WO2021131417A1 - Robot, robot humanoïde et procédé de contrôle de chute pour robot - Google Patents

Robot, robot humanoïde et procédé de contrôle de chute pour robot Download PDF

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Publication number
WO2021131417A1
WO2021131417A1 PCT/JP2020/042961 JP2020042961W WO2021131417A1 WO 2021131417 A1 WO2021131417 A1 WO 2021131417A1 JP 2020042961 W JP2020042961 W JP 2020042961W WO 2021131417 A1 WO2021131417 A1 WO 2021131417A1
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WIPO (PCT)
Prior art keywords
motor
switching elements
side switching
braking force
robot
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PCT/JP2020/042961
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English (en)
Japanese (ja)
Inventor
掃部　雅幸
純一 烏山
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川崎重工業株式会社
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Publication of WO2021131417A1 publication Critical patent/WO2021131417A1/fr

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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
    • B25J19/06—Safety devices

Definitions

  • the present invention relates to a robot, a humanoid robot, and a fall control method for the robot, and more particularly to a robot including a motor on which a dynamic brake is activated, a humanoid robot, and a fall control method for the robot.
  • a synchronous motor in which a dynamic brake is activated at the time of an emergency stop is known.
  • a synchronous motor is disclosed in, for example, Japanese Patent No. 3279102.
  • Japanese Patent No. 3279102 describes a transistor module including a transistor (switching element) for driving a synchronous electric motor using a U, V, and W phase three-phase power supply, and a transistor of the transistor module to apply braking force by dynamic braking.
  • a synchronous electric motor including a dynamic brake control circuit for generating a dynamic brake and a dynamic brake circuit for generating a braking force by a dynamic brake using a resistor while being connected to the output side of a transistor module is disclosed.
  • the motor in the initial stage of an emergency stop, the motor is decelerated so that the current flowing through the motor becomes constant by on / off control of the transistor (switching element) of the dynamic brake control circuit.
  • the power supply line is switched to the dynamic brake circuit including the resistor. Is short-circuited through a resistor to decelerate the motor and then stop it. This prevents the braking force due to the dynamic brake from weakening in the latter half of the emergency stop, and generates a strong braking force during the entire period of the emergency stop, thereby reducing the time until the synchronous motor stops. It is shortened.
  • the present invention has been made to solve the above-mentioned problems, and one object of the present invention is a robot, a humanoid robot, and a fall control of a robot capable of suppressing damage at an abnormal stop. To provide a method.
  • the robot according to the first aspect of the present invention has a robot main body including a plurality of joints, a plurality of motors provided in each of the plurality of joints, and a three-phase winding of the motor.
  • a circuit control unit is provided, the drive circuit unit includes a plurality of upper arm side switching elements constituting the upper arm, and a plurality of lower arm side switching elements constituting the lower arm, and the drive circuit control unit abnormally stops.
  • the abnormal stop is a broad concept including the emergency stop of the robot by the operation of the user and the abnormal stop of the robot due to the abnormality.
  • the drive circuit control unit is at least one of the plurality of upper arm side switching elements when stopping at least one of the plurality of motors at the time of abnormal stop. It is configured to control to reduce the braking force of the dynamic brake until the motor is stopped by alternately repeating the on state and the off state of at least a part of the lower arm side switching element of the part or a plurality of lower arm side switching elements. ..
  • the braking force of the dynamic brake is reduced, so that the robot stops relatively gently.
  • the robot is a bipedal walking robot such as a humanoid robot, the robot is prevented from falling vigorously.
  • the robot falls down gently. Further, in the case of a quadruped walking robot, the impact due to an abnormal stop can be mitigated. As a result, damage at the time of abnormal stop can be suppressed. Further, as described above, since the control is performed to reduce the braking force of the dynamic brake until the motor is stopped, the motor is different from the case where the braking force of the dynamic brake is increased again until the motor is stopped. It is possible to prevent the robot from suddenly stopping and falling vigorously until it stops (on the way).
  • the control for reducing the braking force of the dynamic brake is performed by alternately repeating the on state and the off state of the switching element for driving the motor. By configuring the motor to stop, the joints are prevented from being fixed by the strong braking force of the dynamic brake, and the robot is damaged due to the robot tipping over while the joints are fixed. Can be suppressed.
  • the joints are fixed by a strong braking force when the arm is raised and the knee is extended.
  • a strong braking force when the arm is raised and the knee is extended.
  • the humanoid robot includes a humanoid robot main body including a plurality of joints corresponding to a plurality of human joints, a plurality of motors provided in each of the plurality of joints, and a winding of the motors.
  • the motor is driven by supplying three-phase AC power to the motor, and the drive circuit section and the drive circuit section that operate the dynamic brake on the motor are controlled, and the braking force of the dynamic brake by the drive circuit section is controlled.
  • the drive circuit unit includes a plurality of upper arm-side switching elements constituting the upper arm and a plurality of lower arm-side switching elements constituting the lower arm.
