature sensor may be provided in each of 31 and 32, and the switching frequency adjustment unit 60 may obtain an adjustment value of the switching frequency based on temperature data from the temperature sensor. Only the phase current may be used. Further, the heat generation amount may be calculated by adding the switching frequency.

(Second Embodiment)
FIG. 2 is a block diagram showing a driving device 200 according to the second embodiment. The driving device 200 illustrated in FIG. 2 differs from the driving device 100 according to the first embodiment in that the inverter unit 30 includes a temperature sensor that detects the temperature of the inverter unit 30. In the description of the driving apparatus 200 according to the second embodiment, the same components as those of the driving apparatus 100 according to the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.

  As shown in FIG. 2, the drive device 200 according to the present embodiment includes a temperature sensor 70 as a converter temperature detection means in the inverter unit 30. The temperature sensor 70 is disposed so as to detect the entire temperature of the inverter unit 30 and may include a plurality of sensor terminals. Based on the detected temperature data of the inverter unit 30 detected by the temperature sensor 70, the switching frequency adjustment table corresponding to the temperature of the inverter unit 30 stored in the table selection unit 80 as the frequency adjustment means selection unit is selected. The selected switching frequency adjustment table is a new adjustment table 61 in which one or both of the first phase adjustment table 61 and the second phase adjustment table 62 included in the switching frequency adjustment unit 60 are selected by the table selection unit 80. It is replaced by ', 62'.

  Moreover, the junction temperature of each of the first phase inverter 31 and the second phase inverter 32 is calculated by the junction temperature calculation unit 50 in the same manner as the driving device 100 according to the first embodiment, and the switching frequency adjustment unit 60 outputs the calculation result. The junction temperatures of the inverters 31 and 32 are sent out. In the switching frequency adjustment unit 60, the adjusted switching frequency is acquired from the new adjustment tables 61 ′ and 62 ′ based on the temperature sensor 70 of the inverter unit 30 acquired from the table selection unit 80, and the inverter switching signal generation unit 41, 42.

  In the drive device 200 according to the second embodiment, the temperature sensor 70 detects the heat generation state of the entire inverter unit 30 including the inverters 31 and 32 in addition to the control based on the junction temperature of the individual inverters 31 and 32. Thereby, the temperature environment in the inverter part 30 around each inverter 31 and 32 is detected, and the inverters 31 and 32 can be controlled based on the switching frequency adjusted more finely. Therefore, even when shifting from the standby state where the load is applied to the motor 10 to the driving state, the delay of the operation time can be further suppressed, and the operation time can be further reduced, that is, the productivity is further improved. It becomes possible to raise.

  Note that the temperature sensor 70 may not be provided in the inverter unit 30, and various sensors provided in the vicinity of the inverter unit 30 of the device provided with the driving device 200, or a temperature sensor incorporated in a force sensor provided in the robot device or the like is used. Thus, the temperature of the inverter unit 30 may be detected.

(Third embodiment)
FIG. 3 is a flowchart showing a driving method of the driving apparatus 100 according to the first embodiment.

[Operation data sending process]
First, an operation data sending process in which a drive command for the drive device 100 is sent from the device control unit Cd of the device (not shown) provided with the drive device 100, and operation data including the switching frequency of the inverters 31 and 32 is sent from the drive control unit 20. (S10) is executed, and the motor 10 starts driving. The process proceeds from the start of driving the motor 10 to the inverter junction temperature detecting step.

[Inverter junction temperature detection process]
Heat generation of the first phase inverter 31 and the second phase inverter 32 provided in the inverter unit 30 starts almost simultaneously with the driving of the motor 10. In the inverter junction temperature detection step (S20), the junction temperatures of the inverters 31 and 32 are determined from the electrical angles and phase current values of the inverters 31 and 32, and the first phase junction temperature calculator 51 and the first phase Calculation is performed by the two-phase junction temperature calculation unit 52. As described above, the inverters 31 and 32 may each be provided with a temperature detection means such as a temperature sensor, and the temperature data may be directly acquired.

[Joint temperature judgment process]
Further, the calculated junction temperature of the inverters 31 and 32 is compared with a rated value of the driving device 100 or a predetermined value of the junction temperature of the first phase inverter 31 set in advance from a specification limit value, and a first phase junction temperature determination is made. A step (S31) and a second phase junction temperature determination step (S32) for comparison with a specified value of the junction temperature of the second phase inverter 32 are executed. In the junction temperature determination step (S31, S32), when it is determined that the junction temperature is equal to or lower than the specified value (YES), the process proceeds to the next switching frequency adjustment step.

