WO2015098753A1 - ロボット制御システム - Google Patents
ロボット制御システム Download PDFInfo
- Publication number
- WO2015098753A1 WO2015098753A1 PCT/JP2014/083716 JP2014083716W WO2015098753A1 WO 2015098753 A1 WO2015098753 A1 WO 2015098753A1 JP 2014083716 W JP2014083716 W JP 2014083716W WO 2015098753 A1 WO2015098753 A1 WO 2015098753A1
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- WO
- WIPO (PCT)
- Prior art keywords
- power
- motor
- control system
- control
- servo
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M5/00—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases
- H02M5/40—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc
- H02M5/42—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters
- H02M5/44—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters using discharge tubes or semiconductor devices to convert the intermediate dc into ac
- H02M5/453—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters using discharge tubes or semiconductor devices to convert the intermediate dc into ac using devices of a triode or transistor type requiring continuous application of a control signal
- H02M5/458—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters using discharge tubes or semiconductor devices to convert the intermediate dc into ac using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
- H02M5/4585—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters using discharge tubes or semiconductor devices to convert the intermediate dc into ac using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only having a rectifier with controlled elements
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
- H02P3/18—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an ac motor
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
- H02P3/18—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an ac motor
- H02P3/22—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an ac motor by short-circuit or resistive braking
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/74—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more ac dynamo-electric motors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/24—Arrangements for stopping
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40462—Constant consumed energy, regenerate acceleration energy during deceleration
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41294—Dc-to-ac converter
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/02—Arm motion controller
Definitions
- the present invention relates to a robot control system for controlling a robot provided with a servo motor.
- Patent Document 1 a system that combines a power regeneration function for regenerating power
- the regenerative energy generated when the servo motor connected to the rotating shaft of the movable part such as a robot arm is decelerated is normally reduced when the servo motor that drives the rotating shaft of the movable part such as a machine tool is decelerated. Less than the regenerative energy produced. For this reason, when the regenerative energy is expected to increase as the operation load factor of the robot increases, it is common to enhance the resistance regenerative function rather than adding a power regeneration function.
- the present invention has been made in view of the above-described problems of the prior art, and an object of the present invention is to provide a robot control system capable of suppressing an increase in development cost and adding a power regeneration function.
- a robot control system includes a converter for converting an alternating current from an alternating current power source into a direct current, and an inverter for converting the direct current power supplied from the converter into an alternating current power.
- a servo control device for controlling the drive of the servo motor based on a signal from a motor sensor attached to the servo motor, and a resistance regeneration circuit for consuming regenerative energy generated in the servo motor.
- the servo control device includes a plurality of motor control units for enabling control of the plurality of servo motors, and a plurality of control port units corresponding to the plurality of motor control units. At least one of the motor control units has a power regeneration control function unit for controlling a power regeneration circuit, and Regenerative control function unit and the is configured to be able to switch between a control function unit of the servo motor, characterized in that.
- all of the plurality of motor control units have the power regeneration control function unit.
- the power regeneration circuit includes an inverter having a common configuration with the inverter for the servo motor.
- the power regeneration circuit further includes the power regeneration circuit.
- the power regeneration circuit includes a reactor connected to the AC power source, and a primary voltage sensor unit connected to a wiring connecting the reactor and the AC power source for detecting a primary voltage.
- a reactor connected to the AC power source
- a primary voltage sensor unit connected to a wiring connecting the reactor and the AC power source for detecting a primary voltage.
- the inverter includes a plurality of rectifier elements and a plurality of switching elements connected in parallel to each of the plurality of rectifier elements.
- FIG. 1 is a block diagram showing a robot control system according to an embodiment of the present invention.
- the block diagram which showed an example of the conventional robot control system.
- an alternating current from a three-phase alternating current power supply 2 is supplied to a converter 4 having a plurality (six in this example) of diodes (rectifier elements) 3. Current is converted to direct current. The direct current generated by the converter 4 is supplied to a plurality (N in this example) of inverters (DC-AC switching devices) 5 (5A, 5N).