  • At least a part of the plurality of upper arm side switching elements or at least a part of the plurality of lower arm side switching elements is turned on and off. Is configured to reduce the braking force of the dynamic brake until the motor stops by alternately repeating.
  • the drive circuit control unit of the plurality of upper arm side switching elements when stopping at least one of the plurality of motors at the time of abnormal stop. It is configured to control to reduce the braking force of the dynamic brake until the motor is stopped by alternately repeating the on state and the off state of at least a part or a plurality of lower arm side switching elements. ing.
  • the braking force of the dynamic brake is reduced, so that the humanoid robot stops relatively gently. This prevents the humanoid robot from tipping over vigorously. That is, the humanoid robot collapses gently.
  • the motor applies the braking force of the dynamic brake by alternately repeating the on state and the off state of the switching element that drives the motor.
  • the joint is suppressed from being fixed by the strong braking force of the dynamic brake, which is caused by the humanoid robot falling while the joint is fixed. It is possible to suppress damage to the humanoid robot.
  • the fall control method for a robot is a fall control method for a robot including a plurality of joints, and is a voltage of a power supply path for supplying power to a plurality of motors provided in each of the plurality of joints. And by supplying three-phase AC power to the windings of multiple motors based on the step of detecting at least one of the currents and at least one of the detected voltages and currents in the power supply path. At least a part of the plurality of upper arm side switching elements or at least a part of the lower arm side switching elements included in the drive circuit unit that activates the dynamic brake for at least one of the plurality of motors. It includes a step of performing feedback control that reduces the braking force of the dynamic brake until the motor stops by alternately repeating the on state and the off state.
  • three-phase AC is applied to the windings of a plurality of motors based on at least one of the detected voltage and current of the power supply path.
  • a step is provided in which feedback control is performed to reduce the braking force of the dynamic brake until the motor is stopped by alternately repeating the on state and the off state of at least a part of the switching element.
  • control for reducing the braking force of the dynamic brake is performed by alternately repeating the on state and the off state of the switching element that drives the motor. By configuring the motor to stop until it stops, the joints are prevented from being fixed by the strong braking force of the dynamic brake, so that the robot is damaged due to the robot falling while the joints are fixed. It is possible to provide a fall control method for a robot that can suppress the above.
  • the joints are fixed by a strong braking force when the arm is raised and the knee is extended.
  • a strong braking force when the arm is raised and the knee is extended.
  • the configuration of the humanoid robot 100 (humanoid robot main body 100a) having a plurality of joints corresponding to the plurality of human joints according to the present embodiment will be described with reference to FIGS. 1 to 3.
  • the humanoid robot 100 is also called a humanoid.
  • the humanoid robot 100 and the humanoid robot body 100a are examples of the "robot” and the “robot body” in the claims, respectively.
  • the humanoid robot 100 includes a head 1, a neck 2, an upper body 3, a lower body 4, arms 5, hands 6, legs 7, and feet 8. There is.
  • the upper body portion 3 and the lower body portion 4 are flexibly connected to each other via the waist joint 10a.
  • the upper body portion 3 can perform a forward bending operation, a backward bending operation, and a left / right turning operation with respect to the lower body portion 4.
  • the lower torso 4 corresponds to the human pelvis.
  • the hip joint 10a corresponds to the human waist.
  • the arm portion 5 has a plurality of links 20 and an elbow joint 10b that flexibly supports the plurality of links 20. Then, the adjacent links 20 bend each other via the elbow joint 10b, so that the arm portion 5 performs a bending motion.
  • the hand part 6 is provided at the tip of the arm part 5.
  • the hand portion 6 has a plurality of links (not shown) and a knuckle (not shown) that flexibly supports the plurality of links.
  • the leg portion 7 has a plurality of links 20 and a knee joint 10c that flexibly supports the plurality of links 20. Then, the adjacent links 20 bend each other via the knee joint 10c, so that the leg portion 7 performs a bending motion. Then, by moving the foot portion 8 by controlling the bending motion of the leg portion 7, the humanoid robot 100 can perform bipedal walking.
  • the upper body portion 3 and the arm portion 5 are connected by a shoulder joint 10d. Further, the lower body portion 4 and the leg portion 7 are connected by a hip joint 10e. The leg 7 and the foot 8 are connected by an ankle joint (ankle joint) 10f.
  • the lumbar joint 10a, elbow joint 10b, knee joint 10c, shoulder joint 10d, hip joint 10e, and ankle joint 10f are examples of "joints" within the scope of the claim.
  • the lumbar joint 10a, elbow joint 10b, knee joint 10c, shoulder joint 10d, hip joint 10e and ankle joint 10f have the lumbar joint 10a, elbow joint 10b, knee joint 10c, shoulder joint 10d, hip joint 10e and ankle joint, respectively.
  • a motor 30 for driving the 10f is provided.
  • the humanoid robot 100 performs a flexion motion and a turning motion by driving the hip joint 10a, the elbow joint 10b, the knee joint 10c, the shoulder joint 10d, the hip joint 10e, and the ankle joint 10f by the motor 30.
