Brake control system and method of fault detection

Patent metadata

Field	Value
Publication number	US-10763765-B2
Application number	US-201916258926-A
Country	US
Kind code	B2
Filing date	Jan 28, 2019
Priority date	Jan 29, 2018
Publication date	Sep 1, 2020
Grant date	Sep 1, 2020

Abstract

A brake control system includes: a plurality of motors each provided with a brake device and a position detecting section; and a brake control device that controls a plurality of the brake devices using one brake-oriented power source. The position detecting section includes a position detecting circuit section and a communication circuit section. The brake device includes: a current detecting section that detects a brake current flowing through a brake coil of an electromagnetic brake; and an insulating circuit section that electrically insulates the current detecting section and the communication circuit section. The communication circuit section transmits to the brake control device the brake current acquired via the insulating circuit section. The brake control device includes a fault specifying section that specifies the faulty brake device based on a plurality of detection signals detected by a plurality of the current detecting sections.

First claim

What is claimed is:

1. A brake control system comprising:
a plurality of motors each provided with a brake device and a position detecting section; and
a brake control device that controls a plurality of the brake devices using one brake-oriented power source,
the position detecting section including:
a position detecting circuit section that detects a rotational position of a rotating shaft of the motor; and
a communication circuit section that transmits the rotational position to the brake control device,
the brake device including:
an electromagnetic brake that has a brake coil and releases braking of the rotating shaft of the motor by electrification of the brake coil;
a detecting section that detects at least one of a brake current flowing through the brake coil and a brake voltage applied to the brake coil; and
an insulating circuit section provided between the detecting section and the communication circuit section in order to electrically insulate the detecting section and the communication circuit section and transmit to the brake control device via the communication circuit section a detection signal detected by the detecting section, and
the brake control device comprising a fault specifying section that specifies a faulty brake device based on a plurality of detection signals detected by a plurality of the detecting sections.

2. The brake control system according to claim 1 , wherein
the brake control device comprises:
a switch that switches whether or not to supply the brake coil of a plurality of the brake devices with a current from the brake-oriented power source; and
a brake drive control section that controls the switch to release braking of the rotating shaft of a plurality of the motors.

3. The brake control system according to claim 1 , wherein
the detecting section is a current detecting section that detects the brake current,
the brake control device comprises a voltage detecting section that detects the brake voltage of the brake coil of a plurality of the brake devices, and
the fault specifying section specifies the faulty brake device based on a plurality of the brake currents detected by a plurality of the current detecting sections and the brake voltage detected by the voltage detecting section.

4. The brake control system according to claim 1 , wherein
the detecting section is a voltage detecting section that detects the brake voltage,
the brake control device comprises a current detecting section that detects a current flowing into the brake coil of a plurality of the brake devices from the brake-oriented power source, and
the fault specifying section specifies the faulty brake device based on a plurality of the brake voltages detected by a plurality of the voltage detecting sections and the current detected by the current detecting section.

5. The brake control system according to claim 1 , wherein
the detecting section includes a current detecting section that detects the brake current and a voltage detecting section that detects the brake voltage, and
the fault specifying section specifies the faulty brake device based on a plurality of the brake currents detected by a plurality of the current detecting sections and a plurality of the brake voltages detected by a plurality of the voltage detecting sections.

6. The brake control system according to claim 1 , wherein
the detecting section includes a shunt resistor, and
the insulating circuit section is an insulating-type A/D converter.

7. The brake control system according to claim 1 , wherein
the detecting section and the insulating circuit section are configured by a Hall element-type sensor.

8. A method of fault detection by which a brake control system detects a fault of a brake device, the brake control system comprising:
a plurality of motors each provided with the brake device and a position detecting section, the brake device having a brake coil and releasing braking of a rotating shaft of the motor by electrification of the brake coil; and the position detecting section detecting a rotational position of the rotating shaft; and
a brake control device that controls a plurality of the brake devices using one brake-oriented power source, the method including:
a detecting step by which a detecting section provided to each of a plurality of the brake devices detects at least one of a brake current flowing through the brake coil and a brake voltage applied to the brake coil;
a transmitting step by which the position detecting section, as well as transmitting the detected rotational position to the brake control device, acquires via an insulating circuit section a plurality of detection signals detected in the detecting step and transmits an acquired plurality of the detection signals to the brake control device; and
a fault specifying step by which a fault specifying section of the brake control device specifies a faulty brake device based on a plurality of the detected signals detected in the detecting step.

9. The method of fault detection according to claim 8 , wherein
the brake control device includes a switch that switches whether or not to supply the brake coil of a plurality of the brake devices with a current from the brake-oriented power source, and
the method includes a releasing step by which a brake drive control section of the brake control device controls the switch to release braking of the rotating shaft of a plurality of the motors.

10. The method of fault detection according to claim 8 , including
a second detecting step by which a voltage detecting section provided to the brake control device detects the brake voltage of the brake coil of a plurality of the brake devices,
wherein the detecting section is a current detecting section,
the detecting step has the brake current detected by the current detecting section, and
the fault specifying step specifies the faulty brake device based on a plurality of the brake currents detected in the detecting step and the brake voltage detected in the second detecting step.

11. The method of fault detection according to claim 8 , including
a second detecting step by which a current detecting section provided to the brake control device detects a current flowing into the brake coil of a plurality of the brake devices from the brake-oriented power source,
wherein the detecting section is a voltage detecting section,
the detecting step has the brake voltage detected by the voltage detecting section, and
the fault specifying step specifies the faulty brake device based on a plurality of the brake voltages detected in the detecting step and the current detected in the second detecting step.

12. The method of fault detection according to claim 8 , wherein
the detecting section includes a current detecting section and a voltage detecting section,
the detecting step has the brake current and the brake voltage detected by the current detecting section and the voltage detecting section, and
the fault specifying step specifies the faulty brake device based on a plurality of the brake currents and a plurality of the brake voltages detected in the detecting step.

Assignees

• Fanuc Corp

Inventors

• Fujii Shouta
• Shikagawa Tsutomu

Classifications

• G01R31/50

  Testing of electric apparatus, lines, cables or components for short-circuits, continuity, leakage current or incorrect line connections (testing of sparking plugs H01T13/58) · CPC title

• F16D59/02 Primary

  spring-loaded and adapted to be released by mechanical, fluid, or electromagnetic means · CPC title

• H02P3/04 Primary

  Means for stopping or slowing by a separate brake, e.g. friction brake or eddy-current brake · CPC title

• F16D63/002

  Brakes with direct electrical or electro-magnetic actuation · CPC title

• G01R15/202

  using Hall-effect devices (Hall elements in arrangements for measuring electrical power G01R21/08) · CPC title