WO2015045300A1 - 多軸ロボットの動力遮断装置及び多軸ロボット - Google Patents
多軸ロボットの動力遮断装置及び多軸ロボット Download PDFInfo
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- WO2015045300A1 WO2015045300A1 PCT/JP2014/004664 JP2014004664W WO2015045300A1 WO 2015045300 A1 WO2015045300 A1 WO 2015045300A1 JP 2014004664 W JP2014004664 W JP 2014004664W WO 2015045300 A1 WO2015045300 A1 WO 2015045300A1
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- Prior art keywords
- circuit
- semiconductor switching
- switching element
- power
- cutoff
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- 239000004065 semiconductor Substances 0.000 claims abstract description 77
- 238000003745 diagnosis Methods 0.000 claims description 27
- 238000010586 diagram Methods 0.000 description 8
- 239000003990 capacitor Substances 0.000 description 7
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 description 5
- 238000009434 installation Methods 0.000 description 5
- 230000000903 blocking effect Effects 0.000 description 4
- 238000009499 grossing Methods 0.000 description 4
- 238000004092 self-diagnosis Methods 0.000 description 4
- 210000000707 wrist Anatomy 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000013021 overheating Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
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Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0004—Braking devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
- B25J19/066—Redundant equipment
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/02—Details of stopping control
- H02P3/04—Means for stopping or slowing by a separate brake, e.g. friction brake or eddy-current brake
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
Definitions
- the present invention relates to a power shut-off device including a plurality of motors that respectively drive a plurality of axes of a multi-axis robot and a multi-axis robot.
- a robot used as an industrial robot or the like is configured as a multi-axis robot provided with a plurality of motors that drive movable members necessary for operation.
- control is performed by simultaneously operating a plurality of motors.
- the safety circuit is configured to operate during an emergency stop (see, for example, Patent Document 1).
- the motor power is completely shut off by the safety circuit.
- a system in which a power supply line of a three-phase AC power source for operating the motor is mechanically cut off by a magnet contactor has been adopted.
- the present invention has been made to solve such problems, and includes a breaker circuit that has a smaller installation space, lower cost, and longer life compared to a breaker circuit that uses a conventional mechanical switch.
- An object of the present invention is to provide a multi-axis robot capable of stopping the drive motor safely and reliably.
- a multi-axis robot power shut-off device includes a plurality of motors that respectively drive a plurality of axes of a multi-axis robot, and power is controlled by the plurality of motors.
- a plurality of power converters for supplying and controlling the operations of the plurality of motors, and a control signal for controlling the operation of the motors to the control terminals of the first semiconductor switching elements constituting each of the power converters
- a drive circuit for driving the first semiconductor switching element by outputting a drive signal according to the first circuit, and a first cutoff provided in the middle of a first electric circuit for supplying first operating power to the drive circuit A circuit, a plurality of electromagnetic brakes for braking each of the plurality of shafts, a second cutoff circuit provided in the middle of a second electric circuit for supplying a second operating power to each of the electromagnetic brakes, 1 and
- a cutoff control circuit that outputs a cutoff signal to the two cutoff circuits, and at least one of the first and second cutoff circuits (hereinafter referred to as a specific cutoff circuit) includes the first and second cutoff circuits.
- Two or more second circuits that are inserted in series with each other in series in the circuit corresponding to the specific breaking circuit (hereinafter referred to as a specific circuit), and are turned off in response to the blocking signal to block the specific circuit.
- the semiconductor switching element is included.
- a pair of terminals connected to the electric circuit to be turned on and off is defined as a main terminal, and a terminal to which a signal for controlling conduction and interruption is input is a control terminal. It is defined as For example, in the case of an FET, the source and drain are main terminals, and the gate is a control terminal.
- the emitter and collector are the main terminals and the base is the control terminal.
- the cutoff circuit is configured by a semiconductor switching element, the cutoff circuit can be integrated compared to a cutoff circuit having a mechanical switch such as a conventional magnet contactor (hereinafter also referred to as MC).
- MC conventional magnet contactor
- the installation space can be reduced.