  • joints and motors 30 are also provided in parts other than those shown in FIG. 1, but they are omitted for the sake of brevity.
  • the humanoid robot 100 (humanoid robot main body 100a) is provided with a power supply 40, a power supply relay board 50, and an amplifier unit 60 in addition to the above motor 30.
  • the broken line arrow represents a communication signal.
  • the thin solid arrow represents the control power.
  • the thick solid line arrow represents the motor power for driving the motor 30.
  • the humanoid robot 100 (humanoid robot main body 100a) is provided with a posture sensor 70.
  • the posture sensor 70 is configured to detect information regarding the posture of the humanoid robot 100 (whether standing, sitting, arms raised, arms lowered, etc.).
  • Motor drive power is supplied from the power supply 40 to the power supply relay board 50.
  • the power relay board 50 is configured to supply electric power for driving the motor 30 to the amplifier unit 60.
  • Control power is supplied to the power relay board 50 from the power supply 40.
  • the power relay board 50 is configured to supply electric power for controlling the amplifier unit 60.
  • the amplifier unit 60 includes a plurality of amplifiers (servo amplifiers) 61.
  • the amplifier 61 is provided for each of the plurality of motors 30 provided in the hip joint 10a, the elbow joint 10b, the knee joint 10c, the shoulder joint 10d, the hip joint 10e, the ankle joint 10f (see FIG. 1), and the like. .. Further, the amplifier 61 controls the drive of the motor 30.
  • the amplifier 61 includes an inverter unit 61a and a control unit 61b that controls the inverter unit 61a.
  • the inverter unit 61a is configured to drive the motor 30 by supplying three-phase AC power to the windings of the motor 30 and to operate a dynamic brake on the motor 30.
  • the inverter unit 61a includes a plurality of upper arm side switching elements SW1, SW2 and SW3 forming the upper arm (three in the present embodiment) and a plurality of upper arm side switching elements SW1, SW2 and SW3 (three in the present embodiment).
  • the lower arm side switching elements SW4, SW5 and SW6 are included.
  • the control unit 61b controls the inverter unit 61a and also controls the braking force of the dynamic brake by the inverter unit 61a. Specifically, the control unit 61b controls the on / off of the switching elements (SW1 to SW6), so that the motor 30 is supplied with power of three desired phases (U, V, and W). Further, a description of controlling the braking force of the dynamic brake by the control unit 61b will be described later.
  • the inverter unit 61a is an example of the "drive circuit unit” in the claims. Further, the control unit 61b is an example of the "drive circuit control unit” in the claims.
  • Each of the switching elements includes a bipolar transistor.
  • the collectors C of the upper arm side switching elements SW1, SW2 and SW3 are connected to the positive potential wiring 62.
  • the emitters E of the lower arm side switching elements SW4, SW5 and SW6 are connected to the negative side potential wiring 63. Further, the emitters E of the upper arm side switching elements SW1, SW2 and SW3, and the collector C of the lower arm side switching elements SW4, SW5 and SW6 are connected to the motor 30 via the power supply wiring 64.
  • the power supply wiring 64 includes three wirings of U phase, V phase, and W phase. Further, the power supply wiring 64 is an example of the "power supply path" in the claims.
  • a voltage detection unit 61c for detecting at least one of the voltage and the current of the power supply wiring 64 for supplying power to the motor 30 (voltage in the present embodiment) is provided. Specifically, the voltage detection unit 61c detects the voltage of the power supply wiring 64 between the switching elements (SW1 to SW6) and the motor 30. Further, the motor 30 is provided with an encoder 65 that detects the rotation speed and the rotation position of the motor 30. The rotation speed and rotation position of the motor 30 detected by the encoder 65 are input to the control unit 61b.
  • the voltage detection unit 61c is an example of the "detection unit" in the claims.
  • the emergency stop of the humanoid robot 100 will be described.
  • the emergency stop is an operation of stopping the humanoid robot 100 by stopping the motor 30 by pressing the emergency stop button 80 (see FIG. 3) by the user.
  • the operation of the amplifier 61 (see FIG. 2) is stopped, and the power supply from the power supply 40 is stopped.
  • the emergency stop is an example of "abnormal stop" in the claims.
  • At the time of emergency stop at least a part of the three lower arm side switching elements SW4, SW5 and SW6 (all three in the present embodiment) are turned on, so that the lower arm side switching elements SW4, SW5 and SW5 are turned on.
  • a closed path including the SW6, the power supply wiring 64, and the motor 30 is formed.
  • the upper arm side switching elements SW1, SW2, and SW3 are turned off.
  • the torque proportional to this current works in the direction of decelerating the motor 30. That is, the dynamic brake acts on the motor 30. As a result, a braking force acts on the motor 30.
  • control unit 61b when the control unit 61b stops the plurality of motors 30 at the time of emergency stop, at least a part or a plurality (3) of the plurality (three) upper arm side switching elements SW1, SW2 and SW3.
  • control is performed to reduce the braking force of the dynamic brake until the motor 30 is stopped. It is configured in.
