WO2021024706A1 - エンコーダシステム、モータシステム及びロボット - Google Patents

エンコーダシステム、モータシステム及びロボット Download PDF

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Publication number
WO2021024706A1
WO2021024706A1 PCT/JP2020/027243 JP2020027243W WO2021024706A1 WO 2021024706 A1 WO2021024706 A1 WO 2021024706A1 JP 2020027243 W JP2020027243 W JP 2020027243W WO 2021024706 A1 WO2021024706 A1 WO 2021024706A1
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WO
WIPO (PCT)
Prior art keywords
power supply
encoder
voltage
wiring
supply wiring
Prior art date
Application number
PCT/JP2020/027243
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
宏明 永田
均 上甲
Original Assignee
日本電産サンキョー株式会社
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 日本電産サンキョー株式会社 filed Critical 日本電産サンキョー株式会社
Priority to KR1020227003465A priority Critical patent/KR20220027221A/ko
Priority to CN202080053666.7A priority patent/CN114206564B/zh
Publication of WO2021024706A1 publication Critical patent/WO2021024706A1/ja

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • 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
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • 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
    • 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
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • 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
    • H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
    • H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation

Definitions

  • the present invention relates to an encoder system including an encoder used for position detection in a robot driven by a motor, and a motor system and a robot including the encoder system.
  • a robot composed of a manipulator and a controller is driven by a motor provided for each axis in the manipulator, and the motor of each axis is controlled by the controller based on the position of the axis.
  • An encoder is used to detect the position of each axis. If the encoder does not operate normally, the manipulator provided with the encoder cannot operate normally.
  • the encoder is connected to the rotation axis of the motor of each axis of the manipulator and detects the rotation position of the motor.
  • the encoder includes an electronic circuit or the like inside, and a power supply voltage is supplied to output a signal indicating an axis position or the like to a robot control device or the like.
  • the power supply wiring which is the wiring for supplying power
  • the signal wiring for transmitting signals are connected to the encoder.
  • a manipulator is provided with a plurality of axes and a plurality of encoders are provided, but it is common to supply a power supply voltage to the plurality of encoders in a form of branching from a common wiring.
  • An absolute value encoder is generally used as the encoder provided in the manipulator. The absolute value encoder needs to be able to hold data by shifting to backup mode when the supply of power supply voltage from the outside is stopped, and to perform minimum operations such as storing changes in the rotation position during that time. ..
  • Some robots in recent years such as robots that transport glass substrates used in the manufacture of liquid crystal display panels, have a large manipulator part and a long movement distance on the axis. Since the position of the encoder changes in the three-dimensional space of the encoder as the manipulator operates, that is, the encoder also moves, the wiring cable provided in the manipulator and connected to the encoder also moves and is bent or twisted. Bending or twisting of wiring is called deformation of wiring. Deformation of the wiring can result in short circuits and ground faults in the wiring within the cable.
  • the signal wiring of the wiring connected to the encoder If a failure occurs in the signal wiring of the wiring connected to the encoder, the signal wiring is provided for each axis to transmit position data, so even if a failure occurs, the failure will also be a communication error for each axis. It will be detected as, and the defective axis can be easily identified.
  • the power supply of all encoders becomes abnormal at the same time from the common wiring, and the information of the axis in which the power supply error occurred indicates which axis power supply wiring has failed. It becomes difficult to identify based on. For this reason, it becomes necessary to visually inspect all of the power supply wiring provided in the manipulator, and in the case of a large manipulator, it takes a lot of time to identify the faulty part.
  • Patent Document 1 describes an abnormality detection unit that detects an abnormality based on state information related to the state of an encoder or a motor, and state information when an abnormality is detected.
  • an encoder including a cause analysis unit that analyzes the cause of an abnormality based on the above, and a non-volatile memory control unit that stores the analysis result by the cause analysis unit in a non-volatile memory.
  • Patent Document 2 provides an auxiliary power supply for each encoder and assists when the value of the power supply voltage supplied from the controller side is equal to or less than the threshold value.
  • Patent Documents 1 and 2 cannot be used to identify a faulty part in the power supply wiring connected to the encoder.
  • Patent Document 3 describes that when the power supply voltage is supplied from the common power supply to a plurality of external devices, the power supply voltage is supplied from the common power supply.