- the integrated circuit can be configured at low cost without using MC, so that the cost of the cutoff circuit can be reduced.
- the semiconductor switching element is turned on (conducting) and off (non-conducting) by controlling carrier movement in the semiconductor, not by a mechanical contact, the life of the interruption circuit is extended.
- the electric circuit is interrupted by two or more semiconductor switching elements inserted in series with each other in the electric circuit to be interrupted, even if one semiconductor switching element fails, a specific electric circuit is connected by the remaining semiconductor switching elements. Can be shut off, improving safety.
- the semiconductor switching element is, for example, a transistor, a thyristor, or the like, specifically, an FET.
- a bipolar transistor or IGBT may be used.
- the cutoff control circuit periodically outputs a pulse for turning off the second semiconductor switching element to the control terminal of the second semiconductor switching element, and diagnoses whether the second semiconductor switching element is turned off. May be.
- the cutoff control circuit defines the drive circuit and the electromagnetic brake as a load, defines one semiconductor switching element of the two or more second semiconductor switching elements as a power supply side semiconductor switching element, and When another semiconductor switching element located on the load side of the semiconductor switching element is defined as a load-side semiconductor switching element, the first diagnostic signal including the pulse is output to the control terminal of the power supply-side semiconductor switching element.
- An answer signal is received to diagnose whether the load side semiconductor switching element is operating normally, and the second diagnosis circuit receives the first diagnosis signal from a main terminal on the load side of the power source side semiconductor switching element.
- a response signal may be received to diagnose whether the power supply side semiconductor switching element is operating normally.
- a multi-axis robot includes the power cutoff device for the multi-axis robot.
- the present invention provides a multi-axis robot capable of stopping a drive motor safely and reliably, including a breaker circuit that requires less installation space, costs less, and has a longer life compared to a breaker circuit that uses a conventional mechanical switch. There is an effect that can be done.
- FIG. 1 is a diagram showing a configuration of the multi-axis robot in which the power shut-off device for the multi-axis robot according to the present embodiment is used.
- FIG. 2 is a circuit diagram showing an example of a circuit configuration of the power cutoff device of the motor drive system of the multi-axis robot of FIG.
- FIG. 3 is a circuit diagram showing an example of the circuit configuration of the brake system power cutoff device of the multi-axis robot of FIG.
- FIG. 4 is a timing chart of self-diagnosis control in the power shut-off device shown in FIGS. 2 and 3.
- FIG. 5 is a circuit diagram showing another configuration of the shut-off circuit of the power shut-off device shown in FIGS. 2 and 3.
- FIG. 1 is a diagram showing a configuration of the multi-axis robot in which the power shut-off device for the multi-axis robot according to the present embodiment is used.
- the multi-axis robot may be provided with a plurality of movable members necessary for operation and configured to be driven by a plurality of motors. Therefore, in the present embodiment, the multi-axis robot is typically an articulated robot, but is not limited thereto.
- the multi-axis robot 100 includes, for example, a wrist provided at the tip and six joints J1 to J6 provided in order from a predetermined base end toward the wrist, and six The joints J1 to J6 are configured as a six-axis robot having first to sixth rotation axes A1 to A6, respectively.
- a swivel base 3, arm members 4 to 7, and an attachment 8 are connected in this order.
- a tool member 9 is detachably attached to the flange surface of the attachment 8.
- the continuous members 2 to 8 from the base 2 to the attachment 8 are connected so as to be relatively rotatable with respect to each other.
- the member groups 2 to 8 connected to each other by the six joints J1 to J6 in this way are referred to as robot arms.
- the servo motors M1 to M6, the brakes B1 to B6 for braking the rotation of the servo motors M1 to M6, and the rotational positions of the servo motors M1 to M6 are detected so as to correspond to the first to sixth joints J1 to J6, respectively.
- Position sensors E1 to E6 are provided.
- DC servo motors are employed as the servo motors M1 to M6.
- the position sensors E1 to E6 for example, an encoder or a resolver is employed.
