Industrial robot having redundant emergency brake circuit

• US 8,736,219 B2
• Filed: 10/29/2008
• Issued: 05/27/2014
• Est. Priority Date: 12/11/2007
• Status: Active Grant

• Current Assignee: KUKA Laboratories GmbH (Midea Group Co., Ltd)
• Original Assignee: KUKA Laboratories GmbH (Midea Group Co., Ltd)
• Inventors: Hofmann, Josef, Schwarz, Richard, Marx, Snke
• Primary Examiner(s): Santana, Eduardo Colon
• Assistant Examiner(s): AGARED, GABRIEL T
• Application Number:
  US12/747,733
• Publication Number:
  US 20100288067A1
• Time in Patent Office: 2,036 Days
• Field of Search: 318/375, 318/379, 318/380, 318/801, 363/34, 363/35
• US Class Current: 318/801
• CPC Class Codes: B25J 19/06 Safety devices
• CPC Class Codes: B25J 9/1674 characterised by safety, monitoring, diagnostic
• CPC Class Codes: H02P 3/22 by short-circuit or resistive braking
• CPC Class Codes: Y10T 74/20317 including electric motor

Abstract

The invention relates to an industrial robot having a robotic arm. The robotic arm has several axes (A1-A6) and at least one electric drive, which comprises an electric motor (7-12) and power electronics (16) actuating the electric motor (7-12) and is equipped to move the relevant axis (A1-A6). The industrial robot (1) is equipped to short-circuit the electric motor (7-12) in the event of emergency braking simultaneously by means of two independent electric current paths.

Claims

1. An industrial robot comprising:

a robotic arm movable about at least one axis;

an electric motor having an input and coupled to the robotic arm so that movement of the electric motor causes movement of the robotic arm about the at least one axis;

power electronics electrically coupled to the electric motor input and actuating the electric motor for movement of the robotic arm about the axis;

at least two independent current paths, wherein each of the at least two independent current paths is configured so that when the current path is electrically coupled to the electric motor input, the electric motor input is shorted through the independent current path, causing the electric motor to brake; and

a controller electrically coupling two or more of the at least two independent current paths to the electric motor input in response to emergency braking conditions, thereby causing emergency braking of the electric motor, wherein

one of the at least two independent current paths comprises a first switch connected directly to the input of the electric motor; and

the controller electrically couples one of the at least two independent current paths to the motor, in response to emergency braking conditions, by causing the first switch to enter a closed state, thereby shorting the motor input.

2. The industrial robot of claim 1, wherein:

one of the at least two independent current paths comprises a second switch in series with a resistance;

the second switch is connected directly to the input of the electric motor; and

the controller electrically couples one of the at least two independent current paths to the motor, in response to emergency braking conditions, by causing the second switch to enter a closed state, thereby shorting the motor input through the resistance.

3. The industrial robot of claim 1, wherein the electric motor is a three-phase motor, and wherein the power electronics comprise:

a three-phase inverter having an input and an output; and

a linking circuit comprising a capacitor;

wherein the linking circuit is electrically coupled to the three-phase inverter input, and the three-phase inverter output is electrically coupled to the electric motor input.

4. The industrial robot of claim 3, wherein the linking circuit further comprises:

a first resistance, and

a second switch in series with the first resistance and operatively coupled to the controller;

wherein the controller, in response to emergency braking conditions, couples one of the at least two independent current paths to the electric motor input by causing the second switch to enter a closed state; and

wherein the closed state of the second switch places the first resistance in parallel with the capacitor, thereby discharging the capacitor through the first resistance, and shorting the electric motor input through a path including the first resistance.

5. The industrial robot of claim 4, wherein the three-phase inverter comprises:

a first half-bridge including a first plurality of semiconductor switches; and

a second half-bridge including a second plurality of semiconductor switches;

wherein the controller is operatively coupled to the first plurality of semiconductor switches and the second plurality of semiconductor switches; and

wherein the controller, in response to emergency braking conditions, couples one of the at least two independent current paths to the electric motor input by causing the first plurality of semiconductor switches to enter an open state, and causing the second plurality of semiconductor switches to enter a closed state.

6. An industrial robot comprising:

a robotic arm movable about at least one axis;

an electric motor having an input and coupled to the robotic arm so that movement of the electric motor causes movement of the robotic arm about the at least one axis;

an inverter having an input and an output, the output electrically coupled to the electric motor input;

a linking circuit electrically coupled to the inverter input, the linking circuit having a capacitor, a first resistance, a first switch in series with the first resistance, and a second switch in parallel with the first switch;

at least two independent current paths each configured so that when the current path is electrically coupled to the electric motor input, the electric motor input is shorted through the current path, causing the electric motor to brake; and

a controller operatively coupled to the first and second switches, the controller electrically coupling two or more of the at least two independent current paths to the electric motor input in response to emergency braking conditions, thereby causing emergency braking of the electric motor,

wherein the controller couples one of the at least two independent current paths to the electric motor input by causing at least one of the first and second switches to enter a closed state, the closed state of either of the first and the second switches placing the first resistance in parallel with the capacitor, thereby discharging the capacitor through the first resistance and shorting the electric motor input through a path including the first resistance.