  However, when at least one of the first-phase inverter 31 and the second-phase inverter 32 is determined to have a junction temperature equal to or higher than a specified value (NO), that is, exceeds the specification limit value, the drive device 100 runs out of control, etc. Since there is a risk of a dangerous state, an instruction to stop driving of the drive device 100 is sent from the drive control unit 20, and the drive device 100 is stopped (S80). Then, an alarm is displayed on a display device (not shown) provided in the device controller Cd and the like (S90).

[Switching frequency adjustment process]
When it is determined that the junction temperature of the inverter 31 is equal to or lower than the specified value (YES) in the first phase junction temperature determination step (S31), the inverter 31 is calculated based on the junction temperature of the inverter 31 calculated in the inverter junction temperature detection step (S20). Thus, the first phase switching frequency adjustment step (S41) is performed in which the adjusted switching frequency of the first phase inverter 31 is selected from the first phase adjustment table 61 provided in the switching frequency adjustment unit 60. Similarly, when it is determined in the second phase junction temperature determination step (S32) that the junction temperature of the inverter 32 is equal to or lower than the specified value (YES), the inverter 32 calculated in the inverter junction temperature detection step (S20). A second phase switching frequency adjustment step (S42) is performed in which the adjusted switching frequency of the second phase inverter 32 is selected from the second phase adjustment table 62 provided in the switching frequency adjustment unit 60 based on the junction temperature of the second phase inverter 32. .

[Switching frequency judgment process]
In the switching frequency adjustment process (S41, S42), the adjusted switching frequency that suppresses the increase in the junction temperature corresponding to the junction temperature of the inverters 31 and 32 is acquired, but exceeds the operation limit of the inverters 31 and 32. A switching frequency determination step (S51, S52) for determining whether there is any is performed. The adjusted switching frequency is adjusted to lower the frequency so as to suppress an increase in the junction temperature of the inverters 31 and 32. However, when the driving device 100 or the driving device 200 is used for the robot hand described above, if a switching frequency lower than the driving state necessary to maintain the state of gripping the object is selected, the gripping state of the object is determined. It becomes difficult to maintain. That is, it becomes a dangerous state such as a fall of the object.

  Therefore, it is determined in the switching frequency determination step (S51, S52) whether the adjusted switching frequency is within the range of the setting value of the switching frequency of the inverters 31, 32 that is set in advance as a specified value. In the switching frequency determination step (S51, S52), when it is determined that the switching frequency after adjustment of one or both of the first phase inverter 31 and the second phase inverter 32 is outside the set value range (NO), An instruction to stop the drive of the drive device 100 is sent from the drive control unit 20, and the drive device 100 is stopped (S80). Then, an alarm is displayed on a display device (not shown) provided in the device controller Cd and the like (S90).

[Switching signal generation process]
When it is determined in the switching frequency determination step (S51, S52) that the adjusted switching frequency is within the set value range (YES), the process proceeds to the switching signal generation step (S61, S62). A switching signal based on the adjusted switching frequency is generated by the first phase inverter switching signal generation unit 41 and the second phase inverter switching signal generation unit 42 and sent to the inverters 31 and 32 so that the increase in the junction temperature is suppressed. Thus, the inverters 31 and 32 operate, and the predetermined driving state of the motor 10 is maintained.

  Then, it is determined whether the work operation instructed in the operation data sending step (S10) is completed (S70). If it is determined in S70 that the work has not been completed (NO), predetermined operation data is transmitted in the operation data transmission step (S10).

  By driving the driving apparatus 100 according to the first embodiment as described above, the switching frequency is adjusted according to the junction temperature of the first phase inverter 31 and the second phase inverter 32, and the inverter has a low junction temperature. Lowering the switching frequency more than necessary. As a result, it is possible to suppress an increase in driving time due to a decrease in control performance at the start of operation from the operation standby state, and it is possible to increase productivity.

(Fourth embodiment)
FIG. 4 is a flowchart illustrating a driving method of the driving apparatus 200 according to the second embodiment. The driving method according to the fourth embodiment is different from the driving method of the driving apparatus 100 according to the first embodiment, which is the third embodiment, in that a temperature sensor 70 provided in the inverter unit 30 is used. Therefore, the same steps as those in the driving method according to the third embodiment shown in FIG.