  • a connection / disconnection circuit is provided for each of the power lines that branch off for each external device, and when a voltage drop in the common power supply is detected, the power supply lines are disconnected from the common power supply in order for each power supply line. It discloses that it detects which external device the power line has failed.
  • Patent Document 3 can detect which external device the power line has failed if the failure is a complete ground fault or short circuit, but is applied to the detection of the failure in the power wiring of the encoder. If this is the case, it is insufficient to isolate the failure in the power supply wiring and the failure in the signal wiring or to find a sign before the failure.
  • An object of the present invention is to provide an encoder system capable of easily identifying a faulty part in power supply wiring to an encoder, and a motor system and a robot provided with such an encoder system.
  • the encoder system of the present invention includes a plurality of encoders, an encoder power supply circuit that generates a power supply voltage, individual power supply wiring provided for each encoder to supply a power supply voltage, and one end connected to the encoder, and individual power supply wiring.
  • a switch is provided on the other end side of the individual power supply wiring to switch between connection and disconnection to the encoder power supply circuit, and each individual power supply wiring is provided on the other end side of the individual power supply wiring on the encoder side of the switch. It also has a first voltage detection circuit.
  • individual power supply wiring can be independently connected to or disconnected from the encoder power supply circuit by a switch, and the voltage can be measured for each individual power supply wiring.
  • a failure such as a ground fault or short circuit occurs in the wiring, it is possible to quickly determine which individual power supply wiring is the failure, and it is also possible to isolate and determine from the failure in the signal wiring, etc., and identify the defective part in a short time. You will be able to do it in time.
  • the encoder system of the present invention includes a second voltage detection circuit in which the first voltage detection circuit outputs a voltage value and the encoder detects the supplied power supply voltage and outputs the voltage value. Is preferable. According to this configuration, the voltage drop and wiring impedance in the individual power supply wiring can be calculated from the difference between the voltage value detected by the first voltage detection circuit and the voltage value detected by the second voltage detection circuit, and the individual power supply can be calculated. It becomes easier to detect abnormalities in wiring and signs before abnormalities. If the encoder has a function to shift to the backup mode by detecting a voltage drop, the shift to the backup mode in the event of an abnormality can be easily performed.
  • a calculation means for calculating the difference between the voltage value detected by the first voltage detection circuit and the voltage value detected by the second voltage detection circuit is further provided. May be good. By calculating the difference in the calculation means, the voltage drop and the wiring impedance can be automatically calculated, and it becomes easier to find an abnormality or a sign before the abnormality.
  • the calculation means may output a power supply control signal corresponding to the difference to the encoder power supply circuit. By transmitting the power supply control signal to the encoder power supply circuit, it is possible to maintain the power supply voltage supplied to the encoder at an appropriate value even if the voltage drop or the wiring impedance changes.
  • a plurality of encoders may be classified into a plurality of systems according to the length of individual power supply wiring, and an encoder power supply circuit may be provided for each system. Since the voltage drop amount differs depending on the length of the individual power supply wiring, it is classified into multiple systems based on the length of the individual power supply wiring, and an encoder power supply circuit is provided for each system to anticipate the voltage drop amount.
  • the output voltage of the power supply circuit can be set, and the value of the power supply voltage actually supplied to each encoder can be brought closer to an appropriate value.
  • the motor system of the present invention is a motor system including a plurality of motors, the encoder system of the present invention is provided, and an encoder of the encoder system is provided for each motor. According to the motor system of the present invention, by providing the encoder system of the present invention, when a failure such as a ground fault or a short circuit occurs in the individual power supply wiring provided for each encoder, it is possible to quickly determine which individual power supply wiring is the failure. It is possible to identify the defective part in a short time.