7. The industrial robot of claim 6, wherein the first switch is a semiconductor switch, and the second switch is a mechanical switch actuated by a relay.

8. An industrial robot comprising:

a robotic arm movable about at least one axis;

an electric motor having an input and coupled to the robotic arm so that movement of the electric motor causes movement of the robotic arm about the at least one axis;

a controller;

a voltage source;

an inverter including an input, an output electrically coupled to the electric motor input, a first half-bridge having a first plurality of semiconductor switches, and a second half-bridge having a second plurality of semiconductor switches;

a linking circuit electrically coupling the voltage source to the inverter input, the linking circuit including a capacitor, a first resistance, and a first switch in series with the first resistance, the first switch being operatively coupled to the controller;

a second switch adapted to disconnect the linking circuit and inverter from the voltage source when the second switch is in an open state;

a first channel operatively coupling the controller to the first and second plurality of semiconductor switches;

a second channel, independent of the first channel, that operatively couples the controller to the second switch; and

at least two independent current paths, wherein each of the at least two independent current paths is configured so that when the current path is coupled to the electric motor input, the electric motor input is shorted through the current path, causing the electric motor to brake,

wherein the controller, in response to emergency braking conditions, brakes the motor by;

causing the second switch to go into an open state,

coupling one of the at least two independent current paths to the electric motor input by causing the first switch to enter a closed state so that the first resistance is placed in parallel with the capacitor to discharge the capacitor and short the electric motor input through a path including the first resistance, and

coupling another path of the at least two independent current paths to the electric motor input by causing the first plurality of semiconductor switches to enter an open state and the second plurality of semiconductor switches to enter a closed state.

9. The industrial robot of claim 8, wherein the linking circuit further comprises:

a third switch in parallel with the first switch and operatively coupled to the controller;

wherein the controller, in response to emergency braking conditions, couples one of the at least two independent current paths to the electric motor input by causing the third switch to enter a closed state; and

wherein the closed state of the third switch places the first resistance in parallel with the capacitor, thereby discharging the capacitor through the first resistance, and shorting the electric motor input through a path including the first resistance.

10. The industrial robot of claim 9, wherein:

one of the at least two independent current paths comprises a fourth switch connected directly to the input of the electric motor; and

the controller electrically couples one of the at least two independent current paths to the motor, in response to emergency braking conditions, by causing the fourth switch to enter a closed state, thereby shorting the motor input.

11. The industrial robot of claim 9, wherein:

one of the at least two independent current paths comprises a fourth switch in series with a second resistance;

the fourth switch is connected directly to the input of the electric motor; and

the controller electrically couples one of the at least two independent current paths to the motor, in response to emergency braking conditions, by causing the fourth switch to enter a closed state, thereby shorting the motor input through the second resistance.

12. An industrial robot comprising:

a robotic arm movable about at least one axis;

a three-phase electric motor having an input and coupled to the robotic arm so that movement of the electric motor causes movement of the robotic arm about the at least one axis;

a three-phase inverter having an input and an output;

the inverter comprising a first half-bridge including a first plurality of semiconductor switches, and a second half-bridge including a second plurality of semiconductor switches;

a linking circuit comprising a capacitor, a first resistance, and a first switch in series with the first resistance;

a voltage source electrically coupled to the linking circuit and the inverter;

a second switch adapted to disconnect the linking circuit and inverter from the voltage source when the second switch is in an open state; and

a controller operatively coupled to the first switch, the second switch, the first plurality of semiconductor switches, and the second plurality of semiconductor switches;

wherein the controller, in response to emergency braking conditions, brakes the electric motor by;

causing the first plurality of semiconductor switches to enter an open state and the second plurality of semiconductor switches to enter a closed state, thereby providing a first current path shorting the input of the electric motor,

causing the first switch to enter a closed state, shorting the electric motor input through a path including the first resistance, thereby providing a second current path shorting the input of the electric motor, and

causing the second switch to enter an open state, thereby disconnecting the voltage source from the linking circuit and inverter input.

13. The industrial robot of claim 12, wherein:

the controller is operatively coupled to the first and second plurality of semiconductor switches by a first channel; and

wherein the controller is operatively coupled to the second switch by a second channel independent of the first channel.

14. The industrial robot of claim 12, wherein the linking circuit further comprises:

a third switch in parallel with the first switch and operatively coupled to the controller;

wherein the controller, in response to emergency braking conditions, causes the third switch to enter a closed state, thereby shorting the electric motor input through a path including the first resistance.

15. The industrial robot of claim 12, further comprising:

a fourth switch in series with a second resistance;

wherein the fourth switch is connected directly to the input of the electric motor; and

the controller, in response to emergency braking conditions, causes the fourth switch to enter a closed state, thereby shorting the motor input through the second resistance.