Robot overcurrent prevention system
First Claim
1. An overcurrent prevention system for a robot having at least a pair of links connected by a joint, and an electrical system including an electric motor installed at the joint, a power circuit connecting the electric motor to a power source, and a drive circuit installed in the power circuit to supply current to the electric motor in response to a current supply command, comprising:
- a switching device installed in the power circuit and cutting off the drive circuit when turned off;
a current sensor generating an output indicative of the current supplied to the electric motor through the drive circuits; and
an overcurrent suppressor comparing the output of the current sensor with a threshold value and executing a switching action for operating the switching device to cut off the power circuit intermittently during a first predetermined time period when the output of the current sensor exceeds the threshold value.
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Accused Products
Abstract
In an overcurrent prevention system for a robot having links connected by joints and an electrical system including electric motors installed at the joint, a power circuit connecting the electric motors to a power source, and drive circuits to supply current to the electric motors, there are provided a switching device installed in the power circuit, a current sensor detecting the current supplied to the electric motors, and the output of the current sensor is compared with a threshold value and the switching device is operated to execute a switching action to cut off the power circuit intermittently during a first predetermined period when the output of the current sensor exceeds the threshold value, thereby protecting the electrical system when overcurrent is detected, without causing functional disablement and/or posture instability of the robot.
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Citations
14 Claims
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1. An overcurrent prevention system for a robot having at least a pair of links connected by a joint, and an electrical system including an electric motor installed at the joint, a power circuit connecting the electric motor to a power source, and a drive circuit installed in the power circuit to supply current to the electric motor in response to a current supply command, comprising:
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a switching device installed in the power circuit and cutting off the drive circuit when turned off; a current sensor generating an output indicative of the current supplied to the electric motor through the drive circuits; and an overcurrent suppressor comparing the output of the current sensor with a threshold value and executing a switching action for operating the switching device to cut off the power circuit intermittently during a first predetermined time period when the output of the current sensor exceeds the threshold value. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. An overcurrent prevention method of a robot having at least a pair of links connected by a joint, an electrical system including an electric motor installed at the joint, a power circuit connecting the electric motor to a power source, a drive circuit installed in the power circuit to supply current to the electric motor in response to a current supply command, a switching device installed in the power circuit and cutting off the drive circuit when turned off, and a current sensor generating an output indicative of the current supplied to the electric motor through the drive circuits;
- comprising the step of;
comparing the output of the current sensor with a threshold value and executing a switching action for operating the switching device to cut off the power circuit intermittently during a first predetermined time period when the output of the current sensor exceeds the threshold value. - View Dependent Claims (11, 12, 13, 14)
- comprising the step of;
Specification