[Inverter temperature detection process]
When driving of the driving device 200 is started by the operation data sending step (S10), the temperature sensor 70 provided in the inverter unit 30 executes the inverter temperature detection step (S100) for detecting the temperature of the inverter unit 30. . If temperature data is acquired, it will transfer to an adjustment table selection process.

[Adjustment table selection process]
In the adjustment table selection step (S110), the first phase adjustment table 61 and the second phase adjustment table 62 included in the switching frequency adjustment unit 60 are converted into the temperature data of the inverter unit 30 obtained in the inverter unit temperature detection step (S100). The corresponding first phase adjustment table 61 ′ and second phase adjustment table 62 ′ are selected, and the adjustment tables 61, 62 are rewritten to the selected adjustment tables 61 ′, 62 ′. And it transfers to an inverter junction temperature detection process (S20).

  Since the steps after the inverter junction temperature detecting step (S20) are the same steps as the driving method according to the third embodiment, the description thereof is omitted.

  In the case of a robot hand, for example, as a device provided with the driving device 200, it is indispensable for the control of the robot device to include various sensors such as a force sensor for detecting a load state on the robot hand unit. However, these various sensors are easily affected by the external temperature, causing detection data errors or malfunctions. In addition, the sensor is often arranged in the joint part, that is, the operation part in which the driving device is provided. Therefore, there is a possibility that the heat generated by the driving device may cause malfunction of the sensor. However, according to the driving method of the driving device 200 according to the present embodiment, the temperature of the inverter unit 30 itself is detected by the temperature sensor 70, so that the heat generated by the inverter unit 30 is generated in the operating temperature range of the sensor disposed in the vicinity. It is possible to control and while maintaining the accuracy of the detection data of the sensor, the lack of driving force at the time of transition from the operation stop maintaining state of the inverters 31 and 32 to the operation start is avoided, and the operation time is shortened, that is, Productivity can be increased.

(Fifth embodiment)
FIG. 5 shows a robot hand 1000 including the driving device 100 according to the first embodiment or the driving device 200 according to the second embodiment. The robot hand 1000 includes a finger part 1200 connected to the base part 1100. A driving device 100 or a driving device 200 as a rotational driving device is incorporated in a connecting portion 1300 between the base portion 1100 and the finger portion 1200 and a joint portion 1400 of the finger portion 1200. The robot hand 1000 includes a control unit 1500, and the control unit 1500 drives the driving device 100 or the driving device 200 to rotate the connection unit 1300 and the joint unit 1400, thereby making the finger unit 1200 like a human finger. It can be transformed into a desired form.

  In the robot hand 1000 according to the present embodiment, the driving device 100 or the driving device 200 incorporated in the joint portion 1400 is an object in an operation state in which the finger unit 1200 is driven to grip a desired object and the gripping state is maintained. In order to maintain the gripping force against the motor, current is supplied to each phase of the motor of the driving device. Therefore, the drive device 100 according to the first embodiment or the drive device 200 according to the second embodiment is provided in the robot hand 1000 according to the present embodiment, so that the inverter 31 is in accordance with the junction temperature of each of the inverters 31 and 32. 32, the switching frequency is adjusted, and the operation is also performed when shifting from the standby state in which the gripping state of the object loaded on the motor 10 is maintained to the operation of releasing the object in the driving state. It is possible to obtain the robot hand 1000 in which the time delay is suppressed and the operation time can be shortened, that is, the productivity can be increased.

(Sixth embodiment)
FIG. 6 is an external view showing a configuration of a robot 2000 including the drive device 100 according to the first embodiment, the drive device 200 according to the second embodiment, and the robot hand 1000 according to the fifth embodiment. The robot 2000 includes a main body 2100, an arm 2200, and a robot hand 1000. The illustrated robot 2000 is classified as a so-called articulated robot. The main body 2100 is fixed on, for example, a floor, a wall, a ceiling, or a movable carriage. The arm unit 2200 is provided so as to be movable with respect to the main body unit 2100. The main body unit 2100 incorporates an actuator (not shown) that generates power for rotating the arm unit 2200, a control unit that controls the actuator, and the like. ing.

