Robot apparatus and controlling method of the robot apparatus

Patent metadata

Field	Value
Publication number	US-9405288-B2
Application number	US-201514663104-A
Country	US
Kind code	B2
Filing date	Mar 19, 2015
Priority date	Mar 28, 2014
Publication date	Aug 2, 2016
Grant date	Aug 2, 2016

Abstract

A robot apparatus comprises: a robot body having a multi joint arm including a plurality of joints; a motor provided as a driving source of at least a part of the plurality of joints; and a controlling system capable of controlling the motor. The controlling system comprises a motion controlling unit configured to input a current to the motor to rotate the motor, a heat generation controlling unit configured to input the current to the motor to generate heat, without rotating the motor, and a controlling unit configured to calculate a temperature raising current necessary to rise up to a predetermined temperature without rotating the motor, to generate a current instruction for temperature raising to set the heat generation controlling unit to output the temperature raising current, and to transmit the current instruction for temperature raising to the heat generation controlling unit at stopping the robot body.

First claim

What is claimed is:

1. A robot apparatus comprising:
a robot body having a multi joint arm including a plurality of joints;
a motor provided as a driving source of at least a part of the plurality of joints; and
a controlling system capable of controlling the motor, wherein
the controlling system comprises
a motion controlling unit configured to input a current to the motor to rotate the motor,
a heat generation controlling unit configured to input the current to the motor to generate heat, without rotating the motor, and
a controlling unit configured to calculate a temperature raising current necessary to rise up to a predetermined temperature without rotating the motor, to generate a current instruction for temperature raising to set the heat generation controlling unit to output the temperature raising current, and to transmit the current instruction for temperature raising to the heat generation controlling unit at stopping the robot body.

2. The robot apparatus according to claim 1 , wherein
the motor is a brushless motor being controllable according a vector control based on a q-axis current or a d-axis current, and
the motion controlling unit inputs the q-axis current to the motor, to generate the rotation, and inputs the d-axis current to the motor, to generate the heat without rotating the rotation.

3. The robot apparatus according to claim 1 , wherein
the temperature raising current is set based on an actual measurement value of a current energizing the motor to perform a predetermined operation actually.

4. The robot apparatus according to claim 1 , wherein
the temperature raising current is set based on an estimated driving torque of the robot body, to perform a predetermined operation.

5. The robot apparatus according to claim 1 , wherein
the predetermined temperature is a temperature estimated at a time of stopping the robot as a temperature up to which the temperature of the robot rises by operating the robot without stopping.

6. The robot apparatus according to claim 1 , wherein
the controlling unit calculate a temperature raising period necessary to rise the temperature of the robot body by the temperature raising current from a current temperature up to the predetermined temperature based on a thermal time constant, such that the temperature of the robot body rises to the predetermined temperature at a time of staring of the operation of the robot body, and
the controlling unit transmits the current instruction for temperature raising to the heat generation controlling unit, the temperature raising period before the time of staring of the operation of the robot body.

7. The robot apparatus according to claim 1 , wherein
the controlling system comprises:
a motor controlling unit having disposed in the robot body and having the motion controlling unit and the heat generation controlling unit, and the controlling unit disposed separately from the robot body.

8. A controlling method of a robot apparatus, wherein the robot apparatus comprises:
a robot body having a multi joint arm including a plurality of joints;
a motor provided as a driving source of at least a part of the plurality of joints; and
a controlling system having a controlling unit and inputting a current to the motor to generate at least one of a rotation of the motor and a heat, to control an operation of the robot body, wherein the method comprises:
calculating, by the controlling unit, a temperature raising current necessary to rise up to a predetermined temperature without rotating the motor; and
supplying, by the controlling unit, the temperature raising current to the motor for rising the temperature, at stopping the robot body.

9. A controlling method of a robot apparatus, wherein the robot apparatus comprises:
a robot body having a multi joint arm including a plurality of joints;
a motor provided as a driving source of at least a part of the plurality of joints; and
a controlling system having a controlling unit and inputting a current to the motor to generate at least one of a rotation of the motor and a heat, to control an operation of the robot body, wherein the method comprises:
calculating, by the controlling unit, a temperature raising current necessary to rise up to a predetermined temperature without rotating the motor;
calculating, by the controlling unit, a temperature raising period necessary to rise the temperature of the robot body by the temperature raising current from a current temperature up to the predetermined temperature based on a thermal time constant, such that the temperature of the robot body rises to the predetermined temperature at a time of staring of the operation of the robot body, and
supplying, by the controlling unit, the temperature raising current to the motor to start the temperature rising, the temperature raising period before the time of staring of the operation of the robot body.

10. A non-transitory computer-readable recording medium storing a readable program for operating a computer to execute a controlling method of a robot apparatus according to claim 8 .

11. A non-transitory computer-readable recording medium storing a readable program for operating a computer to execute a controlling method of a robot apparatus according to claim 9 .

Assignees

• Canon Kk

Inventors

• Ogata Masaru

Classifications

• B25J9/1694 Primary

  characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion · CPC title

• G05B19/404 Primary

  characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia (G05B19/19, G05B19/41 take precedence) · CPC title

• Y10S901/46

  Sensing device · CPC title

• B25J19/02

  Sensing devices · CPC title

• G05B2219/49213

  Active thermal preload regulation for spindle · CPC title