- Each inverter 5 includes a plurality (six in this example) of diodes 6 and a plurality (six in this example) of switching elements 7 connected in parallel to each of the plurality of diodes 6.
- Each inverter 5 converts the DC power supplied from the converter 4 into AC power and supplies it to each servo motor 8 (8A, 8N).
- Each servo motor 8 is provided with a motor sensor (encoder) 9 (9A, 9N).
- a resistance regeneration circuit 10 is provided between the converter 4 and the inverter 5.
- the resistance regeneration circuit 10 is configured by connecting a regeneration resistor 11 and a switching element 12 in series.
- the robot control system 1 further includes a servo control device (servo board) 13 for controlling the drive of the servo motor 8.
- the servo control device 13 includes a plurality (N in this example) of motor control units 14 (14A, 14N) for controlling each of the plurality of servo motors 8 and a plurality of (this book corresponding to the plurality of motor control units 14).
- the control port unit 15 (15A, 15N) is provided.
- Each motor control unit 14 controls driving of each servo motor 8 based on a signal from each motor sensor 9 attached to each servo motor 8.
- Each of the plurality of motor control units 14 includes a power regeneration control function unit 16 (16A, 16N) for controlling the power regeneration circuit, and also includes a power regeneration control function unit 16 and a servo motor control function unit 17 ( 17A, 17N) can be switched. Switching between the power regeneration control function unit 16 and the control function unit 17 of the servo motor 8 may be performed by changing the setting or by automatic detection.
- the connector 18N of the N-axis servo motor 9N is connected to the connector of the N-axis inverter 5N.
- the N-axis inverter 5N is connected to the PWM port 20N of the N-axis control port unit 15N.
- the connector 21N of the motor sensor 9N attached to the N-axis servomotor 8N is connected to the sensor communication port 22N of the N-axis control port portion 14N via the sensor communication wiring 23N.
- the reactor 24 is connected to the three-phase AC power source 2 and the reactor A primary voltage sensor unit (phase detection unit) 26 for detecting the primary voltage is provided on the wiring 25 that connects 24 and the three-phase AC power source 2.
- the connector 27 of the primary voltage sensor unit 26 is connected to the sensor communication port 22N of the N-axis control port unit 14N. Further, the connector 28 of the reactor 24 is connected to the connector 19N of the N-axis inverter 5N.
- the inverter 5N for the N-axis servomotor 8N has the same configuration as the inverter constituting the power regeneration circuit, and both can be used together.
- the communication format (protocol) for motor control (encoder) and the communication format (protocol) for power regeneration (primary voltage sensor unit) are standardized.
- control function unit 17N of the N-axis servomotor 8N can be switched to the power regeneration function unit 16N by setting change or automatic detection. .
- the N-axis inverter 5N when the level of the PN smoothing capacitor 29 provided between the resistance regeneration circuit 10 and the inverter 5 is below a predetermined value, the N-axis inverter 5N, When the power regeneration function by the power regeneration circuit including the reactor 24 and the primary voltage sensor unit 26 is activated and the level of the PN smoothing capacitor 29 exceeds a predetermined value, the regenerative energy is consumed in the resistance regeneration circuit 10.
- the power regeneration control function unit 16 is standardly mounted on the servo control device 13 that controls the drive of the servo motor 8, and the servo control device 13 is preliminarily installed.
- One of a plurality of prepared control ports 15 can be diverted to switch between using the port as a motor control port or a power regeneration port by a setting switching or automatic discrimination function, so that it can be selected as appropriate. Therefore, even when a power regeneration function is added according to the user's request, it is not necessary to newly provide a control unit for power regeneration control. Thereby, the increase in the development cost due to the addition of the power regeneration function can be suppressed.
- the power regeneration function can be provided by using the inverter 5 for robot control, it is not necessary to newly develop a power regeneration inverter, and the development cost increases due to the addition of the power regeneration function. Further suppression can be achieved.
- the motor control unit 14 used for power regeneration is not limited to the N-axis.
- the motor control unit 14A for the first axis can be used for power regeneration, and in this case, the PWM port 20A and the sensor communication port 22A of the control port 15A for the first axis are used for power regeneration. Used for.