- an electromagnetically actuated electromagnetic brake is employed in which the brake is released when energized by power supply and the brake is effective when not energized.
- the first to sixth rotation axes A1 to A6 are allowed to rotate around the first to sixth joints J1 to J6, respectively.
- Each servo motor M1 to M6 can operate independently of each other.
- the rotational positions of the servo motors M1 to M6 around the first to sixth rotation axes A1 to A6 are detected by the position sensors E1 to E6.
- the servo motors M1 to M6 and the control device 200 are connected via a motor cable L1, and the brakes B1 to B6 and the control device 200 are connected via a brake cable L2 to control the position sensors E1 to E6.
- the device 200 is connected via a position sensor cable L3.
- the motor cable L1 is a first electric circuit for supplying power from the control device 200 to the servo motors M1 to M6.
- the brake cable L2 is a second electric circuit for supplying power from the control device 200 to the brakes B1 to B6.
- the position sensor cable L3 is a third electric path for supplying power from the control device 200 to the position sensors E1 to E6 and supplying a position detection signal from the position sensors E1 to E6 to the control device 200.
- the control device 200 performs servo control to move the tool member 9 to an arbitrary position and posture along an arbitrary path for each of the servo motors M1 to M6 provided in the first to sixth joints J1 to J6.
- the multi-axis robot 100 performs a predetermined operation.
- the application of the multi-axis robot 100 is not particularly limited.
- the control device 200 operates the emergency stop switch SW to cut off the power of the drive system of the servo motors M1 to M6 and operate the drive system of the brakes B1 to B6 to It has a power shut-off function that safely stops the robot arm.
- FIG. 2 is a circuit diagram showing an example of a circuit configuration of a power cutoff device of the servo motors M1 to M6 drive system.
- the power cut-off device 1a includes a plurality of power converters 11, a plurality of drive circuits 12, an operation voltage generator 30, and a cut-off circuit 14a respectively corresponding to the plurality of servo motors M1 to M6.
- a control unit 40 including a shutoff control circuit 15a.
- the plurality of servo motors M1 to M6 drive the plurality of axes A1 to A6 of the multi-axis robot 100, respectively. Hereinafter, they are also simply referred to as motors M1 to M6.
- the plurality of power converters 11 supply power to the corresponding motors M1 to M6 while controlling the power to control the operations of the motors M1 to M6, respectively.
- Each power converter 11 is a device that converts DC power into AC power, and is, for example, a three-phase bridge inverter circuit having semiconductor switching elements Q1 to Q6.
- the semiconductor switching elements Q1 to Q6 are composed of six IGBTs in which free-wheeling diodes are connected in antiparallel.
- the plurality of drive circuits 12 output drive signals in accordance with control signals for controlling the operations of the motors M1 to M6 to the control terminals of the semiconductor switching elements Q1 to Q6 constituting each power converter 11, and perform the semiconductor switching. Elements Q1 to Q6 are driven.
- each drive circuit 12 outputs a drive signal to the gate terminal of the IGBT to drive the IGBT.
- the IPM 10 incorporates a function of a protection circuit (not shown), and enables protection from overheating, short circuit, control circuit abnormality, and the like.
- the IPM 10 operates by supplying a power supply voltage, a control signal, and the like from the outside.
- the operating voltage generation unit 30 includes an AC power supply 31, an AC / DC conversion unit 32, a smoothing capacitor 33, and an IPM gate power supply 13.
- the AC / DC converter 32 converts, for example, three-phase AC power output from the AC power supply 31 into DC power and outputs the DC power. This DC power is supplied to each power converter 11 in the IPM 10.
- the AC / DC converter 32 is a three-phase full-wave rectifier circuit, and is a bridge rectifier circuit composed of six diodes. Further, the DC output voltage is smoothed by the smoothing capacitor 33.
- the IPM gate power supply 13 is a power supply circuit including the above-described AC / DC converter and a smoothing capacitor (not shown).
- the IPM gate power supply 13 converts the two-phase AC power output from the AC power supply 31 into smoothed DC power, and converts the converted DC power voltage (for example, 200V) to a predetermined voltage (for example, 20V). ) And supplied to the positive power supply terminal V DD of the IPM.
