WO2017169408A1 - Multijoint robot system - Google Patents

Multijoint robot system Download PDF

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Publication number
WO2017169408A1
WO2017169408A1 PCT/JP2017/007268 JP2017007268W WO2017169408A1 WO 2017169408 A1 WO2017169408 A1 WO 2017169408A1 JP 2017007268 W JP2017007268 W JP 2017007268W WO 2017169408 A1 WO2017169408 A1 WO 2017169408A1
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WIPO (PCT)
Prior art keywords
coil
robot system
electromotive force
motor
electromagnetic brake
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PCT/JP2017/007268
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French (fr)
Japanese (ja)
Inventor
政弘 岡本
国敏 森田
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パナソニックＩｐマネジメント株式会社
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Publication of WO2017169408A1 publication Critical patent/WO2017169408A1/en

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    • 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
    • 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
    • H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another

Definitions

  • the present disclosure relates to an articulated robot system, and particularly to an articulated robot system having a motor and a brake in each of a plurality of joints.
  • FIG. 7 is a schematic diagram showing a circuit configuration of a conventional robot system.
  • a six-axis vertical articulated robot having motors M1 to M6 and brakes B1 to B6 corresponding to the motors M1 to M6 is disclosed.
  • the brakes B1 to B6 are connected in parallel, and a DC voltage source 901, a switch 902, and a lamp 903 are connected in series to the brakes B1 to B6.
  • Brakes B1 to B6 are electromagnetic brakes. When a DC voltage is applied to the excitation coils inside the brakes B1 to B6, the brakes B1 to B6 are turned off and the motors M1 to M6 can be rotated. On the other hand, when no DC voltage is applied to the exciting coils of the brakes B1 to B6, the brakes B1 to B6 are turned on, and the motors M1 to M6 cannot rotate (lock state).
  • Patent Document 1 is known as prior art document information related to this application.
  • An articulated robot system having a plurality of joints includes a first motor, a first electromagnetic brake, a second motor, a second electromagnetic brake, a switch, a DC voltage source, and a first diode. And a counter electromotive force consuming member.
  • the first motor drives the first joint.
  • the first electromagnetic brake has a first coil and stops the first motor.
  • the second motor drives the second joint.
  • the second electromagnetic brake is connected in parallel with the first electromagnetic brake, has a second coil, and stops the second motor.
  • the switch is connected in series with the first electromagnetic brake.
  • the DC voltage source is connected in series to the first electromagnetic brake and the second electromagnetic brake.
  • the first diode is connected in series to the second electromagnetic brake, and is connected in the forward direction to a DC voltage from a DC voltage source.
  • the back electromotive force consuming member is connected in parallel to the first electromagnetic brake and the second electromagnetic brake.
  • the capacity of the second coil is smaller than the capacity of the first coil.
  • FIG. 1 is a configuration diagram of an articulated robot system according to an embodiment.
  • FIG. 2 is a schematic diagram illustrating a circuit configuration of the articulated robot system according to the embodiment.
  • FIG. 3 is a schematic diagram illustrating a part of the circuit configuration of the articulated robot system according to the embodiment.
  • FIG. 4 is a schematic diagram illustrating a part of the circuit configuration of the articulated robot system according to the embodiment.
  • FIG. 5 is a schematic diagram illustrating another circuit configuration of the articulated robot system according to the embodiment.
  • FIG. 6 is a schematic diagram illustrating still another circuit configuration of the articulated robot system according to the embodiment.
  • FIG. 7 is a schematic diagram showing a circuit configuration of a conventional robot system.
  • FIG. 1 is a configuration diagram of an articulated robot system 50 according to the present embodiment.
  • An articulated robot system 50 illustrated in FIG. 1 includes a manipulator 10, a controller 20 that controls the manipulator 10, and a teaching pendant 30 that is connected to the controller 20.
  • the manipulator 10 is configured as a six-axis vertical articulated robot, for example.
  • the arrows in FIG. 1 indicate the rotation direction of the shaft.
  • the manipulator 10 includes an arm 11 that can turn, an arm 12 that can rotate in the vertical direction with respect to the arm 11, and an arm 13 that can rotate in the vertical direction with respect to the arm 12.
  • the manipulator 10 includes an arm 14 that can rotate in the twist direction with respect to the arm 13, an arm 15 that can rotate in the vertical direction with respect to the arm 14, and an arm 16 that can rotate in the twist direction with respect to the arm 15. have.
  • a plurality of shafts provided in the manipulator are each driven by a motor.
  • Each of these motors is provided with an electromagnetic brake.
  • the electromagnetic brake By applying a voltage from the controller 20, the electromagnetic brake is released and the motor can be driven.
  • the motor is driven by supplying a drive signal and applying a motor drive voltage. Further, the electromagnetic brake is operated by stopping the voltage for releasing the electromagnetic brake, and the motor is stopped.
  • a motor with a different capacity may be used for each arm. In that case, brakes having different capacities are used.
  • FIG. 2 is a schematic diagram showing a circuit configuration of the articulated robot system 50 according to the embodiment.
  • An articulated robot system 50 having a plurality of joints includes a motor 301 (first motor), a brake 201 (first electromagnetic brake), a motor 306 (second motor), and a brake 206 (second electromagnetic). Brake), a switch 102, a power supply unit 103 (DC voltage source), a diode D5 (first diode), and a back electromotive force consuming member 101.
  • the motor 301 drives the first joint.
  • the brake 201 has a coil 401 (first coil) and stops the motor 301.