  • the robot of the present invention is a robot having a manipulator including a plurality of motors and a controller for controlling the manipulators, and is provided with the encoder system of the present invention, and an encoder of the encoder system is provided for each motor. According to the robot of the present invention, when a failure such as a ground fault or a short circuit occurs in the individual power supply wiring provided for each encoder, it is possible to quickly determine which individual power supply wiring is the failure, and the defective part can be identified in a short time. Can be done with.
  • the section between the first voltage detection circuit and the encoder for each individual power supply wiring includes a section in which the individual power supply wiring is deformed as the manipulator moves. ..
  • the section that is deformed due to the movement of the manipulator should be included in the section between the switch and the first voltage detection circuit provided on the other end side and the encoder on the one end side.
  • the switch and the first voltage detection circuit can be arranged in the controller. By arranging it on the controller, the present invention can be applied to a conventional robot without modifying the manipulator side.
  • the switch and the first voltage detection circuit can be arranged in the manipulator. If it is arranged in the manipulator, only one power supply wiring related to the encoder needs to be prepared between the controller and the manipulator, so that the wiring can be easily routed.
  • FIG. 1 shows a robot according to an embodiment of the present invention.
  • This robot includes a controller 10 and a manipulator 50, and the manipulator 50 includes a plurality of axes.
  • the manipulator 50 is provided with a motor 51 and an encoder 52 mechanically connected to the motor 51 of the shaft for each shaft.
  • four sets of the motor 51 and the encoder 52 are drawn assuming that the number of axes is 4, but the number of axes in the manipulator 50 may be 5 or more.
  • the controller 10 includes a driver circuit 11 that drives the motor 51 of each axis in the manipulator 50, an encoder power circuit 12 that generates a power supply voltage supplied to the encoder 52 of each axis, and a motor position from the encoder 52 of each axis. It is provided with an encoder receiving circuit 13 that receives a signal indicating the above, and a control unit 14 that is configured by a microprocessor or the like and executes an operation or the like necessary for controlling the entire robot. In the figure, for the sake of explanation, the wiring related to the control unit 14 is shown by a broken line.
  • the motor 51 of each shaft is connected to the driver circuit 11 by a motor wiring 53 provided for each motor 51, and is driven independently for each shaft by the driver circuit 11.
  • an individual power supply wiring 54 is provided for each encoder 52 at least in the manipulator 50.
  • the individual power supply wiring 54 also extends into the controller 10.
  • the power supply voltage is output from the encoder power supply circuit 12 via the common power supply wiring 21.
  • individual power supply wirings 54 for each shaft are connected to the common power supply wiring 21 via a switch 22 for each shaft.
  • the controller 10 is provided with a voltage detection circuit 23 for each individual power supply wiring 54, which is connected to the corresponding individual power supply wiring 54 to detect the voltage.
  • the position where the voltage detection circuit 23 is provided in the individual power supply wiring 54 is close to the switch 22, but is closer to the encoder 52 than the switch 22.
  • one end of the individual power supply wiring 54 is connected to the encoder 52, and the switch 22 and the voltage detection circuit 23 are provided on the other end side.
  • the power supply voltage for the encoder 52 of each axis is supplied from the common power supply wiring 21 commonly provided in the encoder 52 via the switch 22 and the individual power supply wiring 54 provided for each encoder 52. It will be.
  • the switch 22 realizes connection and disconnection to the encoder power supply circuit 12 for each encoder 52.
  • the signal from the encoder 52 of each axis is input to the encoder receiving circuit 13 via the signal wiring 55 provided for each encoder 52.
  • the controller 10 is also provided with a disconnection detection circuit 15 that detects a disconnection of the signal wiring 55 by detecting a signal voltage or the like in each signal wiring 55.
  • the control unit 14 uses the driver circuit 11 via the driver circuit 11 so that the position of the manipulator 50 becomes the position specified by the position command based on, for example, the position command input from the outside and the position data input from each encoder 52.
  • the control for driving the motor 51 of the above is executed, and further, the on (conduction) / off (disconnection) of each switch 22 and the encoder power supply circuit 12 are controlled, and the input from the disconnection detection circuit 15 and each voltage detection circuit 23 are used. Based on the detected value of, the presence or absence of a failure and the location of the failure are identified.
  • the switch 22 is composed of, for example, a mechanical relay or a semiconductor switch.
  • the robot of this embodiment is, for example, a robot for transporting a glass substrate used for manufacturing a liquid crystal display panel, etc., and is provided with a large manipulator 50 and has a long moving distance of the manipulator 50. Therefore, the lengths of the motor wiring 53, the individual power supply wiring 54, and the signal wiring 55 in the manipulator 50 are, for example, several tens of meters. As the manipulator 50 operates and moves, the motor wiring 53, the individual power supply wiring 54, and the signal wiring 55 also move together with the manipulator 50, and as a result, they are bent or twisted, that is, deformed and subjected to various stresses. It will be. Such stress can also cause ground faults, short circuits, and disconnections in wiring.