- FIG. 2 shows a configuration when the regenerative function is enhanced in the conventional robot control system.
- the motor control unit 102 of the servo control device 101 does not have a power regeneration control function. Therefore, the regenerative resistor 103 is added to the resistance regenerative circuit 10 in order to cope with an increase in regenerative energy. In other words, an additional regenerative resistor 103 is provided in parallel with the standard regenerative resistor 11.
- the above-described conventional method not only has difficulty in dealing with a large increase in regenerative energy, but also increases the amount of regenerative energy consumed, and has a problem from the viewpoint of effective use of energy.
- the power regeneration function can be easily added as described above, it is not necessary to add a regenerative resistor, and the energy can be effectively used. it can.
- Robot control system 2 Three-phase AC power supply 3, 6 Diode (rectifier element) 4 Converter 5, 5A, 5N Inverter 7, 12 Switching element 8, 8A, 8N Servo motor 9, 9A, 9N Motor sensor (encoder) DESCRIPTION OF SYMBOLS 10 Resistance regeneration circuit 11 Regenerative resistor 13 Servo control device 14, 14A, 14N Motor control part 15, 15A, 15N Control port part 16, 16A, 16N Power regeneration control function part 17, 17A, 17N Servo motor control function part 18N Servo Motor connector 19N Inverter connector 20A, 20N PWM port 21N Motor sensor connector 22A, 22N Sensor communication port 23N Sensor communication wiring 24 Reactor 25 Reactor and wiring to connect three-phase AC power supply 26 Primary voltage sensor (phase Detection unit) 27 Primary voltage sensor connector 28 Reactor connector 29 Smoothing capacitor
Abstract
Description
2 三相交流電源
3、6 ダイオード(整流素子)
4 コンバータ
5、5A、5N インバータ
7、12 スイッチング素子
8、8A、8N サーボモータ
9、9A、9N モータセンサ(エンコーダ)
10 抵抗回生回路
11 回生抵抗
13 サーボ制御装置
14、14A、14N モータ制御部
15、15A、15N 制御ポート部
16、16A、16N 電源回生制御機能部
17、17A、17N サーボモータの制御機能部
18N サーボモータのコネクタ
19N インバータのコネクタ
20A、20N PWM用ポート
21N モータセンサのコネクタ
22A、22N センサ通信用ポート
23N センサ通信用配線
24 リアクトル
25 リアクトルと三相交流電源を接続する配線
26 一次電圧センサ部(位相検出部)
27 一次電圧センサ部のコネクタ
28 リアクトルのコネクタ
29 平滑コンデンサー
Claims (6)
- 交流電源からの交流電流を直流電流に変換するためのコンバータと、
前記コンバータから供給された直流電力を交流電力に変換するためのインバータと、
サーボモータに付設されたモータセンサからの信号に基づいて前記サーボモータの駆動を制御するためのサーボ制御装置と、
前記サーボモータにおいて発生した回生エネルギーを消費するための抵抗回生回路と、を備え、
前記サーボ制御装置は、複数の前記サーボモータを制御可能とするための複数のモータ制御部と、前記複数のモータ制御部に対応する複数の制御ポート部と、を有し、
前記複数のモータ制御部のうちの少なくとも1つが、電源回生回路を制御するための電源回生制御機能部を有すると共に、前記電源回生制御機能部と前記サーボモータの制御機能部とを切替え可能に構成されている、ロボット制御システム。 - 複数の前記モータ制御部のすべてが、前記電源回生制御機能部を有する、請求項1記載のロボット制御システム。
- 前記電源回生回路は、前記サーボモータ用の前記インバータと共通の構成を有するインバータを含む、請求項1または2に記載のロボット制御システム。
- 前記電源回生回路をさらに備えた請求項1乃至3のいずれか一項に記載のロボット制御システム。
- 前記電源回生回路は、前記交流電源に接続されたリアクトルと、前記リアクトルと前記交流電源とを接続する配線に接続され、一次電圧を検出するための一次電圧センサ部と、を有する、請求項1乃至4のいずれか一項に記載のロボット制御システム。
- 前記インバータは、複数の整流素子と、前記複数の整流素子のそれぞれに並列に接続された複数のスイッチング素子を有する、請求項1乃至5のいずれか一項に記載のロボット制御システム。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP14874313.1A EP3090841A4 (en) | 2013-12-26 | 2014-12-19 | Robot control system |