  • the motor 306 drives the second joint.
  • the brake 206 is connected in parallel with the brake 201, has a coil 406 (second coil), and stops the motor 306.
  • the switch 102 is connected to the brake 201 in series.
  • the power supply unit 103 is connected to the brake 201 and the brake 206 in series.
  • the diode D5 is connected in series to the brake 206 and is connected to the DC voltage from the power supply unit 103 in the forward direction.
  • the back electromotive force consuming member 101 is connected to the brake 201 and the brake 206 in parallel.
  • the capacity of the coil 406 is smaller than the capacity of the coil 401.
  • the brakes 201 to 206 (electromagnetic brakes) and the motors 301 to 306 are mounted on the manipulator 10.
  • the brakes 201 to 206 have coils 401 to 406 (electromagnetic brake coils), respectively.
  • the brakes 201 to 203 stop the 2 kW motors 301 to 303.
  • the brakes 204 and 205 stop the 400 W motors 304 and 305.
  • the brake 206 stops the 100 W motor 305.
  • the capacity of the coils 401 to 403 is larger than the capacity of the coils 404 to 405, and the capacity of the coils 404 to 405 is larger than the capacity of the coil 406.
  • the brake 201 and the motor 301 may be integrally formed.
  • the brake 202 and the motor 302 may be integrally formed.
  • the brake 203 and the motor 303 may be integrally formed.
  • the brake 204 and the motor 304 may be integrally formed.
  • the brake 205 and the motor 305 may be integrally formed.
  • the brake 206 and the motor 306 may be integrally formed.
  • a power supply unit 103 is installed in the controller 20.
  • the power supply unit 103 may have a function of driving the switch 102 that is an open / close element.
  • the switch 102 is off (open)
  • no voltage is applied to the brakes 201 to 206. Therefore, the brakes 201 to 206 are turned on. That is, the motor shafts of the motors 301 to 306 are locked by the brakes 201 to 206.
  • the power supply unit 103 and the switch 102 are connected to the coils 401 to 406 in series.
  • the diode D1 is connected in series to the coil 402 and is oriented in the forward direction with respect to the DC voltage from the DC voltage source.
  • the diode D2 is connected in series to the coil 403 and is in a forward direction with respect to the DC voltage from the DC voltage source.
  • the diode D3 is connected in series to the coil 404 and is oriented in the forward direction with respect to the DC voltage from the DC voltage source.
  • the diode D4 is connected in series to the coil 405 and is oriented in the forward direction with respect to the DC voltage from the DC voltage source.
  • the diode D5 is connected in series with the coil 406 and is oriented in the forward direction with respect to the DC voltage from the DC voltage source.
  • the diode has a current rating of 2A.
  • the back electromotive force consuming member 101 is connected to the coils 401 to 406 in parallel. As shown in FIG. 2, a coil 601 is used as the back electromotive force consuming member 101.
  • the power consumption of the coil 406 is 4 W, and the capacity is smaller than the power consumption 22 W of the coils 401 to 403.
  • Coils 401 to 406 generate back electromotive force when the power is shut off. Since the coils 401 to 403 have a large coil capacity, the back electromotive force is also large. Therefore, when the diodes D1 to D5 are not provided, the coil 406 having a small capacity is excited.
  • the diodes D1 to D5 can prevent the excitation of the coil 406 having a small capacity due to the back electromotive force of the coils 401 to 403 having a large capacity. Further, back electromotive force energy can be consumed by the back electromotive force consuming member 101 connected in parallel with the coils 401 to 406. As a result, it is possible to make it difficult to cause a time shift of the lock of each motor shaft. That is, when the switch 102 is turned off (opened) and the brakes 201 to 206 are turned on, the motor shafts of the motors 301 to 306 are locked almost simultaneously, and the motors 301 to 306 are stopped.
  • the capacity of the back electromotive force consuming member 101 is preferably equal to or less than the capacity of the coil 406.
  • 3 and 4 are schematic views showing a part of the circuit configuration of the articulated robot system 50 according to the embodiment.
  • FIGS. 3 and 4 only the coils 401 and 406 are shown for simplicity.
  • the diode D5 is connected in series to the coil 406 of the electromagnetic brake 206, and is connected in the forward direction to a DC voltage from the power supply unit 103 (DC voltage source). Therefore, the current 503 hardly flows in the direction from the coil 406 to the diode D5.
  • the current 505 flows to the counter electromotive force consuming member 101. That is, the counter electromotive force is consumed by the counter electromotive force consuming member 101.
  • FIG. 5 is a schematic diagram showing another circuit configuration of the articulated robot system 50 according to the embodiment.
  • the diode D6 (second diode) is connected in series to the back electromotive force consuming member 101, and is connected in the reverse direction to the DC voltage from the power supply unit 103 (DC voltage source).
  • the electromagnetic brakes 201 to 206 are released, unnecessary power consumption in the back electromotive force consuming member 101 can be suppressed. That is, only the counter electromotive force generated by the electromagnetic brakes 201 to 206 can be consumed by the counter electromotive force consuming member 101 and the power from the power supply unit 103 can be prevented from being consumed. As a result, the counter electromotive force is consumed more stably in the counter electromotive force consuming member 101.
  • the coil 601 and the diode D6 may be combined to serve as a counter electromotive force consuming member. That is, the back electromotive force consuming member may have a structure including the coil 601 and the diode D6.
  • the diode D6 (second diode) is connected in series to the coil 601 and is connected in the reverse direction to the DC voltage from the power supply unit 103 (DC voltage source).