- the IPM gate power supply 13 supplies a power supply voltage as operating power to predetermined elements including the drive circuit 12 inside the IPM 4 through the electric circuit L1.
- the power supply voltage from the IPM gate power supply 13 is supplied to the shutoff control circuit 15 in addition to the IPM 10.
- the cutoff circuit 14a is provided in the middle of the electric circuit L1 which supplies the power supply voltage as operation power to the IPM 10 including the drive circuit 12.
- the cutoff circuit 14a includes two or more semiconductor switching elements that are inserted in series with each other in the electric circuit L1 and are turned off in accordance with the interruption signal from the interruption control circuit 15a to cut off the electric circuit L1.
- the electric circuit L1 is interrupted by two or more semiconductor switching elements inserted in series with each other in the electric circuit to be interrupted, even if one semiconductor switching element fails, the remaining semiconductor switching elements Since a specific electric circuit can be interrupted, safety is improved.
- two semiconductor switching elements Tr1 and Tr2 are connected in series to the electric circuit L1.
- the semiconductor switching elements Tr1 and Tr2 are transistors, for example, specifically two n-channel FETs. Other transistors may be bipolar transistors or IGBTs.
- the cutoff circuit 14a is constituted by a semiconductor switching element, integration can be achieved and installation space can be reduced as compared with a cutoff circuit having a mechanical switch such as a conventional magnetic contactor. Further, the integrated circuit can be constructed at low cost without using a mechanical switch, so that the cost can be reduced. Further, since the semiconductor switching element is turned on (conducting) and off (nonconducting) by controlling carrier movement in the semiconductor rather than by a mechanical contact, the life of the cutoff circuit 14a is extended.
- the drive circuit 12 is defined as a load, and one of the two semiconductor switching elements Tr1 and Tr2 is defined as a first transistor (power supply side semiconductor switching element) Tr1, and the first transistor Tr1 Another semiconductor switching element positioned on the load side is defined as a second transistor (load-side semiconductor switching element) Tr2. Further, an output circuit (filter) including a diode and a capacitor is connected to the load side of the second transistor Tr2 in the cutoff circuit 14a.
- the control unit 40 controls the entire control apparatus 200 that controls the multi-axis robot 100.
- the control unit 40 together with the cutoff control circuit 15a and the control signal generation circuit 18 that generates a control signal, shuts off other brake systems that will be described later.
- a control circuit and the like are provided.
- the control unit 40 may be configured by, for example, a microcontroller, CPU, MPU, DSP, ASIC, or FPGA.
- the control unit 40 may be configured by a plurality of controllers that perform distributed control on each other.
- the shutoff control circuit 15a outputs a shutoff signal to shut off the shutoff circuit 14a in response to a stop operation of the emergency stop switch SW in an emergency, and outputs a diagnostic signal to self-diagnose whether the shutoff circuit 14a is normal during normal times. Output. Specifically, the cutoff control circuit 15a outputs a first diagnostic circuit 16a that outputs a first cutoff signal or a first diagnostic signal including a pulse to the control terminal of the first transistor Tr1, and a pulse to the control terminal of the second transistor Tr2. And a second diagnostic circuit 17a that outputs a second cutoff signal or a second diagnostic signal.
- the first diagnosis circuit 16a and the second diagnosis circuit 17a are each composed of CPLD (Complex Programmable Logic Device).
- FIG. 3 is a circuit diagram showing an example of the circuit configuration of the brake B1 to B6 power cutoff device of the multi-axis robot 100.
- the power cut-off device 1b generates a brake circuit 50 including a plurality of electromagnetic brakes B1 to B6 for braking a plurality of shafts, and operation power supplied to each electromagnetic brake in the brake circuit 50.
- the brake circuit 50 includes a plurality of electromagnetic brakes B1 to B6 that respectively brake a plurality of axes, and switches between excitation and de-excitation according to the brake signal from the brake signal generation circuit 19 corresponding to each electromagnetic brake.