  The arm portion 2200 includes a first frame 2210, a second frame 2220, a third frame 2230, a fourth frame 2240, and a fifth frame 2250. The first frame 2210 is connected to the main body 2100 via a rotational refraction axis so as to be rotatable or refractable. The second frame 2220 is connected to the first frame 2210 and the third frame 2230 via a rotational refraction axis. The third frame 2230 is connected to the second frame 2220 and the fourth frame 2240 via a rotational refraction axis. The fourth frame 2240 is connected to the third frame 2230 and the fifth frame 2250 via the rotational refraction axis. The fifth frame 2250 is connected to the fourth frame 2240 via the rotational refraction axis. In the arm unit 2200, the frames 2210 to 2250 are rotated or refracted around each rotational refraction axis by the control of the control unit. The driving device 100 according to the first embodiment or the driving device 200 according to the second embodiment is used as a driving device for the rotating / bending shaft connecting these frames.

  The robot hand connection unit 2300 is connected to the other of the fifth frames 2250 of the arm unit 2200 where the fourth frame 2240 is provided, and the robot hand 1000 is attached to the robot hand connection unit 2300. The robot hand connection unit 2300 incorporates a drive device 100 or a drive device 200 that applies a rotational motion to the robot hand 1000, and the robot hand 1000 can grip an object.

  In the robot 2000 according to the present embodiment, the rotating / bending shaft to which each frame is connected is not operated, for example, when the arm unit 2200 is fixed and rotated with respect to the main body unit 2100, or any rotation of the arm unit 2200 is performed. There is a case where the driving device 100 or the driving device 200 provided on the rotating / bending shaft is not operated, such as operating the other bending / bending shaft without operating the bending shaft. Even in such a case, current is supplied to each phase of the driving device 100 or the motor 10 of the driving device 200 provided for the rotating / bending shaft that is not operated.

  Therefore, by using the driving device 100 according to the first embodiment and the driving device 200 according to the second embodiment for the robot 2000 according to the present embodiment for the rotating and bending shafts to which the respective frames are connected, the inverters 31 and 32 respectively. The switching frequency of each of the inverters 31 and 32 is adjusted according to the junction temperature. Accordingly, even when the operation is stopped from the standby state in which the operation is stopped with the load applied to the motor 10 to the operation of the frame of the arm unit 2200 in the driving state, the operation time delay is suppressed, and the operation is suppressed. It is possible to obtain the robot 2000 that can shorten the time, that is, increase the productivity.

(Seventh embodiment)
FIG. 7 is an external view illustrating a configuration of a robot 3000 including the driving device 100 according to the first embodiment or the driving device 200 according to the second embodiment. That is, in the present embodiment, as shown in FIG. The vehicle body 3010 includes a vehicle body 3011, and four wheels 3012 are installed on the ground side of the vehicle body 3011. The vehicle body 3011 incorporates a rotation mechanism that drives the wheels 3012. Further, the vehicle body 3011 incorporates a control unit 3020 as a motor control device that controls the posture and operation of the robot 3000.

  A main body rotating part 3030 and a main body part 3040 are stacked on the vehicle body 3011 in this order. The main body rotation unit 3030 is provided with a rotation mechanism including a motor and a speed reducer that rotate the main body unit 3040. As a result, the main body 3040 rotates around the vertical direction. A pair of imaging devices 3050 is installed on the main body 3040, and the imaging device 3050 captures an image around the robot 220. Then, the distance between the photographed object and the imaging device 3050 can be detected.

  A left arm portion 3060 and a right arm portion 3070 as actuators are provided on two surfaces of the side surface of the main body portion 3040 facing opposite to each other. That is, the robot 3000 is a double-arm robot. The left arm part 3060 and the right arm part 3070 respectively include an upper arm part 3080, a lower arm part 3090, and a hand part 3100 as a robot hand. The upper arm portion 3080, the lower arm portion 3090, and the hand portion 3100 are connected so as to be rotatable or bendable. The main body 3040 includes a rotation mechanism 3110 as a drive unit that rotates the upper arm 3080 with respect to the main body 3040. The upper arm portion 3080 incorporates a rotation mechanism 3110 that rotates the lower arm portion 3090 relative to the upper arm portion 3080. The lower arm portion 3090 includes a rotation mechanism 3110 that rotates the hand portion 3100 with respect to the lower arm portion 3090. Further, the lower arm portion 3090 incorporates a rotation mechanism 3110 for twisting with the longitudinal direction of the lower arm portion 3090 as a rotation axis.

  The hand unit 3100 includes a hand main body 3101 as a base and a pair of plate-shaped movable units 3102 positioned at the tip of the hand main body 3101. The hand main body 3101 incorporates a linear motion mechanism 3120 as a drive unit that moves the gripping part 3102 and changes the interval between the gripping parts 3102. The hand unit 3100 can open and close the grip unit 3102 to grip the object to be gripped.

