WO2004089580A1 - 産業用ロボットの制御装置 - Google Patents
産業用ロボットの制御装置 Download PDFInfo
- Publication number
- WO2004089580A1 WO2004089580A1 PCT/JP2004/003687 JP2004003687W WO2004089580A1 WO 2004089580 A1 WO2004089580 A1 WO 2004089580A1 JP 2004003687 W JP2004003687 W JP 2004003687W WO 2004089580 A1 WO2004089580 A1 WO 2004089580A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- brake
- relay
- release
- motor
- relay contact
- Prior art date
Links
Classifications
-
- 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
- B25J19/0004—Braking 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
- B25J19/06—Safety devices
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H47/00—Circuit arrangements not adapted to a particular application of the relay and designed to obtain desired operating characteristics or to provide energising current
- H01H47/002—Monitoring or fail-safe circuits
Definitions
- the present invention relates to a control device for an industrial pot equipped with an electromagnetic brake that locks a motor shaft, and more particularly to a control device for an industrial pot that opens an electromagnetic brake when the drive power of the motor is shut off. It is.
- the motor of an articulated industrial robot driven by an electric servo motor rotates at a predetermined speed or stops at a predetermined position according to a command from the control device so that the robot takes a predetermined position and posture.
- Is controlled to When the robot is intentionally stopped with the drive power of the motor interrupted by a command from the controller, or the robot is unintentionally stopped with the drive power M of the motor shut off due to some abnormality. Then, the power supply for driving the motor is shut off, so that the motor cannot maintain a predetermined position. Therefore, an electromagnetic brake is provided on the motor shaft of the industrial robot.
- the electromagnetic brake releases the restraint of the motor shaft when excited, and locks the motor shaft when demagnetized. In this way, when the power supply for driving the motor is shut off, the electromagnetic brake locks the motor shaft (for example, Japanese Patent Application Laid-Open No. 2000-296492).
- the switch contact for releasing the brake is closed, and a half-wave rectified power supply is diode-connected from an AC power supply to the motor shaft.
- the motor shaft is unlocked by supplying it to the coil of the electromagnetic brake that locks.
- the brake is operated by opening and closing one contact.
- Japanese Unexamined Patent Publication No. Hei 8 (1996) -126900 has a release power supply in a robot control device for releasing a brake by an operator's operation.
- the release power supply and the main power supply are connected to a main switch and an auxiliary power supply. It is disclosed that the switch selectively connects to the brake.
- the brake circuit of the industrial robot disclosed in Japanese Patent Application Laid-Open No. 2000-2906492 has only one open / close contact of the brake circuit, so that when this contact is welded, the brake is opened. As a result, there was a problem that the mouth pot could not be held in the posture and the mouth pot could collide with or interfere with peripheral devices.
- the present invention has been made in view of such a problem, and applies an opening voltage to the brake at a plurality of contacts connected in series to ensure that the opening voltage to the brake is applied even when welding of the contacts occurs.
- the present invention relates to a control device for an industrial robot having an electromagnetic brake for locking a motor shaft, wherein a first relay contact that closes when the electromagnetic brake is opened; A second relay contact that is closed when a motor drive power is supplied, and the first relay contact, the second relay contact, and the electromagnetic brake are connected in series to the electromagnetic brake drive power supply Things.
- a signal for closing the first relay is output while a signal for passing the second relay is being output.
- a control unit for outputting a release signal of the electromagnetic brake; manual brake release input means for outputting a release signal of the electromagnetic brake by a manual operation of an operator; a release signal output from the control unit; A selection means for selecting one of the release signals output from the manual brake release input means to operate the first relay and the second relay.
- the selection means selects an output from the control unit when the drive power of the motor is turned on, and selects an output from the manual brake release input means when the drive power of the motor is shut off.
- the manual brake release input means is provided on a hand-held operation device. Further, the manual brake release input means is used as an external signal.
- FIG. 1 is a configuration diagram of a robot system showing an embodiment of the present invention
- FIG. 2 is a configuration diagram of a brake device of the robot system showing an embodiment of the present invention.
- FIG. 1 is a configuration diagram of a mouth pot system showing an embodiment of the present invention.
- 11 is a robot to be controlled
- 12 is a robot control device for controlling the robot 11.