- a transistor is provided as a switching element.
- the brake circuit power supply 20 steps down the DC power voltage (eg, 200 V) output from the AC / DC converter 32 to a predetermined voltage (eg, 24 to 26 V) in the operation voltage generator 30 shown in FIG. It is a power supply circuit that supplies power for operation to the brake circuit 50.
- a predetermined voltage eg, 24 to 26 V
- the cutoff circuit 14b is provided in the middle of the electric circuit L2 which supplies electric power for operation to each electromagnetic brake in the brake circuit 50.
- the interruption circuit 14b includes two or more semiconductor switching elements that are inserted in series with each other in the electric circuit L2 and are turned off in accordance with an interruption signal from the interruption control circuit 15b to interrupt the electric circuit L2.
- two semiconductor switching elements Tr1 and Tr2 are connected in series to the electric circuit L2.
- the semiconductor switching elements Tr1 and Tr2 are transistors, for example, specifically two n-channel FETs.
- the cutoff circuit 14b is different from the cutoff circuit 14a in that a filter circuit including a diode and a capacitor is not connected to the load side of the second transistor Tr2. The reason is as follows.
- each electromagnetic brake since the electromagnetic coil has a relatively large inductance, even if the first transistor Tr1 and the second transistor Tr1 are instantaneously turned off by a first diagnostic signal and a second diagnostic signal described later, The inductance prevents the current from changing, and a substantially constant power (current) is supplied to each electromagnetic brake. Therefore, the output circuit as described above is unnecessary.
- the electromagnetic brakes B1 to B6 are defined as loads, and one of the two semiconductor switching elements is defined as a first transistor (power-supply side semiconductor switching element) Tr1, and is loaded by the first transistor Tr1.
- a second transistor load-side semiconductor switching element Tr2.
- the cutoff control circuit 15b includes a first diagnostic circuit 16b and a second diagnostic circuit 17b, as in the motor-driven power cutoff device 1a. Since the configurations of the first diagnostic circuit 16b and the second diagnostic circuit 17b are the same as the configurations of the first diagnostic circuit 16a and the second diagnostic circuit 17a, the description thereof is omitted.
- the shutoff control in the motor drive power shut-off device 1a and the brake power shut-off device 1b will be described with reference to FIG.
- the shutoff control circuit 15a in the power shutoff device 1a of FIG. 2 outputs a shutoff signal to shut off the shutoff circuit 14a in response to a stop operation of the emergency stop switch SW in an emergency.
- the first diagnosis circuit 16a outputs a first cutoff signal OUT_1 including a pulse to the control terminal of the first transistor Tr1 in order to shut off the first transistor Tr1 of the cutoff circuit 14a.
- the second diagnostic circuit 17a outputs a second cutoff signal OUT_2 including a pulse to the control terminal of the second transistor Tr2 in order to shut off the second transistor Tr2 of the cutoff circuit 14a.
- the first diagnosis circuit 16a and the second diagnosis circuit 17a may output the first cutoff signal OUT_1 and the second cutoff signal OUT_2 simultaneously with the same phase or different phases.
- DIAG_1 is a response signal to the first cutoff signal OUT_1 that the second diagnostic circuit 17a receives from the main terminal on the load (drive circuit 12) side of the first transistor Tr1.
- DIAG_2 is a response signal to the second cutoff signal OUT_2 that the first diagnostic circuit 16a receives from the main terminal on the load (drive circuit 12) side of the second transistor Tr2.
- the cutoff control circuit 15a periodically outputs a pulse for turning off the semiconductor switching elements Tr1 and Tr2 to the control terminals of the semiconductor switching elements Tr1 and Tr2 of the cutoff circuit 14a, and whether or not the semiconductor switching elements Tr1 and Tr2 are turned off. Diagnose.
- the first diagnosis circuit 16a outputs a first diagnosis signal including a pulse to the control terminal of the first transistor Tr1.
- the second diagnostic circuit 17a outputs a second diagnostic signal including a pulse having a phase different from that of the pulse of the first diagnostic signal to the control terminal of the second transistor Tr2.