  • FIG. 6 is a schematic diagram showing still another circuit configuration of the articulated robot system according to the embodiment.
  • a resistor 701 may be used as the back electromotive force consuming member 101. That is, the back electromotive force consuming member may be any member that can consume back electromotive force energy.
  • the back electromotive force consuming member may have a structure having a resistor 701 and a diode D6.
  • the diode D6 (second diode) is connected in series to the resistor 701, and is connected in the opposite direction to the DC voltage from the power supply unit 103 (DC voltage source).
  • the back electromotive force consuming member may have a structure having a coil 601 and a resistor 701 in series.
  • the counter electromotive force consuming member may have a structure including a coil 601, a resistor 701, and a diode D6 in series.
  • the articulated robot system of the present disclosure is less likely to cause a shift in stop time for each joint even when brakes having different capacities are used for each joint.
  • the circuit configuration according to the present disclosure is industrially useful because it has a simple structure and is less likely to cause stop displacement for each joint due to a brake.

Abstract

A multijoint robot system of the present invention is provided with a first motor, first electromagnetic brake, second motor, second electromagnetic brake, switch, direct-current voltage source, first diode, and back electromotive force consumption member. The first electromagnetic brake has a first coil, and stops the first motor. The second electromagnetic brake is connected in parallel to the first electromagnetic brake, has a second coil, and stops the second motor. The back electromotive force consumption member is connected in parallel to the first electromagnetic brake and the second electromagnetic brake. The capacity of the second coil is smaller than the capacity of the first coil.

Description

多関節ロボットシステムArticulated robot system
　本開示は、多関節ロボットシステムに関し、特に、複数の関節のそれぞれにモータおよびブレーキを有する多関節ロボットシステムに関する。 The present disclosure relates to an articulated robot system, and particularly to an articulated robot system having a motor and a brake in each of a plurality of joints.
　図７を用いて、従来のロボットシステムについて説明する。図７は、従来のロボットシステムの回路構成を示す模式図である。 A conventional robot system will be described with reference to FIG. FIG. 7 is a schematic diagram showing a circuit configuration of a conventional robot system.
　従来のロボットシステムとして、モータＭ１～Ｍ６と、モータＭ１～Ｍ６に対応したブレーキＢ１～Ｂ６とを有する６軸の垂直多関節型ロボットが開示されている。図７に示すように、ブレーキＢ１～Ｂ６は並列に接続されており、直流電圧源９０１とスイッチ９０２とランプ９０３とが、ブレーキＢ１～Ｂ６に対して直列に接続されている。 As a conventional robot system, a six-axis vertical articulated robot having motors M1 to M6 and brakes B1 to B6 corresponding to the motors M1 to M6 is disclosed. As shown in FIG. 7, the brakes B1 to B6 are connected in parallel, and a DC voltage source 901, a switch 902, and a lamp 903 are connected in series to the brakes B1 to B6.
　ブレーキＢ１～Ｂ６は電磁ブレーキである。ブレーキＢ１～Ｂ６の内部の励磁コイルに直流電圧が印加されている場合、ブレーキＢ１～Ｂ６はオフになり、モータＭ１～Ｍ６が回転できる状態になる。逆に、ブレーキＢ１～Ｂ６の励磁コイルに直流電圧が印加されていない場合、ブレーキＢ１～Ｂ６はオンになり、モータＭ１～Ｍ６が回転できない状態（ロック状態）になる。この出願に関連する先行技術文献情報として、例えば、特許文献１が知られている。 Brakes B1 to B6 are electromagnetic brakes. When a DC voltage is applied to the excitation coils inside the brakes B1 to B6, the brakes B1 to B6 are turned off and the motors M1 to M6 can be rotated. On the other hand, when no DC voltage is applied to the exciting coils of the brakes B1 to B6, the brakes B1 to B6 are turned on, and the motors M1 to M6 cannot rotate (lock state). For example, Patent Document 1 is known as prior art document information related to this application.
特開２０１１－６２７９２号公報JP 2011-62792 A
　複数の関節を有する多関節ロボットシステムは、第１のモータと、第１の電磁ブレーキと、第２のモータと、第２の電磁ブレーキと、スイッチと、直流電圧源と、第１のダイオードと、逆起電力消費部材と、を備えている。 An articulated robot system having a plurality of joints includes a first motor, a first electromagnetic brake, a second motor, a second electromagnetic brake, a switch, a DC voltage source, and a first diode. And a counter electromotive force consuming member.
　第１のモータは、第１の関節を駆動する。第１の電磁ブレーキは、第１のコイルを有し、第１のモータを停止する。 The first motor drives the first joint. The first electromagnetic brake has a first coil and stops the first motor.
　第２のモータは、第２の関節を駆動する。第２の電磁ブレーキは、第１の電磁ブレーキと並列に接続され、第２のコイルを有し、第２のモータを停止する。 The second motor drives the second joint. The second electromagnetic brake is connected in parallel with the first electromagnetic brake, has a second coil, and stops the second motor.
　スイッチは、第１の電磁ブレーキに直列に接続されている。 The switch is connected in series with the first electromagnetic brake.
　直流電圧源は、第１の電磁ブレーキおよび第２の電磁ブレーキに直列に接続されている。 The DC voltage source is connected in series to the first electromagnetic brake and the second electromagnetic brake.
　第１のダイオードは、第２の電磁ブレーキに直列に接続され、かつ、直流電圧源からの直流電圧に順方向に接続されている。 The first diode is connected in series to the second electromagnetic brake, and is connected in the forward direction to a DC voltage from a DC voltage source.