  • the control unit 61b stops the plurality of motors 30 at the time of emergency stop, the control unit 61b alternates between all the on states and the off states of the plurality (three) lower arm side switching elements SW4, SW5 and SW6. To repeat.
  • the humanoid robot 100 gradually changes its posture. Further, until the operation of the humanoid robot 100 having the hip joint 10a, the elbow joint 10b, the knee joint 10c, the shoulder joint 10d, the hip joint 10e, and the ankle joint 10f corresponding to a plurality of human joints is completely stopped. , The braking force of the dynamic brake is reduced.
  • control unit 61b turns on all three upper arm side switching elements SW1, SW2, and SW3 when controlling the collapse of the humanoid robot main body 100a at the time of emergency stop.
  • the control unit 61b turns on all three upper arm side switching elements SW1, SW2, and SW3 when controlling the collapse of the humanoid robot main body 100a at the time of emergency stop.
  • the braking force of the dynamic brake is reduced until the motor 30 is stopped.
  • a machine for fixing maintaining a posture
  • No special brake electromagagnetic brake
  • the humanoid robot main body 100a finally collapses.
  • the dynamic brake in which the braking force is reduced by turning on / off the three lower arm side switching elements SW4, SW5 and SW6, the humanoid robot main body 100a collapses relatively gently. Control to be.
  • the amplifier 61 (inverter unit 61a) is provided for each of a plurality of joints (lumbar joint 10a, elbow joint 10b, knee joint 10c, shoulder joint 10d, hip joint 10e and ankle joint 10f). It is individually provided for each of the motors 30 of the above. Then, when the motor 30 is stopped at the time of emergency stop, the control unit 61b sets all the on and off states of the lower arm side switching elements SW4, SW5 and SW6 of the inverter unit 61a provided for each motor 30. It is configured to individually control the braking force of the dynamic brake with respect to the plurality of motors 30 by alternately repeating the process.
  • each inverter unit 61a provided for each motor 30 three lower arm side switching elements are based on the voltage of the power supply wiring 64 detected by the voltage detection unit 61c provided for each inverter unit 61a.
  • SW4 and SW6 is controlled.
  • the rotation speed of each of the motors 30 of the plurality of joints may be different.
  • joints in which the dynamic brake operates and joints in which the dynamic brake does not operate may coexist.
  • the inverter unit 61a is an example of the "drive circuit unit" in the claims.
  • the control unit 61b when the motor 30 is stopped at the time of emergency stop, the control unit 61b is in all the ON states of the lower arm side switching elements SW4, SW5 and SW6 of the inverter unit 61a provided for each motor 30.
  • the joint to which the braking force is reduced includes at least one of the knee joint 10c and the shoulder joint 10d (both in the present embodiment).
  • the hip joint 10e and the ankle joint 10f are also controlled to reduce the braking force of the dynamic brake.
  • the braking force of the dynamic brake can be adjusted by changing a predetermined threshold value to be compared with the voltage of the power supply wiring 64 detected by the voltage detection unit 61c.
  • the braking force of the dynamic brake of at least one (in this embodiment, both) of the knee joint 10c or the shoulder joint 10d is based on the position information of the knee joint 10c and the position information of the shoulder joint 10d. It is configured to perform control to reduce. Specifically, information on the posture of the humanoid robot 100 from the posture sensor 70 provided on the humanoid robot main body 100a (whether standing, sitting, arms raised, arms lowered, etc.) ), And the position information of the knee joint 10c (whether the knee is extended or bent, etc.) and the position information of the shoulder joint 10d (the arm part 5 is raised around the shoulder joint 10d, the arm part 5). Is down, etc.) is acquired.
  • control is performed to reduce the braking force of the dynamic brake of the knee joint 10c and the shoulder joint 10d.
  • the humanoid robot 100 is standing (knees are extended) based on the information about the posture of the humanoid robot 100 from the posture sensor 70, the humanoid robot 100 is gently tilted down.
  • the control for reducing the braking force of the dynamic brakes of the knee joint 10c, the hip joint 10e and the ankle joint 10f is performed.
  • the arm portion of the humanoid robot 100 is determined. Control is performed to reduce the braking force of the dynamic brake of the shoulder joint 10d so that 5 is gently lowered.
  • the voltage of the power supply wiring 64 that supplies power to the motor 30 is detected by the voltage detection unit 61c. Then, when the motor 30 is stopped, the control unit 61b is in all the ON states of the three lower arm side switching elements SW4, SW5, and SW6 based on the voltage of the power supply wiring 64 detected by the voltage detection unit 61c. It is configured to perform feedback control that reduces the braking force of the dynamic brake until the motor 30 is stopped by alternately repeating the off state and the off state. Specifically, the control unit 61b compares the voltage of the power supply wiring 64 detected by the voltage detection unit 61c with a predetermined threshold value when the motor 30 is stopped at the time of an emergency stop.
  • the predetermined threshold value is set so that the voltage of the power supply wiring 64 becomes a relatively low voltage (for example, 30 V or more and 60 V or less) at the time of emergency stop. That is, the predetermined threshold value is lower than the reference voltage to which the regenerative resistor is connected during normal operation.