- the robot controller 12 includes a drive unit 13 for driving a motor (not shown) of the robot 11, a brake control unit 14 for controlling the brake of the motor, and an emergency stop signal input from outside.
- Power supply front-stage control device 16 that determines drive power supply conditions based on control signals input from the pendant 15 and the pendant 15.
- Control unit 17 that controls the operation of the robot 11, input and output that inputs and outputs external signals Output section 18 is provided.
- a brake release switch 19 is connected to the brake control unit 14, and a release switch 20 is also connected to the input / output unit 18.
- the operator can release the brake by operating the operation key of the pendant 13 or by operating the brake release switch 19 or brake release switch 20 (details will be described later), but the brake release switch is used. If you don't need 1 9 or 20 These connections are not required, and they may be connected when needed.
- the pendant 15 is a hand-held operation device for performing a teaching operation and the like of the robot 11 and includes a plurality of operation keys, a display device, and an enable device. Information on the pressing of the operation keys is sent to the control unit 17.
- the enable device is a deadman switch for ensuring the safety of the worker during teaching.In the teach mode, when the enable device is grasped by the worker, the enable state is selected and the drive power for the motor is turned on.
- a drive signal from the drive unit 13 to the motor is transmitted to generate torque, and the brake control unit 14 supplies brake release power to the brake to release the brake, and the operation key of the pendant 15
- the robot can be operated by the operation of.
- FIG. 2 is a configuration diagram of the brake device of the mouth pot system according to the embodiment of the present invention.
- the release of the brake during a normal teaching operation or a reproducing operation is performed in the following procedure.
- the control unit 17 confirms from the drive power supply front-end control device 16 a signal that the conditions for enabling the motor drive power supply (emergency stop is not operated, etc.) are satisfied.
- One 2 1 is closed.
- the drive power control relay 21 is closed, the drive power relay (electromagnetic contactor) 22 is excited, and the contact A is closed to connect the power supply 28 to the drive 13 and the contact B is also closed.
- a drive current flows from the drive unit 13 to each motor (not shown) according to a command from the control unit 17, and a torque is generated in each motor.
- the C contact is selected for the interlock switch 25, and a brake release signal flows from the control unit 17 to the brake release relay 24 through the interlock switch 25, and the brake release relay 24 is turned on. Close the contact.
- the brake release relay 24 closes, current flows from the brake power supply and the brake 23 is released. The same procedure is used for driving other motors and releasing brakes. '
- the method of releasing the brake by inputting the operation key of the pendant 15 is as follows.
- a dual hold-to-run function such as the operator gripping the enabling device when releasing the brake (a function that operates only when manually operated and stops operation when released). It is necessary to have.
- a predetermined key on the pendant 15 is operated to close the brake release mass 1/26. Specifically, an exciting current flows from the control unit 17 to the brake release master relay 2.6 via the A contact of the interlocking switch 25 by operating the key (the robot 11 stops when this operation is performed). Therefore, the A and B contacts of the drive power relay 22 are open.)
- the exciting current flows from the control unit 17 to the brake release relay 24 of the desired axis via the A contact of the interlocking switch 25.
- the brake release relay 24 closes.
- the circuit that returns from the brake power supply 27 to the brake power supply 27 through the brake release relay 24, the brake 23, and the brake release master relay 26 closes. Brake release current flows through 23 and brake 23 is released.
- the procedure for releasing the brake using the brake release switch 20 is the same as the method for releasing the brake using the pendant 15 described above. That is, when the brake release master relay 26 and the brake release relay 23 are closed from the brake release switch 20, a current for closing (exciting) each relay is supplied from the control unit 17.
- the brake release by operating the brake release switch 19 is characterized by the fact that the control unit 17 is not involved, so to speak, a purely manual brake release method.
- the interlock switch 25 First, operate the interlock switch 25 to connect to the D contact. That is, the brake release relay 24 is disconnected from the controller 17 and connected to the brake release switch 19. Next, the brake release switch 19 is operated to close the brake release master relay 26. Finally, the switch corresponding to the desired axis of the brake release switch 19 is operated to close the brake release relay 24 of the desired axis and release the brake 23 of the desired axis.
- the brake release switch 20 is a mechanical switch.
- an external signal for example, a brake release signal may be input according to a command from a higher-level control device.
- the brake power can be cut off by the other relay.