CN201480071012.1A CN106103008B (zh) | 2013-12-26 | 2014-12-19 | 机器人控制系统 |
KR1020187030827A KR102239951B1 (ko) | 2013-12-26 | 2014-12-19 | 로봇 제어 시스템 |
KR1020167020267A KR20160119078A (ko) | 2013-12-26 | 2014-12-19 | 로봇 제어 시스템 |
US15/108,497 US9979327B2 (en) | 2013-12-26 | 2014-12-19 | Robot control system |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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JP2013-270299 | 2013-12-26 | ||
JP2013270299A JP5813746B2 (ja) | 2013-12-26 | 2013-12-26 | ロボット制御システム |
Publications (1)
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WO2015098753A1 true WO2015098753A1 (ja) | 2015-07-02 |
Family
ID=53478610
Family Applications (1)
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PCT/JP2014/083716 WO2015098753A1 (ja) | 2013-12-26 | 2014-12-19 | ロボット制御システム |
Country Status (7)
Country | Link |
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US (1) | US9979327B2 (ja) |
EP (1) | EP3090841A4 (ja) |
JP (1) | JP5813746B2 (ja) |
KR (2) | KR20160119078A (ja) |
CN (1) | CN106103008B (ja) |
TW (1) | TWI577514B (ja) |
WO (1) | WO2015098753A1 (ja) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
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US9800188B2 (en) * | 2015-09-15 | 2017-10-24 | Regal Beloit America, Inc. | Hybrid drive circuit for variable speed induction motor |
US10193488B2 (en) * | 2016-01-14 | 2019-01-29 | Regal Beloit America, Inc. | Methods and systems for reducing conducted electromagnetic interference |
JP6998115B2 (ja) * | 2017-02-27 | 2022-01-18 | 川崎重工業株式会社 | ロボットコントローラ |
DE102017009878A1 (de) * | 2017-10-23 | 2019-04-25 | Kuka Deutschland Gmbh | Steuerungssystem und Verfahren zum Betreiben eines elektrischen Motors |
JP7152238B2 (ja) * | 2018-10-03 | 2022-10-12 | 川崎重工業株式会社 | ロボット制御装置 |
JP6865262B2 (ja) * | 2018-12-26 | 2021-04-28 | 川崎重工業株式会社 | ロボットシステムの制御装置 |
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2013
- 2013-12-26 JP JP2013270299A patent/JP5813746B2/ja active Active
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2014
- 2014-12-19 WO PCT/JP2014/083716 patent/WO2015098753A1/ja active Application Filing
- 2014-12-19 KR KR1020167020267A patent/KR20160119078A/ko not_active Application Discontinuation
- 2014-12-19 EP EP14874313.1A patent/EP3090841A4/en active Pending
- 2014-12-19 CN CN201480071012.1A patent/CN106103008B/zh active Active
- 2014-12-19 KR KR1020187030827A patent/KR102239951B1/ko active IP Right Grant
- 2014-12-19 US US15/108,497 patent/US9979327B2/en active Active
- 2014-12-24 TW TW103145328A patent/TWI577514B/zh active
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KR20180120779A (ko) | 2018-11-06 |
JP2015123554A (ja) | 2015-07-06 |
CN106103008A (zh) | 2016-11-09 |
TW201538292A (zh) | 2015-10-16 |
EP3090841A4 (en) | 2017-12-13 |
US20160329841A1 (en) | 2016-11-10 |
KR20160119078A (ko) | 2016-10-12 |
JP5813746B2 (ja) | 2015-11-17 |
EP3090841A1 (en) | 2016-11-09 |
US9979327B2 (en) | 2018-05-22 |
KR102239951B1 (ko) | 2021-04-13 |
TWI577514B (zh) | 2017-04-11 |
CN106103008B (zh) | 2018-07-27 |
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