  • the control unit 61b lowers the voltage of the power supply wiring 64 detected by the voltage detection unit 61c when the voltage of the power supply wiring 64 exceeds a predetermined threshold value when the motor 30 is stopped at the time of emergency stop. All of the arm-side switching elements SW4, SW5 and SW6 are turned on. Further, when the voltage of the power supply wiring 64 is equal to or less than a predetermined threshold value, the control unit 61b turns off all of the lower arm side switching elements SW4, SW5 and SW6. As a result, the control unit 61b is configured to perform feedback control that reduces the braking force of the dynamic brake until the motor 30 is stopped.
  • step S1 shown in FIG. 4 the emergency stop button 80 is pressed. As a result, the emergency stop signal is input to the control unit 61b of the amplifier 61.
  • step S2 the voltage of the power supply wiring 64 that supplies power to the plurality of motors 30 provided in each of the hip joint 10a, the elbow joint 10b, the knee joint 10c, the shoulder joint 10d, the hip joint 10e, and the ankle joint 10f is the voltage detection unit. Detected by 61c.
  • step S3 the voltage of the power supply wiring 64 detected by the voltage detection unit 61c and a predetermined threshold value are compared by the control unit 61b.
  • step S3 when the voltage of the power supply wiring 64 detected by the voltage detection unit 61c is larger than a predetermined threshold value, the process proceeds to step S4 and all of the lower arm side switching elements SW4, SW5 and SW6. Is turned on. As a result, the dynamic brake is activated.
  • step S3 when the voltage of the power supply wiring 64 detected by the voltage detection unit 61c is equal to or less than a predetermined threshold value, the process proceeds to step S5, and all of the lower arm side switching elements SW4, SW5, and SW6 are turned off. .. As a result, the operation of the dynamic brake is stopped.
  • steps S3 to S5 are continued until the motor 30 is stopped.
  • feedback control is performed to reduce the braking force of the dynamic brake until the motor 30 is stopped.
  • the emergency stop button 80 (see FIG. 3) is pressed, the power supply to the motor 30 is stopped. Further, in the humanoid robot 100, the lumbar joint 10a, the elbow joint 10b, the knee joint 10c, the shoulder joint 10d, the hip joint 10e and the ankle joint 10f (motor 30) are mechanically fixed (that is, the posture is maintained). Since the electromagnetic brake is not provided, the humanoid robot 100 cannot maintain its posture because the supply of power to the motor 30 is stopped. Therefore, the humanoid robot 100 collapses from an upright state so as to bend the knee joint 10c and the hip joint 10e of the leg portion 7 and the ankle joint 10f of the foot portion 8 as shown in FIG.
  • the arm portion 5 is centered on the shoulder joint 10d of the humanoid robot 100 based on the information on the posture of the humanoid robot 100 from the posture sensor 70.
  • control is performed to reduce the braking force of the dynamic brake of the shoulder joint 10d so that the arm 5 of the humanoid robot 100 is gently lowered.
  • the emergency stop button 80 is pressed in the state of the humanoid robot 100 of FIG. 6, the knee joint 10c, the hip joint 10e, and the ankle joint 10f are also bent as described above. A case where only the posture of the arm 5 changes without bending the knee joint 10c, the hip joint 10e, and the ankle joint 10f will be described.
  • the braking force of the dynamic brake is weakened, so that the arm portion 5 rotates relatively gently around the shoulder joint 10d and then stops. In this way, since the arm portion 5 stops relatively gently, it is possible to prevent the arm portion 5 from vigorously colliding with the upper body portion 3 or the lower body portion 4.
  • the emergency stop button 80 when the emergency stop button 80 is pressed while the humanoid robot 100 is moving (when the rotation speed of the motor 30 is relatively high), it is based on the information about the posture of the humanoid robot 100 from the posture sensor 70. Therefore, it is determined which joint of the humanoid robot 100 the braking force of the dynamic brake is to be reduced.
  • the rotation speed of the motor 30 is relatively high, the voltage of the electric power generated by the motor 30 is relatively high, so that the dynamic brake operates.
  • the control unit 61b stops the plurality of motors 30 at the time of emergency stop, at least a part or a plurality of lower arm sides of the plurality of upper arm side switching elements SW1, SW2 and SW3
  • the motor 30 is stopped by alternately repeating the on state and the off state of at least a part of the switching elements SW4, SW5 and SW6 (in this embodiment, all of the lower arm side switching elements SW4, SW5 and SW6). It is configured to control to reduce the braking force of the dynamic brake. As a result, when the motor 30 is stopped at the time of emergency stop, the braking force of the dynamic brake is reduced, so that the humanoid robot 100 stops relatively gently.
  • the humanoid robot 100 is prevented from falling vigorously. That is, the humanoid robot 100 gently collapses. As a result, it is possible to suppress damage caused by the humanoid robot 100 falling vigorously at the time of an emergency stop. Further, as described above, since the control for reducing the braking force of the dynamic brake is performed until the motor 30 is stopped, unlike the case where the braking force of the dynamic brake is increased again until the motor 30 is stopped, the braking force of the dynamic brake is increased again. It is possible to prevent the humanoid robot 100 from suddenly stopping and the humanoid robot 100 from tipping over vigorously until the motor 30 is stopped (on the way).