- welding of the relay keeps the brake open, reducing the danger of the robot arm dropping due to gravity and improving safety.
- the brake power supply used normally and the brake power supply used for manual operation are shared, there is no need to provide a dedicated power supply and a battery in the robot controller, contributing to downsizing of the robot control unit. effective.
- the present invention is useful as a control device for an industrial robot having an electromagnetic brake that locks a motor shaft, and particularly as a control device for an industrial robot that releases the electromagnetic brake when the driving power of the motor is cut off. is there.
Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/551,458 US7166977B2 (en) | 2003-04-02 | 2004-03-18 | Indurstrial robot controlling device |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2003099569A JP4320556B2 (ja) | 2003-04-02 | 2003-04-02 | 産業用ロボットの制御装置 |
JP2003-99569 | 2003-04-02 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2004089580A1 true WO2004089580A1 (ja) | 2004-10-21 |
Family
ID=33156704
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2004/003687 WO2004089580A1 (ja) | 2003-04-02 | 2004-03-18 | 産業用ロボットの制御装置 |
Country Status (3)
Country | Link |
---|---|
US (1) | US7166977B2 (ja) |
JP (1) | JP4320556B2 (ja) |
WO (1) | WO2004089580A1 (ja) |
Cited By (1)
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---|---|---|---|---|
WO2021218204A1 (zh) * | 2020-04-26 | 2021-11-04 | 珠海格力电器股份有限公司 | 机器人的控制设备及机器人的控制方法、机器人 |
Families Citing this family (25)
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---|---|---|---|---|
JP4003124B2 (ja) * | 2002-11-12 | 2007-11-07 | 株式会社安川電機 | 自動機械の制御装置 |
JP2006074207A (ja) * | 2004-08-31 | 2006-03-16 | Toshiba Corp | 移動型情報装置とこの移動方法、及び情報システムと位置推定方法 |
US8176808B2 (en) * | 2007-09-13 | 2012-05-15 | Foster-Miller, Inc. | Robot arm assembly |
US8201649B2 (en) * | 2007-12-14 | 2012-06-19 | Foster-Miller, Inc. | Modular mobile robot |
US8414043B2 (en) * | 2008-10-21 | 2013-04-09 | Foster-Miller, Inc. | End effector for mobile remotely controlled robot |
US20100101356A1 (en) * | 2008-10-24 | 2010-04-29 | Albin Scott R | Remotely controlled mobile robot in-line robot arm and end effector mechanism |
US8322249B2 (en) | 2008-12-18 | 2012-12-04 | Foster-Miller, Inc. | Robot arm assembly |
US8141924B2 (en) * | 2008-12-29 | 2012-03-27 | Foster-Miller, Inc. | Gripper system |
US8316735B2 (en) * | 2009-03-16 | 2012-11-27 | Kabushiki Kaisha Yaskawa Denki | Industrial robot and control method |
DE102010047641B4 (de) * | 2010-10-06 | 2022-06-15 | Kuka Roboter Gmbh | Steuerung eines Roboters |
JP6046424B2 (ja) * | 2012-09-12 | 2016-12-14 | 株式会社ダイヘン | 産業用ロボットのブレーキ解除回路及び産業用ロボットのブレーキ解除回路の使用方法 |
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 |
CN103950044B (zh) * | 2014-05-19 | 2015-09-16 | 国家电网公司 | 仿生机器人用延时反馈电路 |
WO2016132689A1 (en) | 2015-02-18 | 2016-08-25 | Sony Corporation | Medical support arm device and medical system |
JP2016152906A (ja) | 2015-02-18 | 2016-08-25 | ソニー株式会社 | 医療用支持アーム装置及び医療用観察装置 |