　逆起電力消費部材は、第１の電磁ブレーキおよび第２の電磁ブレーキに並列に接続されている。 The back electromotive force consuming member is connected in parallel to the first electromagnetic brake and the second electromagnetic brake.
　第２のコイルの容量は、第１のコイルの容量よりも小さい。 The capacity of the second coil is smaller than the capacity of the first coil.
図１は、実施の形態の多関節ロボットシステムの構成図である。FIG. 1 is a configuration diagram of an articulated robot system according to an embodiment. 図２は、実施の形態の多関節ロボットシステムの回路構成を示す模式図である。FIG. 2 is a schematic diagram illustrating a circuit configuration of the articulated robot system according to the embodiment. 図３は、実施の形態の多関節ロボットシステムの回路構成の一部を示す模式図である。FIG. 3 is a schematic diagram illustrating a part of the circuit configuration of the articulated robot system according to the embodiment. 図４は、実施の形態の多関節ロボットシステムの回路構成の一部を示す模式図である。FIG. 4 is a schematic diagram illustrating a part of the circuit configuration of the articulated robot system according to the embodiment. 図５は、実施の形態の多関節ロボットシステムの他の回路構成を示す模式図である。FIG. 5 is a schematic diagram illustrating another circuit configuration of the articulated robot system according to the embodiment. 図６は、実施の形態の多関節ロボットシステムのさらに他の回路構成を示す模式図である。FIG. 6 is a schematic diagram illustrating still another circuit configuration of the articulated robot system according to the embodiment. 図７は、従来のロボットシステムの回路構成を示す模式図である。FIG. 7 is a schematic diagram showing a circuit configuration of a conventional robot system.
　特許文献１に記載された従来のロボットシステムでは、ブレーキＢ１～Ｂ６を動作させ、モータにブレーキをかける場合に、スイッチ９０２を開いて、すべてのブレーキＢ１～Ｂ６への直流電圧を停止する。しかし、モータＭ１～Ｍ６の容量が異なっていると、ブレーキＢ１～Ｂ６に要求される制動力が異なる。そのため、ブレーキＢ１～Ｂ６の励磁コイルの容量も異なる。そして、励磁コイルの容量が大きいブレーキによる逆起電力によって、励磁コイルの容量が小さいブレーキに電流が流れてしまう。その結果、励磁コイルの容量が小さいブレーキがオンになる動作が遅れてしまう。 In the conventional robot system described in Patent Document 1, when the brakes B1 to B6 are operated and the motor is braked, the switch 902 is opened to stop the DC voltage to all the brakes B1 to B6. However, if the capacities of the motors M1 to M6 are different, the braking force required for the brakes B1 to B6 is different. Therefore, the capacities of the exciting coils of the brakes B1 to B6 are also different. A current flows through a brake having a small excitation coil capacity due to a back electromotive force generated by a brake having a large excitation coil capacity. As a result, the operation of turning on the brake having a small excitation coil capacity is delayed.
　（実施の形態）
　図１は、本実施の形態の多関節ロボットシステム５０の構成図である。図１に示す多関節ロボットシステム５０は、マニピュレータ１０と、マニピュレータ１０を制御するコントローラ２０、コントローラ２０に接続されたティーチングペンダント３０とを有している。 (Embodiment)
FIG. 1 is a configuration diagram of an articulated robot system 50 according to the present embodiment. An articulated robot system 50 illustrated in FIG. 1 includes a manipulator 10, a controller 20 that controls the manipulator 10, and a teaching pendant 30 that is connected to the controller 20.
　マニピュレータ１０は、たとえば６軸の垂直多関節ロボットとして構成されている。図１における矢印は、軸の回転方向を示している。マニピュレータ１０は、旋回可能なアーム１１と、アーム１１に対して上下方向に回転可能なアーム１２と、アーム１２に対して上下方向に回転可能なアーム１３とを有している。さらに、マニピュレータ１０は、アーム１３に対して捻り方向に回転可能なアーム１４と、アーム１４に対して上下方向に回転可能なアーム１５と、アーム１５に対して捻り方向に回転可能なアーム１６とを有している。 The manipulator 10 is configured as a six-axis vertical articulated robot, for example. The arrows in FIG. 1 indicate the rotation direction of the shaft. The manipulator 10 includes an arm 11 that can turn, an arm 12 that can rotate in the vertical direction with respect to the arm 11, and an arm 13 that can rotate in the vertical direction with respect to the arm 12. Further, the manipulator 10 includes an arm 14 that can rotate in the twist direction with respect to the arm 13, an arm 15 that can rotate in the vertical direction with respect to the arm 14, and an arm 16 that can rotate in the twist direction with respect to the arm 15. have.
　マニピュレータに設けられている複数の軸はそれぞれモータによって駆動される。これらのモータには、それぞれ電磁ブレーキが設けられている。コントローラ２０から電圧を印加することにより、電磁ブレーキを解除し、モータを駆動できる状態にする。そして、駆動信号の供給とモータ駆動用電圧の印加により、モータを駆動する。また、電磁ブレーキを解除する電圧を遮断することにより、電磁ブレーキを動作させ、モータを停止する。 A plurality of shafts provided in the manipulator are each driven by a motor. Each of these motors is provided with an electromagnetic brake. By applying a voltage from the controller 20, the electromagnetic brake is released and the motor can be driven. The motor is driven by supplying a drive signal and applying a motor drive voltage. Further, the electromagnetic brake is operated by stopping the voltage for releasing the electromagnetic brake, and the motor is stopped.