  • the humanoid robot 100 may fall while the joints of the humanoid robot 100 are fixed by the strong braking force of the dynamic brake. This may also damage the humanoid robot 100.
  • the on state and the off state of the switching elements (lower arm side switching elements SW4, SW5 and SW6) for driving the motor 30 are alternately repeated.
  • the joints are subjected to strong braking force in a state where the arm portion 5 (arm) is raised and when the knee is extended. It is possible to suppress the fixation and to gradually shift to a state in which the arm portion 5 is lowered and a state in which the knee is bent (a crouched posture) due to the reduced weak braking force, and the joint can be overturned. This makes it possible to effectively suppress damage caused by falling, especially in the humanoid robot 100.
  • the control unit 61b is at least a part of the plurality of upper arm side switching elements SW1, SW2 and SW3 when controlling the tilt of the humanoid robot main body 100a at the time of emergency stop.
  • the control is configured to reduce the braking force of the dynamic brake until the motor 30 is stopped.
  • the inverter unit 61a includes a plurality of motors provided for each of the plurality of hip joints 10a, elbow joints 10b, knee joints 10c, shoulder joints 10d, hip joints 10e, and ankle joints 10f.
  • the control unit 61b is individually provided for each 30.
  • the control unit 61b is provided for each of the plurality of upper arm side switching elements SW1, SW2 and SW3 of the inverter unit 61a provided for each motor 30.
  • At least a part or at least a part of the lower arm side switching elements SW4, SW5 and SW6 are alternately turned on and off.
  • the braking force of the dynamic brakes for the plurality of motors 30 is individually controlled.
  • the joint (motor 30) for which the braking force of the dynamic brake should be weakened can be selected and individually controlled according to the posture of the humanoid robot 100 immediately before the emergency stop.
  • the robot 100 can be appropriately shifted depending on the crouched state.
  • the control unit 61b has a plurality of upper arm side switching elements SW1 and SW2 of the inverter unit 61a provided for each motor 30. And at least a part of SW3 or at least a part of the lower arm side switching elements SW4, SW5 and SW6 (in this embodiment, all of the lower arm side switching elements SW4, SW5 and SW6) are turned on and off.
  • a part of the plurality of joints is configured to be controlled to reduce the braking force of the dynamic brake as compared with the other joints.
  • the braking force of the dynamic brake is not reduced for all joints (only some joints are reduced for the braking force of the dynamic brake). In some cases, damage to the humanoid robot 100 due to a fall can be suppressed. Therefore, as described above, the braking force of the dynamic brake is reduced for all the joints by configuring some of the plurality of joints to reduce the braking force of the dynamic brake as compared with the other joints. Compared with the case of performing control, the control load of the humanoid robot 100 can be reduced.
  • the joint whose braking force is reduced includes at least one of the knee joint 10c and the shoulder joint 10d.
  • the knee joint 10c is fixed by the strong braking force of the dynamic brake, so that the humanoid robot 100 is in a state where the knee is extended. Robot 100 falls. That is, since the humanoid robot 100 cannot be overturned by gradually shifting to a state in which the knee is bent (a crouched posture), the humanoid robot 100 may be damaged by the overturn.
  • the humanoid robot 100 can be overturned by gradually shifting to a state in which the knee is bent (a crouched posture). It is possible to suppress damage to the humanoid robot 100 due to a fall. Further, if the braking force of the dynamic brake with respect to the shoulder joint 10d is too strong during an emergency stop, the shoulder joint 10d is fixed by the strong braking force of the dynamic brake. Therefore, for example, the arm is centered on the shoulder joint 10d of the humanoid robot 100. The humanoid robot 100 falls while the portion 5 is raised horizontally.
  • the humanoid robot 100 cannot be overturned by gradually shifting from the state in which the arm 5 is horizontally raised around the shoulder joint 10d to the state in which the arm 5 is lowered, so that the humanoid robot 100 cannot be overturned. May be damaged. Therefore, as described above, by reducing the braking force of the dynamic brake with respect to the shoulder joint 10d, the arm 5 is gradually shifted from the state in which the arm 5 is horizontally raised around the shoulder joint 10d to the state in which the arm 5 is lowered. Since the humanoid robot 100 can be overturned, damage to the humanoid robot 100 due to the overturning can be suppressed.
  • the braking force of at least one of the knee joint 10c or the shoulder joint 10d is reduced based on the position information of the knee joint 10c and the position information of the shoulder joint 10d. It is configured to provide control.
  • the amount is reduced in the state immediately before the emergency stop. It is not necessary to gradually shift to a state in which the knee is bent (a crouched posture) and a state in which the arm portion 5 is lowered due to a weak braking force.