- the first diagnosis circuit 16a receives a response signal DIAG_2 to the second diagnosis signal OUT_2 from the main terminal on the load (drive circuit 12) side of the second transistor Tr2, and diagnoses whether the second transistor Tr2 is operating normally. To do.
- the second diagnosis circuit 17a receives the response signal DIAG_1 to the first diagnosis signal OUT_1 from the main terminal on the load (drive circuit 12) side of the first transistor Tr1, and diagnoses whether or not the first transistor Tr1 is operating normally. To do.
- FIG. 4 is a timing chart in the self-diagnosis control.
- OUT_1 is a first diagnostic signal that the first diagnostic circuit 16a outputs to the control terminal of the first transistor Tr1 and the second diagnostic circuit 17a.
- OUT_2 is a second diagnostic signal that the second diagnostic circuit 17a outputs to the control terminal of the second transistor Tr2 and the first diagnostic circuit 16a.
- DIAG_1 is a response signal to the first diagnostic signal OUT_1 that the second diagnostic circuit 17a receives from the main terminal on the load (drive circuit 12) side of the first transistor Tr1.
- DIAG_2 is a response signal to the second diagnostic signal OUT_2 that the first diagnostic circuit 16a receives from the main terminal on the load (drive circuit 12) side of the second transistor Tr2.
- the first diagnostic signal OUT_1 and the second diagnostic signal OUT_2 having a constant period and different phases are input to the cutoff circuit 14a.
- the second diagnostic circuit 17a receives the response signal DIAG_1 to the first diagnostic signal OUT_1 from the main terminal on the load (drive circuit 12) side of the first transistor Tr1, and diagnoses the operation of the first transistor Tr1.
- the second diagnosis circuit 17a diagnoses that the first transistor Tr1 is operating normally.
- the first diagnosis circuit 16a receives the response signal DIAG_2 to the second diagnosis signal OUT_2 from the main terminal on the load (drive circuit 12) side of the second transistor Tr2, and diagnoses the operation of the second transistor Tr2.
- the first diagnosis circuit 16a diagnoses that the second transistor Tr2 is operating normally.
- the cutoff control circuit 15a determines that both the first transistor Tr1 and the second transistor Tr2 of the cutoff circuit 14a are operating normally.
- the second diagnosis circuit 17a receives the response signal DIAG_1 for the first diagnosis signal OUT_1 from the main terminal on the load (drive circuit 12) side of the first transistor Tr1, and diagnoses the operation of the first transistor. .
- the pulse signal of the response signal DIAG_1 is maintained at a high level, the second diagnosis circuit 17a diagnoses that the first transistor Tr1 is not operating normally.
- the first diagnosis circuit 16a receives the response signal DIAG_2 for the second diagnosis signal OUT_2 from the main terminal on the load (drive circuit 12) side of the second transistor Tr2, and diagnoses the operation of the second transistor Tr2.
- the pulse signal of the response signal DIAG_2 is lowered to the low level, the first diagnosis circuit 16a determines that the second transistor Tr2 is operating normally.
- the two transistors Tr1 and Tr2 connected in series in the cutoff circuit 14a are operating normally, and even if a failure occurs in the cutoff circuit 14a, the two transistors (Tr1 and Tr1 ) Can be identified as to which transistor has failed.
- the two diagnostic circuits mutually check whether the diagnostic signal is output from the counterpart diagnostic circuit, it is possible to prevent misdiagnosis caused by the absence of the diagnostic signal being output. Will improve.
- the FETs constituting the cutoff circuits 14a and 14b are both n-channel type, but are not limited to such a configuration.
- FIG. 5A and FIG. 5B are circuit configuration diagrams illustrating other examples of the cutoff circuit.
- the blocking circuit 14a or 14b may be constituted by P-channel type and N-channel type FETs, and as shown in FIG. 5B, the P-channel type and the P-channel type.
- the cut-off circuit 14a or 14b may be configured in combination.
- the P-channel type FET is inserted in an electric circuit that connects the IPM gate power supply 13 and the GND of the drive circuit 12 of the IPM 10.