　マニピュレータ１０において、アームごとに異なる容量のモータを用いる場合がある。その場合、容量の異なるブレーキが用いられる。 In the manipulator 10, a motor with a different capacity may be used for each arm. In that case, brakes having different capacities are used.
　図２は、実施の形態の多関節ロボットシステム５０の回路構成を示す模式図である。複数の関節を有する多関節ロボットシステム５０は、モータ３０１（第１のモータ）と、ブレーキ２０１（第１の電磁ブレーキ）と、モータ３０６（第２のモータ）と、ブレーキ２０６（第２の電磁ブレーキ）と、スイッチ１０２と、電源供給部１０３（直流電圧源）と、ダイオードＤ５（第１のダイオード）と、逆起電力消費部材１０１と、を備えている。 FIG. 2 is a schematic diagram showing a circuit configuration of the articulated robot system 50 according to the embodiment. An articulated robot system 50 having a plurality of joints includes a motor 301 (first motor), a brake 201 (first electromagnetic brake), a motor 306 (second motor), and a brake 206 (second electromagnetic). Brake), a switch 102, a power supply unit 103 (DC voltage source), a diode D5 (first diode), and a back electromotive force consuming member 101.
　モータ３０１は、第１の関節を駆動する。ブレーキ２０１は、コイル４０１（第１のコイル）を有し、モータ３０１を停止する。 The motor 301 drives the first joint. The brake 201 has a coil 401 (first coil) and stops the motor 301.
　モータ３０６は、第２の関節を駆動する。ブレーキ２０６は、ブレーキ２０１と並列に接続され、コイル４０６（第２のコイル）を有し、モータ３０６を停止する。 The motor 306 drives the second joint. The brake 206 is connected in parallel with the brake 201, has a coil 406 (second coil), and stops the motor 306.
　スイッチ１０２は、ブレーキ２０１に直列に接続されている。 The switch 102 is connected to the brake 201 in series.
　電源供給部１０３は、ブレーキ２０１およびブレーキ２０６に直列に接続されている。 The power supply unit 103 is connected to the brake 201 and the brake 206 in series.
　ダイオードＤ５は、ブレーキ２０６に直列に接続され、かつ、電源供給部１０３からの直流電圧に順方向に接続されている。 The diode D5 is connected in series to the brake 206 and is connected to the DC voltage from the power supply unit 103 in the forward direction.
　逆起電力消費部材１０１は、ブレーキ２０１およびブレーキ２０６に並列に接続されている。 The back electromotive force consuming member 101 is connected to the brake 201 and the brake 206 in parallel.
　コイル４０６の容量は、コイル４０１の容量よりも小さい。 The capacity of the coil 406 is smaller than the capacity of the coil 401.
　次に多関節ロボットシステム５０について詳細に説明する。ここでは、第１の関節と第２の関節の他にさらに４つの関節、すなわち合計６つの関節を持つ多関節ロボットシステムについて説明する。ブレーキ２０１～２０６（電磁ブレーキ）とモータ３０１～３０６は、マニピュレータ１０に搭載されている。ブレーキ２０１～２０６は、それぞれコイル４０１～４０６（電磁ブレーキ用コイル）を有している。たとえば、ブレーキ２０１～２０３により、２ｋＷのモータ３０１～３０３が停止される。ブレーキ２０４、２０５により、４００Ｗのモータ３０４、３０５が停止される。ブレーキ２０６により、１００Ｗのモータ３０５が停止される。そのため、コイル４０１～４０３の容量は、コイル４０４～４０５の容量よりも大きく、コイル４０４～４０５の容量は、コイル４０６の容量よりも大きい。ここで、ブレーキ２０１とモータ３０１は一体に形成されていてもよい。ブレーキ２０２とモータ３０２は一体に形成されていてもよい。ブレーキ２０３とモータ３０３は一体に形成されていてもよい。ブレーキ２０４とモータ３０４は一体に形成されていてもよい。ブレーキ２０５とモータ３０５は一体に形成されていてもよい。ブレーキ２０６とモータ３０６は一体に形成されていてもよい。 Next, the articulated robot system 50 will be described in detail. Here, an articulated robot system having four joints in addition to the first joint and the second joint, that is, a total of six joints will be described. The brakes 201 to 206 (electromagnetic brakes) and the motors 301 to 306 are mounted on the manipulator 10. The brakes 201 to 206 have coils 401 to 406 (electromagnetic brake coils), respectively. For example, the brakes 201 to 203 stop the 2 kW motors 301 to 303. The brakes 204 and 205 stop the 400 W motors 304 and 305. The brake 206 stops the 100 W motor 305. Therefore, the capacity of the coils 401 to 403 is larger than the capacity of the coils 404 to 405, and the capacity of the coils 404 to 405 is larger than the capacity of the coil 406. Here, the brake 201 and the motor 301 may be integrally formed. The brake 202 and the motor 302 may be integrally formed. The brake 203 and the motor 303 may be integrally formed. The brake 204 and the motor 304 may be integrally formed. The brake 205 and the motor 305 may be integrally formed. The brake 206 and the motor 306 may be integrally formed.