  The rotation mechanism 3110 and the linear motion mechanism 3120 include a motor and a speed reducer. Either the driving device 100 or the driving device 200 is used for the motor and the speed reducer. Furthermore, the rotating mechanism that rotates the wheel 3012 and the rotating mechanism that rotates the main body 3040 include a motor and a speed reducer. Either the driving device 100 or the driving device 200 is used for the motor and the speed reducer. The control unit 3020 controls the posture of the robot 3000 by driving these motors.

  The motor and the speed reducer included in the robot 3000 are downsized. Therefore, the robot 3000 can be a small robot because the motor and the speed reducer are miniaturized.

  DESCRIPTION OF SYMBOLS 10 ... Motor, 20 ... Drive control part, 30 ... Inverter part, 41, 42 ... Inverter switching signal generation part, 50 ... Junction temperature calculation part, 60 ... Switching frequency adjustment part, 100 ... Drive apparatus.

Claims (8)

A motor,
A drive control unit for controlling the drive of the motor;
A power converter that drives the motor by PWM control using a multi-phase inverter;
A junction temperature detector for detecting a junction temperature of a switching element of the inverter of at least one phase of the multi-phase inverter;
A switching frequency adjusting unit including a frequency adjusting means for adjusting a switching frequency of PWM control for each switching element according to the junction temperature of the switching element detected by the junction temperature detecting unit;
A switching signal generation unit that generates a switching signal of the inverter based on the adjustment frequency adjusted by the switching frequency adjustment unit,
A drive device characterized by that. Converter temperature detecting means for detecting the temperature of the power converter;
A frequency adjusting unit selecting unit that selects the frequency adjusting unit included in the switching frequency adjusting unit based on temperature data of the power converter detected by the converter temperature detecting unit;
The drive device according to claim 1. A driving method of a driving device for driving a motor by PWM control using a multi-phase inverter,
A junction temperature detecting step of detecting a junction temperature of a switching element of an inverter of at least one phase of the plurality of phase inverters;
A switching frequency adjustment step of obtaining, by a frequency adjustment means, a switching frequency corresponding to the junction temperature of the switching element detected by the junction temperature detection step;
A switching signal generation step of generating a switching signal of the inverter based on the switching frequency acquired by the switching frequency adjustment step,
A driving method characterized by that. A converter temperature detecting step of detecting a temperature of a power converter including the plurality of inverters;
A frequency adjusting means selecting step for selecting the frequency adjusting means based on the temperature data of the power converter detected by the converter temperature detecting step,
The driving method according to claim 3. A plurality of fingers to grip the object;
A base on which the plurality of fingers are vertically movable;
A drive unit that is provided on the base and drives a base end of the plurality of finger units to change an interval between the plurality of finger units; and
The drive unit is
A motor,
A drive control unit for controlling the drive of the motor;
A power converter that drives the motor by PWM control using a multi-phase inverter;
A junction temperature detector for detecting a junction temperature of a switching element of the inverter of at least one phase of the multi-phase inverter;
A switching frequency adjusting unit including a frequency adjusting means for adjusting a switching frequency of PWM control for each switching element according to the junction temperature of the switching element detected by the junction temperature detecting unit;
A switching signal generation unit that generates a switching signal of the inverter based on the adjustment frequency adjusted by the switching frequency adjustment unit,
Robot hand characterized by that. Converter temperature detecting means for detecting the temperature of the power converter;
A frequency adjusting unit selecting unit that selects the frequency adjusting unit included in the switching frequency adjusting unit based on temperature data of the power converter detected by the converter temperature detecting unit;
The robot hand according to claim 5. A motor,
A drive control unit for controlling the drive of the motor;
A power converter that drives the motor by PWM control using a multi-phase inverter;
A junction temperature detector for detecting a junction temperature of a switching element of the inverter of at least one phase of the multi-phase inverter;
A switching frequency adjusting unit including a frequency adjusting means for adjusting a switching frequency of PWM control for each switching element according to the junction temperature of the switching element detected by the junction temperature detecting unit;
A switching signal generation unit that generates a switching signal of the inverter based on the adjustment frequency adjusted by the switching frequency adjustment unit;
A robot characterized by that. Converter temperature detecting means for detecting the temperature of the power converter;
A frequency adjusting unit selecting unit that selects the frequency adjusting unit included in the switching frequency adjusting unit based on temperature data of the power converter detected by the converter temperature detecting unit;
The robot according to claim 7.

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