  • the common power supply wiring 21 from the encoder power supply circuit 12 extends from the controller 10 to the manipulator 50, and the individual power supply wiring 54 from each encoder 52 is connected to the end of the common power supply wiring 21.
  • the output of the encoder power supply circuit 12 is cut off due to an overcurrent or the output voltage drops, and the power supply to all the encoders 52 is stopped. To do.
  • each encoder 52 has a function of detecting an abnormality in the power supply voltage, it is possible to identify which encoder 52 the individual power supply wiring 54 connected to has a failure depending on the signal from the encoder 52. I can't.
  • all the individual power supply wirings 54 in the manipulator 50 must be visually inspected.
  • the manipulator 50 becomes large and the manipulator 50 itself is arranged in a clean room or a reduced pressure environment. Therefore, inspect all the individual power supply wirings 54 in the manipulator 50. It takes a lot of time to recover the robot from the failure.
  • the individual power supply wiring 54 connected to each encoder 52 is slightly closer to the encoder 52 than the position connected to the common power supply wiring 21 connected to the encoder power supply circuit 12.
  • a switch 22 is provided at the position.
  • the switch 22 can be individually turned on / off by the control unit 14 for each individual power supply wiring 54, that is, for each encoder 52. Therefore, immediately after the power of the controller 10 is turned on, the switch 22 for each encoder 52 is individually turned on and then turned off for each encoder 52 in order. At this time, if the signal from the encoder 52 corresponding to the turned-on switch 22 can be correctly received in the encoder receiving circuit 13, the individual power supply wiring 54 and the signal wiring 55 corresponding to the encoder 52 are both normal.
  • control unit 14 turns on the switches 22 one by one in order to determine which encoder 52 the wiring connected to has a failure, and the wiring in which the failure has occurred is an individual power supply wiring. It becomes possible to easily identify whether it is 54 or the signal wiring 55, and even if the wiring must be visually inspected, the inspection points can be limited, which is necessary for identifying the failure location and recovering from the failure. It is possible to save a lot of time.
  • the voltage detection circuit 23 may be composed of a voltage comparator circuit that only determines whether the input voltage is normal or not. However, it is preferable that the voltage detection circuit 23 outputs the measured voltage as a voltage value rather than outputting a binary signal indicating good or bad.
  • the voltage value referred to here may be an analog value, or may be a digital value represented as multi-valued data by an analog / digital (A / D) conversion function or the like.
  • the voltage detection circuit 23 is a circuit that detects a voltage value that is analog value or multi-value data, and the encoder 52 is also provided with a circuit that detects the supplied power supply voltage, the voltage detection circuit 23 From the detected voltage value and the voltage value detected by the encoder 52, the amount of voltage drop in the individual power supply wiring 54 can be obtained. If the manipulator 50 is large, the individual power supply wiring 54 is also long, and the voltage drop at the power supply voltage supplied by the individual power supply wiring 54 cannot be ignored. Since the current consumption of the encoder 52 is known and does not fluctuate significantly, it is possible to calculate the wiring impedance of the individual power supply wiring 54 from the voltage drop amount of the individual power supply wiring 54 and the current consumption of the encoder 52 for maintenance. And design margins can be easily confirmed.
  • the power supply voltage actually measured by the encoder 52 is fed back to the control unit 14, and the control unit 14 controls the encoder power supply circuit 12, so that the encoder 52 actually operates regardless of the amount of voltage drop in the individual power supply wiring 54.
  • the supplied power supply voltage value can be set as an appropriate value.
  • the control unit 14 obtains a difference between the voltage value detected by the voltage detection circuit 23 and the voltage value detected by the encoder 52, and outputs a voltage control signal corresponding to this difference to the encoder power supply circuit 12.
  • the lengths of the motor wiring 53, the individual power supply wiring 54, and the signal wiring 55 may differ greatly depending on which axis of the manipulator 50 the motor 51 or encoder 52 belongs to. If the length of the individual power supply wiring 54 is different, the amount of voltage drop in the individual power supply wiring 54 will be different, and the power supply voltage actually supplied to the encoder 52 will also be different. When the amount of voltage drop in the individual power supply wiring 54 is different, the power supply voltage actually supplied is different for each encoder 52 when the power supply voltage is supplied to the plurality of encoders 52 from the same encoder power supply circuit 12, and is described above.