　電源供給部１０３がコントローラ２０に設置されている。電源供給部１０３は開閉素子であるスイッチ１０２を駆動する機能を有していてもよい。スイッチ１０２がオフ（オープン）の場合、ブレーキ２０１～２０６には電圧が印加されない。そのため、ブレーキ２０１～２０６は、オンの状態になる。すなわち、ブレーキ２０１～２０６により、モータ３０１～３０６のモータ軸がロックされる。 A power supply unit 103 is installed in the controller 20. The power supply unit 103 may have a function of driving the switch 102 that is an open / close element. When the switch 102 is off (open), no voltage is applied to the brakes 201 to 206. Therefore, the brakes 201 to 206 are turned on. That is, the motor shafts of the motors 301 to 306 are locked by the brakes 201 to 206.
　電源供給部１０３およびスイッチ１０２はコイル４０１～４０６に直列に接続されている。ダイオードＤ１は、コイル４０２に直列に接続され、直流電圧源からの直流電圧に順方向の向きである。同様に、ダイオードＤ２は、コイル４０３に直列に接続され、直流電圧源からの直流電圧に順方向の向きである。ダイオードＤ３は、コイル４０４に直列に接続され、直流電圧源からの直流電圧に順方向の向きである。ダイオードＤ４は、コイル４０５に直列に接続され、直流電圧源からの直流電圧に順方向の向きである。ダイオードＤ５は、コイル４０６に直列に接続され、直流電圧源からの直流電圧に順方向の向きである。たとえば、ダイオードは２Ａの電流定格を有する。逆起電力消費部材１０１は、コイル４０１～４０６に並列に接続されている。図２に示すように、逆起電力消費部材１０１として、コイル６０１が用いられる。例えば、コイル４０６の消費電力は４Ｗであり、コイル４０１～４０３の消費電力２２Ｗに比べて容量が小さい。 The power supply unit 103 and the switch 102 are connected to the coils 401 to 406 in series. The diode D1 is connected in series to the coil 402 and is oriented in the forward direction with respect to the DC voltage from the DC voltage source. Similarly, the diode D2 is connected in series to the coil 403 and is in a forward direction with respect to the DC voltage from the DC voltage source. The diode D3 is connected in series to the coil 404 and is oriented in the forward direction with respect to the DC voltage from the DC voltage source. The diode D4 is connected in series to the coil 405 and is oriented in the forward direction with respect to the DC voltage from the DC voltage source. The diode D5 is connected in series with the coil 406 and is oriented in the forward direction with respect to the DC voltage from the DC voltage source. For example, the diode has a current rating of 2A. The back electromotive force consuming member 101 is connected to the coils 401 to 406 in parallel. As shown in FIG. 2, a coil 601 is used as the back electromotive force consuming member 101. For example, the power consumption of the coil 406 is 4 W, and the capacity is smaller than the power consumption 22 W of the coils 401 to 403.
　コイル４０１～４０６には、電源遮断時に逆起電力が発生する。コイル４０１～４０３は、コイルの容量が大きいので、逆起電力も大きい。そのため、ダイオードＤ１～Ｄ５がない場合、容量の小さいコイル４０６が励磁してしまう。 Coils 401 to 406 generate back electromotive force when the power is shut off. Since the coils 401 to 403 have a large coil capacity, the back electromotive force is also large. Therefore, when the diodes D1 to D5 are not provided, the coil 406 having a small capacity is excited.
　その結果、モータ軸をロックするように制御しているにもかかわらず、モータ軸のロックが短時間の間、解除されてしまう。 As a result, although the motor shaft is controlled to be locked, the motor shaft is unlocked for a short time.
　これに対して、本実施の形態ではダイオードＤ１～Ｄ５により、容量の大きいコイル４０１～４０３の逆起電力による容量の小さいコイル４０６の励磁を防止できる。さらに、コイル４０１～４０６と並列に接続された逆起電力消費部材１０１により、逆起電力のエネルギーを消費できる。この結果、各モータ軸のロックの時間的なズレを生じにくくすることができる。すなわち、スイッチ１０２をオフ（オープン）にして、ブレーキ２０１～２０６をオンにした場合、殆ど同時にモータ３０１～３０６のモータ軸がロックされ、モータ３０１～３０６が停止する。 In contrast, in the present embodiment, the diodes D1 to D5 can prevent the excitation of the coil 406 having a small capacity due to the back electromotive force of the coils 401 to 403 having a large capacity. Further, back electromotive force energy can be consumed by the back electromotive force consuming member 101 connected in parallel with the coils 401 to 406. As a result, it is possible to make it difficult to cause a time shift of the lock of each motor shaft. That is, when the switch 102 is turned off (opened) and the brakes 201 to 206 are turned on, the motor shafts of the motors 301 to 306 are locked almost simultaneously, and the motors 301 to 306 are stopped.
　なお、逆起電力消費部材１０１の容量は、コイル４０６の容量以下であるのが好ましい。 Note that the capacity of the back electromotive force consuming member 101 is preferably equal to or less than the capacity of the coil 406.
　次に、上記の事をわかりやすく説明する。図３、図４は、実施の形態の多関節ロボットシステム５０の回路構成の一部を示す模式図である。図３、図４では、簡略化のために、コイル４０１、４０６だけ図示している。 Next, explain the above in an easy-to-understand manner. 3 and 4 are schematic views showing a part of the circuit configuration of the articulated robot system 50 according to the embodiment. In FIGS. 3 and 4, only the coils 401 and 406 are shown for simplicity.
　スイッチ１０２がオン（クローズ）の場合、例えば図３に示すような電流５０１が流れる。 When the switch 102 is on (closed), for example, a current 501 as shown in FIG. 3 flows.