  • the humanoid robot main body 100a includes a plurality of hip joints 10a, elbow joints 10b, knee joints 10c, shoulder joints 10d, hip joints 10e and legs corresponding to a plurality of human joints. It has a joint 10f.
  • the switching elements that drive the motor 30 in this embodiment, the lower arm side switching elements SW4, SW5, and SW6 are dynamically repeated in an on state and an off state. Controlling to reduce the braking force of the brake is particularly effective in suppressing damage to the humanoid robot 100, which is relatively prone to tipping over.
  • the voltage detection unit 61c for detecting at least one of the voltage and the current of the power supply wiring 64 that supplies power to the motor 30 (voltage in the present embodiment) is provided. Further, a plurality of control units 61b are provided based on at least one of the voltage and current of the power supply wiring 64 (voltage in this embodiment) detected by the voltage detection unit 61c when the motor 30 is stopped. At least a part of the upper arm side switching elements SW1, SW2 and SW3 or at least a part of a plurality of lower arm side switching elements SW4, SW5 and SW6 (in this embodiment, all of the lower arm side switching elements SW4, SW5 and SW6).
  • At least a part of the plurality of upper arm side switching elements SW1, SW2 and SW3 or at least a part of the plurality of lower arm side switching elements SW4, SW5 and SW6 based on the comparison with a predetermined threshold value in this embodiment, By alternately repeating the on state and the off state of the lower arm side switching elements SW4, SW5, and SW6), feedback control is performed to reduce the braking force of the dynamic brake until the motor 30 is stopped. ing.
  • the voltage (current) of the electric power generated by the motor 30 is suppressed from rising above the voltage (current) corresponding to the predetermined threshold, and the voltage is close to the voltage (current) corresponding to the predetermined threshold. Since it is maintained at (current), the braking force of the dynamic brake with respect to the motor 30 can be maintained at a desired weak magnitude.
  • the control unit 61b receives at least one of the voltage and the current of the power supply wiring 64 detected by the voltage detection unit 61c when the motor 30 is stopped at the time of emergency stop ( In the present embodiment, when the voltage) exceeds a predetermined threshold value, at least a part of the plurality of upper arm side switching elements SW1, SW2 and SW3 or at least a part of the plurality of lower arm side switching elements SW4, SW5 and SW6.
  • all of the lower arm side switching elements SW4, SW5, and SW6 are turned on, and when at least one of the voltage and the current of the power supply wiring 64 is equal to or less than a predetermined threshold value, the plurality of upper arms Turn off at least a part of the side switching elements SW1, SW2 and SW3 or at least a part of a plurality of lower arm side switching elements SW4, SW5 and SW6 (in this embodiment, all of the lower arm side switching elements SW4, SW5 and SW6).
  • feedback control is configured to reduce the braking force of the dynamic brake until the motor 30 is stopped.
  • the voltage (current) of the power supply wiring 64 can be reduced.
  • at least one of the voltage and current of the power supply wiring 64 detected by the voltage detection unit 61c is equal to or less than a predetermined threshold value, at least a part or a plurality of upper arm side switching elements SW1, SW2, and SW3 are used.
  • the voltage (current) of the power supply wiring 64 can be increased.
  • the voltage (current) of the electric power generated by the motor 30 can be easily maintained at a voltage (current) close to the voltage (current) corresponding to a predetermined threshold value.
  • three phases are wound on the windings of the plurality of motors 30 based on at least one of the detected voltages and currents of the power supply wiring 64 (voltage in the present embodiment).
  • At least a part or a lower arm of a plurality of upper arm side switching elements SW1, SW2 and SW3 included in the inverter unit 61a that drives the motor 30 by supplying the AC power of The motor 30 is stopped by alternately repeating the on state and the off state of at least a part of the side switching elements SW4, SW5 and SW6 (in this embodiment, all of the lower arm side switching elements SW4, SW5 and SW6).
  • a step of performing feedback control for reducing the braking force of the dynamic brake is provided.
  • the dynamic brake is controlled by alternately repeating the on state and the off state of the switching element for driving the motor 30 (in this embodiment, all of the lower arm side switching elements SW4, SW5 and SW6).
  • the control By configuring the control to reduce the power until the motor 30 stops, the joints are suppressed from being fixed by the strong braking force of the dynamic brake. Therefore, the humanoid robot 100 is in a state where the joints are fixed. It is possible to provide a fall control method for the humanoid robot 100 that can suppress damage to the humanoid robot 100 due to the fall.
  • the present invention is not limited to this.
  • the present invention may be applied to a bipedal walking robot or a quadrupedal walking robot that imitates an animal other than the humanoid robot 100.
  • the impact caused by an abnormal stop can be mitigated, so that damage at the time of an abnormal stop can be suppressed.
  • a closed circuit is formed by a path via the positive potential wiring 62, a negative potential wiring 63, a freewheeling diode of the lower arm side switching element SW5, a V-phase power supply wiring 64, and a path via the motor 30. Is possible. This makes it possible to exert a braking force on the motor 30.
