JP4657796B2 - 脚式移動ロボットの過電流防止装置 - Google Patents
脚式移動ロボットの過電流防止装置 Download PDFInfo
- Publication number
- JP4657796B2 JP4657796B2 JP2005136011A JP2005136011A JP4657796B2 JP 4657796 B2 JP4657796 B2 JP 4657796B2 JP 2005136011 A JP2005136011 A JP 2005136011A JP 2005136011 A JP2005136011 A JP 2005136011A JP 4657796 B2 JP4657796 B2 JP 4657796B2
- Authority
- JP
- Japan
- Prior art keywords
- overcurrent
- output
- threshold value
- circuit
- predetermined time
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
- H02H7/0833—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors for electric motors with control arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- 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
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H3/00—Emergency protective circuit arrangements for automatic disconnection directly responsive to an undesired change from normal electric working condition with or without subsequent reconnection ; integrated protection
- H02H3/02—Details
- H02H3/04—Details with warning or supervision in addition to disconnection, e.g. for indicating that protective apparatus has functioned
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H3/00—Emergency protective circuit arrangements for automatic disconnection directly responsive to an undesired change from normal electric working condition with or without subsequent reconnection ; integrated protection
- H02H3/08—Emergency protective circuit arrangements for automatic disconnection directly responsive to an undesired change from normal electric working condition with or without subsequent reconnection ; integrated protection responsive to excess current
- H02H3/093—Emergency protective circuit arrangements for automatic disconnection directly responsive to an undesired change from normal electric working condition with or without subsequent reconnection ; integrated protection responsive to excess current with timing means
Description
2 脚部
3 基体
7 バッテリ(電圧源)
7a 電源回路
10など 電動モータ
22 足部
24 大腿リンク(リンク)
26 下腿リンク(リンク)
70 電子制御ユニット(ECU)
70a CPU(過電流抑制手段)
70a4 過電流防止部(過電流抑制手段)
72 駆動回路
80 過電流防止回路
80a スイッチング素子(FET)
80b 電流センサ
80c コンパレータ(過電流抑制手段)
80d 第1の遅延回路(過電流抑制手段)
80e 第2の遅延回路(過電流抑制手段)
80f EX−OR回路(過電流抑制手段)
80g NAND回路(過電流抑制手段)
80h 発振器(過電流抑制手段)
80i バッファ(過電流抑制手段)
80j AND回路(過電流抑制手段)
80k 絶縁ゲートドライバ(過電流抑制手段)
90 温度センサ
92 第2のECU(ECU2)
Claims (5)
- 関節を介して連結される複数本のリンクを備えた脚部と、前記関節に配置される電動モータと、電圧源と、前記電動モータと電圧源を接続する電源回路に配置され、通電指令に応じて前記電動モータに通電して駆動させる駆動回路とを少なくとも備えてなる脚式移動ロボットにおいて、前記電源回路に介挿され、オフするとき、前記電源回路を遮断するスイッチング素子と、前記駆動回路を介して前記電動モータに通電される電流に応じた出力を生じる電流センサと、前記電流センサの出力をしきい値と比較し、前記電流センサの出力が前記しきい値を超えるとき、第1の所定時間、前記スイッチング素子をオン/オフさせるスイッチング動作を実行して前記電源回路を断続的に遮断すると共に、前記第1の所定時間が経過した後、前記電流センサの出力を前記しきい値と比較し、前記電流センサの出力が前記しきい値を超える場合、前記スイッチング素子をオフさせて前記電源回路を遮断する過電流抑制手段とを備えたことを特徴とする脚式移動ロボットの過電流防止装置。
- 前記過電流抑制手段は、出力が前記しきい値を超えるとき、第2の所定時間が経過した後、前記第1の所定時間、前記スイッチング動作を実行すると共に、前記第1の所定時間が経過する前に出力が前記しきい値以下となる場合、前記スイッチング動作を終了することを特徴とする請求項1記載の脚式移動ロボットの過電流防止装置。
- さらに、外気温を検出する温度センサを備えると共に、前記過電流抑制手段は、前記検出された外気温に基づいて前記しきい値を変更することを特徴とする請求項1または2記載の脚式移動ロボットの過電流防止装置。
- さらに、外気温を検出する温度センサを備えると共に、前記過電流抑制手段は、前記検出された外気温に基づいて前記第1の所定時間を変更することを特徴とする請求項1または2記載の脚式移動ロボットの過電流防止装置。
- 前記過電流抑制手段は、前記スイッチング素子をオフさせて前記電源回路を遮断するとき、異常警報信号を出力することを特徴とする請求項1から4のいずれかに記載の脚式移動ロボットの過電流防止装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005136011A JP4657796B2 (ja) | 2004-10-19 | 2005-05-09 | 脚式移動ロボットの過電流防止装置 |