JP6514258B2 (ja) | 2017-03-31 | 2019-05-15 | ファナック株式会社 | ロボットシステム |
CN107458492A (zh) * | 2017-07-10 | 2017-12-12 | 浙江大学 | 带有制动电路的爬壁机器人无线控制系统 |
CN107516968A (zh) * | 2017-09-30 | 2017-12-26 | 江苏集萃智能制造技术研究所有限公司 | 一种与人共融机器人用柔性电机刹车机构 |
JP7281699B2 (ja) * | 2017-12-11 | 2023-05-26 | ニデック株式会社 | ブレーキ駆動制御回路とその故障検出方法 |
JP7091642B2 (ja) * | 2017-12-11 | 2022-06-28 | 日本電産株式会社 | ブレーキ駆動制御回路とその故障検出方法 |
JP6616436B2 (ja) | 2018-01-29 | 2019-12-04 | ファナック株式会社 | ブレーキ制御システムおよび故障検出方法 |
KR102001539B1 (ko) * | 2018-02-27 | 2019-07-19 | 주식회사 로펨솔루션 | 휴대용 무여자 작동형 자기 디스크의 브레이크 해제 장치 |
JP7364424B2 (ja) | 2019-10-28 | 2023-10-18 | ファナック株式会社 | 回転軸モジュールおよびロボット |
JP2021091060A (ja) * | 2019-12-12 | 2021-06-17 | セイコーエプソン株式会社 | 制御方法およびロボットシステム |
EP4292771A1 (en) * | 2022-06-13 | 2023-12-20 | Automationware S.r.l. | Modular robotic joint |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0392288A (ja) * | 1989-09-06 | 1991-04-17 | Hitachi Ltd | ロボット制御装置 |
JPH03161295A (ja) * | 1989-11-20 | 1991-07-11 | Tokico Ltd | 工業用ロボット |
JPH0650786U (ja) * | 1992-12-17 | 1994-07-12 | 株式会社明電舎 | 産業用ロボットのブレーキ作動回路 |
JPH06318108A (ja) * | 1993-05-07 | 1994-11-15 | Fanuc Ltd | 複数台ロボットシステムにおける制御方法及び制御装置 |
JPH08126990A (ja) * | 1994-10-31 | 1996-05-21 | Yaskawa Electric Corp | 多関節形ロボットの関節の拘束を解除する方法と装置 |
Family Cites Families (6)
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JP3077401B2 (ja) | 1992-07-31 | 2000-08-14 | 松下電器産業株式会社 | 水道監視装置 |
US5394069A (en) * | 1993-03-08 | 1995-02-28 | International Business Machines Corporation | Mechanical brake hold circuit for an electric motor |
JPH0962334A (ja) * | 1995-08-25 | 1997-03-07 | Fanuc Ltd | リードスルーティーチを安全に遂行するためのロボット制御装置 |
JP4220677B2 (ja) * | 1999-01-25 | 2009-02-04 | 三菱電機株式会社 | エレベータのブレーキ制御装置 |
JP2000296492A (ja) | 1999-04-15 | 2000-10-24 | Matsushita Electric Ind Co Ltd | ロボットのモータブレーキ装置 |
JP2001346400A (ja) * | 2000-06-01 | 2001-12-14 | Matsushita Electric Ind Co Ltd | モータブレーキ解除装置 |
-
2003
- 2003-04-02 JP JP2003099569A patent/JP4320556B2/ja not_active Expired - Lifetime
-
2004
- 2004-03-18 WO PCT/JP2004/003687 patent/WO2004089580A1/ja active Application Filing
- 2004-03-18 US US10/551,458 patent/US7166977B2/en not_active Expired - Fee Related
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0392288A (ja) * | 1989-09-06 | 1991-04-17 | Hitachi Ltd | ロボット制御装置 |
JPH03161295A (ja) * | 1989-11-20 | 1991-07-11 | Tokico Ltd | 工業用ロボット |
JPH0650786U (ja) * | 1992-12-17 | 1994-07-12 | 株式会社明電舎 | 産業用ロボットのブレーキ作動回路 |
JPH06318108A (ja) * | 1993-05-07 | 1994-11-15 | Fanuc Ltd | 複数台ロボットシステムにおける制御方法及び制御装置 |
JPH08126990A (ja) * | 1994-10-31 | 1996-05-21 | Yaskawa Electric Corp | 多関節形ロボットの関節の拘束を解除する方法と装置 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2021218204A1 (zh) * | 2020-04-26 | 2021-11-04 | 珠海格力电器股份有限公司 | 机器人的控制设备及机器人的控制方法、机器人 |
Also Published As
Publication number | Publication date |
---|---|
US7166977B2 (en) | 2007-01-23 |
JP4320556B2 (ja) | 2009-08-26 |
JP2004306159A (ja) | 2004-11-04 |
US20060192515A1 (en) | 2006-08-31 |
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