- the multi-axis robot is a six-axis multi-joint robot having six axes.
- the present invention is not limited to this as long as it is a multi-axis robot having at least two axes.
- the breaking circuits 14a and 14b are inserted in series in the electric circuits L1 and L2 corresponding to both of them, respectively, and are turned off in response to the interruption signal to cut off these electric circuits.
- the semiconductor switching elements Tr1 and Tr2 may be included in one of the cutoff circuits.
- the number of semiconductor switching elements may be three or more.
- the present invention can be used for a multi-axis robot provided with a plurality of motors for driving a plurality of axes.
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Abstract
Description
10 IPM
11 電力変換器
12 駆動回路
13 IPMゲート電源
14a、14b 遮断回路
15a、15b 遮断制御回路
16a、16b 第1診断回路
17a、16b 第2診断回路
18 制御信号生成回路
19 ブレーキ信号生成回路
20 ブレーキ回路電源
30 動作用電圧生成部
31 交流電源
32 AC/DC変換部
33 平滑用コンデンサ
40 制御部
50 ブレーキ回路
100 多軸ロボット
200 制御装置
Claims (4)
- 多軸ロボットの複数の軸をそれぞれ駆動する複数のモータと、
前記複数のモータに電力を制御しながら供給して該複数のモータの動作をそれぞれ制御する複数の電力変換器と、
各前記電力変換器を構成する第1の半導体スイッチング素子の制御端子に前記モータの動作を制御するための制御信号に従った駆動信号を出力して該第1の半導体スイッチング素子を駆動する駆動回路と、
前記駆動回路に第1の動作用電力を供給する第1の電路の途中に設けられた第1の遮断回路と、
前記複数の軸をそれぞれ制動する複数の電磁ブレーキと、
各前記電磁ブレーキに第2の動作用電力を供給する第2の電路の途中に設けられた第2の遮断回路と、
前記第1及び第2の遮断回路に遮断信号を出力する遮断制御回路と、を備え、
前記第1及び第2の遮断回路の少なくともいずれかの遮断回路(以下、特定遮断回路という)は、前記第1及び第2の電路のうちの当該特定遮断回路に対応する電路(以下、特定電路という)に互いに直列にそれぞれ介挿され、前記遮断信号に応じてそれぞれオフして前記特定電路を遮断する2以上の第2の半導体スイッチング素子を含む、多軸ロボットの動力遮断装置。 - 前記遮断制御回路は、前記第2の半導体スイッチング素子の制御端子に定期的に当該第2の半導体スイッチング素子をオフするパルスを出力し、前記第2の半導体スイッチング素子がオフするか否かを診断する、請求項1に記載の多軸ロボットの動力遮断装置。
- 前記遮断制御回路は、前記駆動回路及び前記電磁ブレーキを負荷と定義し、前記2以上の第2の半導体スイッチング素子のうちの一つの半導体スイッチング素子を電源側半導体スイッチング素子と定義し、当該電源側半導体スイッチング素子より前記負荷側に位置する他の一つの半導体スイッチング素子を負荷側半導体スイッチング素子と定義した場合、前記電源側半導体スイッチング素子の制御端子に前記パルスを含む第1診断信号を出力する第1診断回路と、前記負荷側半導体スイッチング素子の制御端子に前記第1診断信号のパルスとは異なる位相を有するパルスを含む第2診断信号を出力する第2診断回路とを更に備え、
前記第1診断回路は、前記負荷側半導体スイッチング素子の前記負荷側の主端子から前記第2診断信号に対する応答信号を受信して前記負荷側半導体スイッチング素子が正常動作しているか否かを診断し、
前記第2診断回路は、前記電源側半導体スイッチング素子の前記負荷側の主端子から前記第1診断信号に対する応答信号を受信して前記負荷側半導体スイッチング素子が正常動作しているか否かを診断する、請求項2に記載の多軸ロボットの動力遮断装置。 - 請求項1乃至3のいずれか一項に記載の動力遮断装置を備える、多軸ロボット。
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