　その後、スイッチ１０２をオフ（オープン）にした場合、図４に示すように、コイル４０１、４０６に逆起電力が生じる。そして、コイル４０１の容量は、コイル４０６の容量よりも大きいので、電流５０３が流れようとする。 Thereafter, when the switch 102 is turned off (opened), back electromotive force is generated in the coils 401 and 406 as shown in FIG. And since the capacity | capacitance of the coil 401 is larger than the capacity | capacitance of the coil 406, the electric current 503 tends to flow.
　しかし、ダイオードＤ５は、電磁ブレーキ２０６のコイル４０６に直列に接続され、かつ、電源供給部１０３（直流電圧源）からの直流電圧に順方向に接続されている。そのため、コイル４０６からダイオードＤ５の方向には電流５０３は殆ど流れない。 However, the diode D5 is connected in series to the coil 406 of the electromagnetic brake 206, and is connected in the forward direction to a DC voltage from the power supply unit 103 (DC voltage source). Therefore, the current 503 hardly flows in the direction from the coil 406 to the diode D5.
　一方、電流５０５は、逆起電力消費部材１０１に流れる。すなわち、逆起電力消費部材１０１により、逆起電力が消費される。 On the other hand, the current 505 flows to the counter electromotive force consuming member 101. That is, the counter electromotive force is consumed by the counter electromotive force consuming member 101.
　図５は、実施の形態の多関節ロボットシステム５０の他の回路構成を示す模式図である。図５では、ダイオードＤ６（第２のダイオード）は、逆起電力消費部材１０１に直列に接続され、電源供給部１０３（直流電圧源）からの直流電圧に逆方向に接続されている。このような構成にすることにより、電磁ブレーキ２０１～２０６を解除した際に、逆起電力消費部材１０１における余計な電力消費を抑制できる。すなわち、電磁ブレーキ２０１～２０６で発生した逆起電力のみを逆起電力消費部材１０１で消費し、電源供給部１０３からの電力を消費させないようにできる。その結果、逆起電力は、逆起電力消費部材１０１において、より安定に消費される。 FIG. 5 is a schematic diagram showing another circuit configuration of the articulated robot system 50 according to the embodiment. In FIG. 5, the diode D6 (second diode) is connected in series to the back electromotive force consuming member 101, and is connected in the reverse direction to the DC voltage from the power supply unit 103 (DC voltage source). With this configuration, when the electromagnetic brakes 201 to 206 are released, unnecessary power consumption in the back electromotive force consuming member 101 can be suppressed. That is, only the counter electromotive force generated by the electromagnetic brakes 201 to 206 can be consumed by the counter electromotive force consuming member 101 and the power from the power supply unit 103 can be prevented from being consumed. As a result, the counter electromotive force is consumed more stably in the counter electromotive force consuming member 101.
　ここで、コイル６０１とダイオードＤ６を合わせて、逆起電力消費部材としてもよい。すなわち、逆起電力消費部材は、コイル６０１とダイオードＤ６を有する構造でもよい。ここで、ダイオードＤ６（第２のダイオード）は、コイル６０１に直列に接続され、電源供給部１０３（直流電圧源）からの直流電圧に逆方向に接続されている。 Here, the coil 601 and the diode D6 may be combined to serve as a counter electromotive force consuming member. That is, the back electromotive force consuming member may have a structure including the coil 601 and the diode D6. Here, the diode D6 (second diode) is connected in series to the coil 601 and is connected in the reverse direction to the DC voltage from the power supply unit 103 (DC voltage source).
　図６は、実施の形態の多関節ロボットシステムのさらに他の回路構成を示す模式図である。図６に示すように、逆起電力消費部材１０１として、抵抗７０１を用いてもよい。すなわち、逆起電力消費部材としては、逆起電力のエネルギーを消費できるものであればよい。 FIG. 6 is a schematic diagram showing still another circuit configuration of the articulated robot system according to the embodiment. As shown in FIG. 6, a resistor 701 may be used as the back electromotive force consuming member 101. That is, the back electromotive force consuming member may be any member that can consume back electromotive force energy.
　また、逆起電力消費部材は、抵抗７０１とダイオードＤ６とを有する構造でもよい。ここで、ダイオードＤ６（第２のダイオード）は、抵抗７０１に直列に接続され、電源供給部１０３（直流電圧源）からの直流電圧に逆方向に接続されている。 Further, the back electromotive force consuming member may have a structure having a resistor 701 and a diode D6. Here, the diode D6 (second diode) is connected in series to the resistor 701, and is connected in the opposite direction to the DC voltage from the power supply unit 103 (DC voltage source).
　さらに、逆起電力消費部材は、コイル６０１と抵抗７０１を直列に有する構造でもよい。また、逆起電力消費部材は、コイル６０１と抵抗７０１とダイオードＤ６を直列に有する構造でもよい。 Further, the back electromotive force consuming member may have a structure having a coil 601 and a resistor 701 in series. The counter electromotive force consuming member may have a structure including a coil 601, a resistor 701, and a diode D6 in series.
　上記のように、本開示の多関節ロボットシステムは、関節ごとに容量が異なるブレーキを用いても、関節ごとの停止時間のズレが生じにくい。 As described above, the articulated robot system of the present disclosure is less likely to cause a shift in stop time for each joint even when brakes having different capacities are used for each joint.
　本開示に係る回路構成によると、シンプルな構造で、ブレーキによる関節ごとの停止ズレが生じにくく、産業上有用である。 The circuit configuration according to the present disclosure is industrially useful because it has a simple structure and is less likely to cause stop displacement for each joint due to a brake.