  • control unit 61b shows an example of comparing the voltage of the power supply wiring 64 detected by the voltage detection unit 61c with a predetermined threshold value when the motor 30 is stopped at the time of emergency stop.
  • the present invention is not limited to this.
  • the control unit may compare the current of the power supply wiring 64 detected by the detection unit that detects the current with a predetermined threshold value (current threshold value) when the motor 30 is stopped at the time of emergency stop. .. Further, the control unit may compare the voltage and current of the power supply wiring 64 with the respective threshold values.
  • the predetermined threshold value for turning on / off the lower arm side switching elements SW4, SW5 and SW6 at the time of emergency stop is lower than the reference voltage to which the regenerative resistor is connected during normal operation.
  • the present invention is not limited to this.
  • the predetermined threshold value may be equal to the reference voltage to which the regenerative resistor is connected.
  • the humanoid robot 100 is emergency-stopped when the emergency stop button 80 is pressed by the user, but the present invention is not limited to this.
  • the humanoid robot 100 may be provided with a sensor, and the humanoid robot 100 may be automatically stopped in an emergency based on the sensor detecting the posture and movement of the humanoid robot 100. Further, when an abnormality occurs in the humanoid robot 100, control may be performed to reduce the braking force of the dynamic brake until the motor 30 stops.
  • the on state and the off state of the lower arm side switching elements SW4, SW5 and SW6 are alternately repeated based on the voltage of the power supply wiring 64.
  • the present invention is not limited to this.
  • the lower arm side switching elements SW4, SW5 and SW6 or the upper arm side switching elements SW1, SW2 and SW3 are turned on based on the detected rotation speed of the motor 30.
  • the state and the off state may be repeated alternately.
  • the present invention is not limited to this.
  • the braking force of the dynamic brakes for the plurality of motors 30 may be controlled all at once. That is, a voltage detection unit 61c for detecting the voltage of the power supply wiring 64 is commonly provided for the plurality of amplifiers 61, and all the amplifiers 61 are based on the voltage detected by the commonly provided voltage detection unit 61c.
  • the on / off of the lower arm side switching elements SW4, SW5 and SW6 (or the upper arm side switching elements SW1, SW2 and SW3) may be controlled.
  • the present invention is not limited to this.
  • the braking force of the dynamic brakes of all joints may be reduced (decreased as compared with the time of regeneration).
  • the braking force of the dynamic brakes of the joints other than the knee joint 10c (hip joint 10e, ankle joint 10f) and the shoulder joint 10d may be reduced.
  • the posture sensor 70 provided in the humanoid robot main body 100a provides information on the posture of the humanoid robot 100 (whether the humanoid robot 100 is standing, sitting, the arm is raised, or the arm is lowered. , Etc.) have been shown, but the present invention is not limited to this.
  • the encoder 65 provided in the motor 30 may acquire information regarding the posture of the humanoid robot 100. That is, information on the posture of the humanoid robot 100 based on the difference between the rotation position of the motor 30 in the posture of the humanoid robot 100 as a reference and the rotation position of the motor 30 in the posture of the humanoid robot 100 at the time of emergency stop. And, based on the acquired posture, the joint that reduces the braking force of the dynamic brake may be selected. Further, both the posture sensor 70 and the encoder 65 may be used to acquire information on the posture of the humanoid robot 100.
  • control may be performed to reduce the braking force of the dynamic brake only for one of the plurality of motors 30 provided in the humanoid robot 100.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

Ce robot (100) comprend une unité de commande de circuit d'entraînement (61b) laquelle, lors de l'arrêt d'au moins l'un d'une pluralité de moteurs (30) pendant un arrêt anormal, effectue une commande qui amène une pluralité d'éléments de commutation côté bras inférieur (W4, SW5, SW6) à alterner de manière répétée entre un état de MARCHE et un état d'ARRÊT et réduit ainsi la force de freinage d'un frein dynamique jusqu'à ce que le moteur s'arrête.
PCT/JP2020/042961 2019-12-25 2020-11-18 Robot, robot humanoïde et procédé de contrôle de chute pour robot WO2021131417A1 (fr)

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JP2019235174A JP7393201B2 (ja) 2019-12-25 2019-12-25 ロボット、人型ロボットおよびロボットの倒れ制御方法
JP2019-235174 2019-12-25

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013179741A (ja) * 2012-02-28 2013-09-09 Fanuc Ltd ダイナミックブレーキ制御手段を備えるモータ駆動装置
JP2019014008A (ja) * 2017-07-06 2019-01-31 株式会社デンソーウェーブ ロボットの制御装置
JP2019161924A (ja) * 2018-03-15 2019-09-19 ファナック株式会社 モータ制御装置およびモータ制御方法

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013179741A (ja) * 2012-02-28 2013-09-09 Fanuc Ltd ダイナミックブレーキ制御手段を備えるモータ駆動装置
JP2019014008A (ja) * 2017-07-06 2019-01-31 株式会社デンソーウェーブ ロボットの制御装置
JP2019161924A (ja) * 2018-03-15 2019-09-19 ファナック株式会社 モータ制御装置およびモータ制御方法

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