KR1020050096353A KR100691416B1 (ko) | 2004-10-19 | 2005-10-13 | 로봇의 과전류 방지 장치 |
EP05022614A EP1650621B1 (en) | 2004-10-19 | 2005-10-17 | Robot overcurrent prevention system |
US11/251,802 US7262574B2 (en) | 2004-10-19 | 2005-10-18 | Robot overcurrent prevention system |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004303837 | 2004-10-19 | ||
JP2005136011A JP4657796B2 (ja) | 2004-10-19 | 2005-05-09 | 脚式移動ロボットの過電流防止装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2006142470A JP2006142470A (ja) | 2006-06-08 |
JP4657796B2 true JP4657796B2 (ja) | 2011-03-23 |
Family
ID=35709349
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2005136011A Expired - Fee Related JP4657796B2 (ja) | 2004-10-19 | 2005-05-09 | 脚式移動ロボットの過電流防止装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US7262574B2 (ja) |
EP (1) | EP1650621B1 (ja) |
JP (1) | JP4657796B2 (ja) |
KR (1) | KR100691416B1 (ja) |
Families Citing this family (27)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4670413B2 (ja) * | 2004-07-07 | 2011-04-13 | トヨタ自動車株式会社 | 電源装置 |
JP4657796B2 (ja) * | 2004-10-19 | 2011-03-23 | 本田技研工業株式会社 | 脚式移動ロボットの過電流防止装置 |
DE102006024018A1 (de) * | 2006-05-23 | 2007-11-29 | Dr. Johannes Heidenhain Gmbh | Schutzschaltung für einen Umrichter |
US8947526B2 (en) * | 2006-12-07 | 2015-02-03 | Sensormatic Electronics, LLC | Video surveillance system having communication acknowledgement nod |
US7717826B2 (en) * | 2007-03-21 | 2010-05-18 | Ut-Battelle, Llc | Electrical signature analysis to quantify human and animal performance on fitness and therapy equipment such as a treadmill |
EP1981157A1 (en) * | 2007-04-12 | 2008-10-15 | Alcatel Lucent | Power dissipation limiter for a DC/DC converter with a pulse width modulator |
JP4847401B2 (ja) * | 2007-06-18 | 2011-12-28 | 本田技研工業株式会社 | 移動ロボットの駆動装置 |
US8903577B2 (en) | 2009-10-30 | 2014-12-02 | Lsi Industries, Inc. | Traction system for electrically powered vehicles |
US8604709B2 (en) | 2007-07-31 | 2013-12-10 | Lsi Industries, Inc. | Methods and systems for controlling electrical power to DC loads |
US7598683B1 (en) | 2007-07-31 | 2009-10-06 | Lsi Industries, Inc. | Control of light intensity using pulses of a fixed duration and frequency |
JP5096096B2 (ja) * | 2007-10-01 | 2012-12-12 | 日立オートモティブシステムズ株式会社 | 可変動弁機構の制御装置 |
JP2011176898A (ja) * | 2008-06-19 | 2011-09-08 | Panasonic Corp | モータ制御装置 |
CN101728818A (zh) * | 2008-10-31 | 2010-06-09 | 鸿富锦精密工业(深圳)有限公司 | 多驱动放大器系统及其过电流检测方法 |
DE102009005496A1 (de) * | 2009-01-21 | 2010-07-22 | Kuka Roboter Gmbh | Manipulator mit einem Außenläufermotor |
US8706299B2 (en) * | 2011-08-02 | 2014-04-22 | GM Global Technology Operations LLC | Method and system for controlling a dexterous robot execution sequence using state classification |
GB2503671B (en) * | 2012-07-03 | 2014-12-17 | Dyson Technology Ltd | Control of a brushless motor |
GB2503670B (en) | 2012-07-03 | 2014-12-10 | Dyson Technology Ltd | Method of preheating a brushless motor |
JP6232752B2 (ja) * | 2013-05-31 | 2017-11-22 | セイコーエプソン株式会社 | 駆動装置、電子部品搬送装置、および電子部品検査装置 |
KR102076693B1 (ko) * | 2013-08-23 | 2020-02-13 | 대우조선해양 주식회사 | 전선 포설 시스템 및 포설 방법 |
US20160197571A1 (en) * | 2015-01-05 | 2016-07-07 | The Boeing Company | Wireless Power System for Electric Motors |
US9896210B2 (en) * | 2015-01-29 | 2018-02-20 | Panasonic Intellectual Property Management Co., Ltd. | Display unit |