１０　マニピュレータ
１１～１６　アーム
２０　コントローラ
３０　ティーチングペンダント
５０　多関節ロボットシステム
１０１　逆起電力消費部材
１０２　スイッチ
１０３　電源供給部
２０１～２０６　ブレーキ
３０１～３０６　モータ
４０１～４０６　コイル
５０１，５０３，５０５　電流
７０１　抵抗
９０１　直流電圧源
９０２　スイッチ
９０３　ランプ
Ｍ１～Ｍ６　モータ
Ｂ１～Ｂ６　ブレーキ
Ｄ１～Ｄ６　ダイオード 10 Manipulators 11 to 16 Arm 20 Controller 30 Teaching pendant 50 Articulated robot system 101 Back electromotive force consuming member 102 Switch 103 Power supply unit 201 to 206 Brake 301 to 306 Motor 401 to 406 Coil 501, 503, 505 Current 701 Resistance 901 DC Voltage source 902 Switch 903 Lamp M1 to M6 Motor B1 to B6 Brake D1 to D6 Diode

Claims (8)

  1. 複数の関節を有する多関節ロボットシステムにおいて、
    第１の関節を駆動する第１のモータと、
    第１のコイルを有し、前記第１のモータを停止する、第１の電磁ブレーキと、
    第２の関節を駆動する第２のモータと、
    前記第１の電磁ブレーキと並列に接続され、第２のコイルを有し、前記第２のモータを停止する、第２の電磁ブレーキと、
    前記第１の電磁ブレーキに直列に接続されたスイッチと、
    前記第１の電磁ブレーキおよび前記第２の電磁ブレーキに直列に接続された直流電圧源と、
    前記第２の電磁ブレーキに直列に接続され、かつ、前記直流電圧源からの直流電圧に順方向に接続された第１のダイオードと、
    前記第１の電磁ブレーキおよび前記第２の電磁ブレーキに並列に接続された逆起電力消費部材と、を備え、
    前記第２のコイルの容量は、前記第１のコイルの容量よりも小さい
    多関節ロボットシステム。     In an articulated robot system having a plurality of joints,
    A first motor for driving the first joint;
    A first electromagnetic brake having a first coil and stopping the first motor;
    A second motor for driving the second joint;
    A second electromagnetic brake connected in parallel with the first electromagnetic brake, having a second coil, and stopping the second motor;
    A switch connected in series to the first electromagnetic brake;
    A DC voltage source connected in series to the first electromagnetic brake and the second electromagnetic brake;
    A first diode connected in series to the second electromagnetic brake and connected in a forward direction to a DC voltage from the DC voltage source;
    A back electromotive force consuming member connected in parallel to the first electromagnetic brake and the second electromagnetic brake,
    An articulated robot system in which the capacity of the second coil is smaller than the capacity of the first coil.
  2. 前記逆起電力消費部材は第３のコイルを有する
    請求項１に記載の多関節ロボットシステム。     The articulated robot system according to claim 1, wherein the counter electromotive force consuming member has a third coil.
  3. 前記第３のコイルの容量は、前記第２のコイルの容量以下である
    請求項２に記載の多関節ロボットシステム。     The articulated robot system according to claim 2, wherein a capacity of the third coil is equal to or less than a capacity of the second coil.
  4. 前記逆起電力消費部材に直列に接続され、前記直流電圧源からの直流電圧に逆方向に接続された第２のダイオードをさらに備えた
    請求項２に記載の多関節ロボットシステム。     The articulated robot system according to claim 2, further comprising a second diode connected in series to the counter electromotive force consuming member and connected in a reverse direction to a DC voltage from the DC voltage source.
  5. 前記逆起電力消費部材はさらに第２のダイオードを有しており、
    前記第２のダイオードは、前記第３のコイルに直列に接続され、前記直流電圧源からの直流電圧に逆方向に接続されている
    請求項２に記載の多関節ロボットシステム。     The back electromotive force consuming member further comprises a second diode;
    3. The articulated robot system according to claim 2, wherein the second diode is connected in series to the third coil, and is connected in a reverse direction to a DC voltage from the DC voltage source.
  6. 前記逆起電力消費部材はさらに抵抗を有する
    請求項５に記載の多関節ロボットシステム。     The articulated robot system according to claim 5, wherein the counter electromotive force consuming member further has a resistance.
  7. 前記逆起電力消費部材は抵抗を有する
    請求項１に記載の多関節ロボットシステム。     The articulated robot system according to claim 1, wherein the counter electromotive force consuming member has a resistance.
  8. 前記逆起電力消費部材はさらに第２のダイオードを有しており、
    前記第２のダイオードは、前記抵抗に直列に接続され、前記直流電圧源からの直流電圧に逆方向に接続されている
    請求項７に記載の多関節ロボットシステム。     The back electromotive force consuming member further comprises a second diode;
    The articulated robot system according to claim 7, wherein the second diode is connected in series to the resistor and is connected in a reverse direction to a DC voltage from the DC voltage source.
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Publication number Priority date Publication date Assignee Title
CN110034638A (en) * 2018-01-12 2019-07-19 发那科株式会社 Motor drive and fault detection method
JP2019126107A (en) * 2018-01-12 2019-07-25 ファナック株式会社 Motor drive device and failure detection method
US10715059B2 (en) 2018-01-12 2020-07-14 Fanuc Corporation Motor driving device and failure detecting method
CN110034638B (en) * 2018-01-12 2020-08-21 发那科株式会社 Motor driving device and failure detection method

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