  • the robot of another embodiment of the present invention shown in FIG. 3 is similar to the robot shown in FIG. 1, but the power supply voltage actually supplied to the encoder 52 varies depending on the length of the individual power supply wiring 54.
  • the plurality of encoders 52 are classified into several systems according to the length of the individual power supply wirings 54, and the encoder power supply circuits 12 and 16 are provided for each system. In the illustrated one, two encoder power supply circuits 12 and 16 are provided, and among the four encoders 52, the encoder power supply circuit 12 starts with respect to the two encoders 52 in which the length of the individual power supply wiring 54 is relatively short.
  • the power supply voltage is supplied, and the power supply voltage is supplied from the encoder power supply circuit 16 to the two encoders 52 having relatively long individual power supply wirings 54.
  • the output voltages of the encoder power supply circuits 12 and 16 can be adjusted by control from the control unit 14, respectively. Basically, these output voltages take into account the amount of voltage drop in the individual power supply wiring 54. It has become. This makes it possible to drive each encoder 52 with a power supply voltage closer to an appropriate value regardless of the difference in the length of the individual power supply wiring 54.
  • a common power supply wiring 21 is provided for each of the encoder power supply circuits 12 and 16, a plurality of individual power supply wirings 54 are branched from each common power supply wiring 21, and a switch 22 and a voltage detection circuit 23 are provided for each individual power supply wiring 54. This is the same as that shown in FIG.
  • the feedback control of the output voltage of the encoder power supply circuits 12 and 16 can be independently performed based on the power supply voltage actually supplied to each encoder 52. Despite the difference in the amount of voltage drop, the variation in the voltage actually supplied to each encoder 52 in the four encoders 52 becomes small, and the power supply voltage actually supplied to these encoders 52 is brought closer to the appropriate value. Will be possible.
  • the switch 22 and the voltage detection circuit 23 are provided in the controller 10, but the switch 22 and the voltage detection circuit 23 can also be provided in the manipulator 50.
  • the robot of still another embodiment shown in FIG. 4 extends the common power supply wiring 21 to the manipulator 50, and at the same time, the branch point from the common power supply wiring 21 to the individual power supply wiring 54, the switch 22, and the voltage.
  • the detection circuit 23 is provided in the manipulator 50, and a control unit 60 for controlling the switch 22 and receiving the detection result from the voltage detection circuit 23 is provided.
  • the control unit 60 controls the robot in cooperation with the control unit 14 provided in the controller 10.
  • the switch 22 and the voltage detection circuit 23 are provided with a manipulator 50 in the individual power supply wiring 54. It is preferable to provide the controller 10 closer to the portion that moves with the movement of the controller 10. Specifically, it is preferable that the individual power supply wiring 54 is branched from the common power supply wiring 21 and the switch 22 and the voltage detection circuit 23 are provided in the vicinity of the location where the controller 10 is connected in the manipulator 50.
  • the robot to which the present invention is applied is not limited to the robot.
  • the present invention can be applied to any encoder system having a plurality of encoders.
  • the present invention can also be applied to a motor system having a plurality of motors in which an encoder is provided for each motor.
  • Controller 11 Driver circuit 12, 16 Encoder power supply circuit 13 Encoder receiving circuit 14, 60 Control unit 15 Disconnection detection circuit 21 Common power supply wiring 22 Switch 23 Voltage detection circuit 50 Manipulator 51 Motor 52 Encoder 53 Motor wiring 54 Individual power supply wiring 55 Signal wiring

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Power Engineering (AREA)
  • Manipulator (AREA)
  • Control Of Multiple Motors (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
PCT/JP2020/027243 2019-08-06 2020-07-13 エンコーダシステム、モータシステム及びロボット WO2021024706A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
KR1020227003465A KR20220027221A (ko) 2019-08-06 2020-07-13 인코더 시스템, 모터 시스템 및 로봇
CN202080053666.7A CN114206564B (zh) 2019-08-06 2020-07-13 编码器系统、马达系统以及机器人

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JP2019-144423 2019-08-06
JP2019144423A JP2021025896A (ja) 2019-08-06 2019-08-06 エンコーダシステム、モータシステム及びロボット

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WO2021024706A1 true WO2021024706A1 (ja) 2021-02-11

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KR (1) KR20220027221A (zh)
CN (1) CN114206564B (zh)
TW (1) TWI728874B (zh)
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Cited By (1)

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Publication number Priority date Publication date Assignee Title
CN115514084A (zh) * 2022-11-03 2022-12-23 广东隆崎机器人有限公司 一种六轴机器人的多电源安全模块及其控制方法

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