KR102556931B1 (ko) * | 2015-08-26 | 2023-07-18 | 삼성전자주식회사 | 회로 보호 방법 및 장치 |
US10700586B2 (en) * | 2016-04-29 | 2020-06-30 | Texas Instruments Incorporated | Predriver short protection |
JP6722046B2 (ja) * | 2016-05-31 | 2020-07-15 | 極東開発工業株式会社 | 車両用荷箱における自動シート開閉装置 |
WO2019088160A1 (ja) * | 2017-11-01 | 2019-05-09 | Groove X株式会社 | 反射行動を実行可能な自律行動型ロボット |
JP7209319B2 (ja) * | 2018-01-12 | 2023-01-20 | 株式会社ジャパンユニックス | はんだ付け装置 |
US11789437B2 (en) * | 2018-07-24 | 2023-10-17 | Canon Kabushiki Kaisha | Processing apparatus and processing method for processing portion |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
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JPH0540902U (ja) * | 1991-11-06 | 1993-06-01 | 横河電機株式会社 | ロボツト制御装置 |
JP2004209630A (ja) * | 2002-12-18 | 2004-07-29 | Sony Corp | ロボット装置、並びに負荷吸収装置及び負荷吸収方法 |
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US4243982A (en) * | 1979-02-26 | 1981-01-06 | Yarbrough John K | Current monitor |
FR2577725A1 (fr) * | 1985-02-15 | 1986-08-22 | Etri Sa | Dispositif pour proteger un moteur electrique contre les surintensites |
US4864206A (en) * | 1986-11-20 | 1989-09-05 | Westinghouse Electric Corp. | Multiaxis robot control having improved energy monitoring system for protecting robots against joint motor overload |
JPS63100184U (ja) * | 1986-12-22 | 1988-06-29 | ||
JP2992920B2 (ja) * | 1993-06-29 | 1999-12-20 | 三菱電機株式会社 | 産業用ロボットの制御装置 |
JPH08107602A (ja) * | 1994-10-06 | 1996-04-23 | Matsushita Electric Ind Co Ltd | モータの制御回路 |
JP3431548B2 (ja) * | 1999-02-10 | 2003-07-28 | ソニー株式会社 | ロボット装置及びその制御方法 |
JP2001022446A (ja) | 1999-07-06 | 2001-01-26 | Denso Corp | サーボ制御装置 |
JP2001028893A (ja) * | 1999-07-12 | 2001-01-30 | Fanuc Ltd | モータ制御装置 |
US7236852B2 (en) * | 2002-10-11 | 2007-06-26 | Sony Corporation | Motion controlling apparatus and method and remote controlling apparatus and method for legged mobile robot |
JP3966194B2 (ja) * | 2003-03-17 | 2007-08-29 | 株式会社デンソー | モータ制御装置 |
JP2005161469A (ja) * | 2003-12-03 | 2005-06-23 | Sony Corp | ロボット装置及びロボット装置のための過電流保護装置 |
JP4670413B2 (ja) * | 2004-07-07 | 2011-04-13 | トヨタ自動車株式会社 | 電源装置 |
JP4657796B2 (ja) * | 2004-10-19 | 2011-03-23 | 本田技研工業株式会社 | 脚式移動ロボットの過電流防止装置 |
JP2006211782A (ja) * | 2005-01-26 | 2006-08-10 | Yaskawa Electric Corp | サーボ制御装置 |
US7595615B2 (en) * | 2005-04-05 | 2009-09-29 | Texas Instruments Incorporated | Systems and methods for providing over-current protection in a switching power supply |
-
2005
- 2005-05-09 JP JP2005136011A patent/JP4657796B2/ja not_active Expired - Fee Related
- 2005-10-13 KR KR1020050096353A patent/KR100691416B1/ko not_active IP Right Cessation
- 2005-10-17 EP EP05022614A patent/EP1650621B1/en not_active Expired - Fee Related
- 2005-10-18 US US11/251,802 patent/US7262574B2/en active Active
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0540902U (ja) * | 1991-11-06 | 1993-06-01 | 横河電機株式会社 | ロボツト制御装置 |
JP2004209630A (ja) * | 2002-12-18 | 2004-07-29 | Sony Corp | ロボット装置、並びに負荷吸収装置及び負荷吸収方法 |
Also Published As
Publication number | Publication date |
---|---|
KR20060053230A (ko) | 2006-05-19 |
KR100691416B1 (ko) | 2007-03-09 |
US20060082944A1 (en) | 2006-04-20 |
EP1650621B1 (en) | 2013-02-27 |
US7262574B2 (en) | 2007-08-28 |
EP1650621A2 (en) | 2006-04-26 |
EP1650621A3 (en) | 2009-12-23 |
JP2006142470A (ja) | 2006-06-08 |
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