Robot control device and robot provided with the same

Patent metadata

Field	Value
Publication number	US-10994412-B2
Application number	US-201716092225-A
Country	US
Kind code	B2
Filing date	Apr 6, 2017
Priority date	Apr 6, 2016
Publication date	May 4, 2021
Grant date	May 4, 2021

Abstract

A robot control device having a drive shaft driven by a servo motor including a non-excited operation type electromagnetic brake. The electromagnetic brake is configured to perform a braking operation by pressing an armature against a friction plate by an urging force of a spring when an excitation coil is not energized, and to cancel a brake operation by attracting the armature to the excitation coil side against the urging force of the spring to separate the armature from the friction plate when the excitation coil is energized. A coil current flowing through the excitation coil is obtained and the robot is controlled based on the characteristic of time change of the obtained coil current. A robot control device capable of shortening a cycle time, estimating the life of the electromagnetic brake, performing abnormality diagnosis and the like with a relatively simple configuration can be provided.

First claim

The invention claimed is:

1. A robot control device comprising:
a drive shaft; and
a servo motor configured to drive the drive shaft, the servo motor having a non-excited operation type electromagnetic brake including: (i) an excitation coil, (ii) a spring, (iii) an armature, (iv) a friction plate, and (v) a discharge circuit for lowering a counter electromotive voltage, the non-excited operation type electromagnetic brake being configured to:
perform a braking operation by pressing the armature against the friction plate via an urging force of the spring when the excitation coil is not energized, and
cancel the braking operation by attracting the armature to an excitation coil side against the urging force of the spring so as to separate the armature from the friction plate when the excitation coil is energized, wherein:

the discharge circuit lowers the counter electromotive voltage that is generated when the braking operation is performed by canceling an application of voltage to the excitation coil, and
the robot control device is configured to: (a) obtain a coil current flowing through the excitation coil of the non-excited operation type electromagnetic brake, and (b) control the robot based on a characteristic of time change of the obtained coil current.

2. The robot control device according to claim 1 , wherein
the robot control device is configured to:
obtain the coil current during a normal operation of the robot, and
determine that a circuit of the excitation coil is abnormal when the coil current which has been obtained reaches a preset current value.

3. The robot control device according to claim 1 , wherein
the robot control device is configured to:
obtain the coil current in a state where the electromagnetic brake is actuated, and
determine that the electromagnetic brake is abnormal when the coil current is equal to or larger than a predetermined value.

4. The robot control device according to claim 3 , wherein
the servo motor includes a position detector, and
the robot control device is configured to
further monitor a presence or an absence of a position fluctuation which has been obtained by the position detector of the servo motor when performing an abnormality determination of the electromagnetic brake.

5. A robot comprising:
the robot control device according to claim 1 ; and
a drive shaft which is controlled by the robot control device.

6. The robot control device according to claim 1 , further comprising:
a processor programmed to:
obtain the coil current flowing through the excitation coil of the non-excited operation type electromagnetic brake, and
control the robot based on the characteristic of time change of the obtained coil current.

7. A robot control device comprising:
a drive shaft; and
a servo motor configured to drive the drive shaft, the servo motor having a non-excited operation type electromagnetic brake including: (i) an excitation coil, (ii) a spring, (iii) an armature, (iv) a friction plate, and (v) a discharge circuit for lowering a counter electromotive voltage, the non-excited operation type electromagnetic brake being configured to:
perform a braking operation by pressing the armature against the friction plate via an urging force of the spring when the excitation coil is not energized, and
cancel the braking operation by attracting the armature to an excitation coil side against the urging force of the spring so as to separate the armature from the friction plate when the excitation coil is energized, wherein:

the robot control device is configured to: (a) obtain a coil current flowing through the excitation coil of the non-excited operation type electromagnetic brake, and (b) control the robot based on a characteristic of time change of the obtained coil current,
the characteristic of time change of the coil current is a characteristic of current change after a voltage application point to the excitation coil and after a voltage application cancelling point, and
the robot control device is configured to:
(1) estimate an attraction time of the armature from the voltage application point to an attraction point of the armature based on the characteristic of current change after the voltage application point to the excitation coil, and/or
(2) estimate a release time of the armature from the voltage application cancelling point to a release point of the armature based on the characteristic of current change after the voltage application cancelling point of the excitation coil, and

 control the robot based on the estimated attraction time and/or the estimated release time of the armature.

8. The robot control device according to claim 7 , wherein
the robot control device is configured to:
(1) estimate a time at which the coil current increasing toward a steady current value by the voltage application starts to decrease and its current decrease reaches a preset decrease amount as an attraction point of the armature, and/or
(2) estimate a time at which the coil current decreasing by canceling the voltage application starts to increase and its current increase reaches a preset increase amount as a release point of the armature, and

 control the robot based on the estimated attraction time and/or the estimated release time of the armature.

9. The robot control device according to claim 7 , wherein
the robot control device is configured to:
estimate a wear amount of the friction plate, and/or
determine whether or not the friction plate is at a wear limit based on a change over time of the estimated attraction time and/or the estimated release time of the armature according to an operation of the robot including an abnormal stop.

10. A robot comprising:
the robot control device according to claim 7 ; and
a drive shaft which is controlled by the robot control device.

11. The robot control device according to claim 7 , further comprising:
a processor programmed to:
obtain the coil current flowing through the excitation coil of the non-excited operation type electromagnetic brake, and
control the robot based on the characteristic of time change of the obtained coil current.

Assignees

• Kawasaki Heavy Ind Ltd

Inventors

• Oyama Yasunori

Classifications

• F16D66/00

  Arrangements for monitoring working conditions, e.g. wear, temperature · CPC title

• 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 (safety-devices in general F16P; protection against radiation in general G21F) · CPC title

• B25J19/0004 Primary

  Braking devices (brakes in general F16D) · CPC title

• F16D55/06

  without self-tightening action · CPC title

• F16D2066/006

  without direct measurement of the quantity monitored, e.g. wear or temperature calculated form force and duration of braking · CPC title