Robot Regenerative Braking With Switched Resistor Deceleration Control
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Solution Overview
Problem
Existing robot systems lack an effective method for controlling the braking force of regenerative braking when a servomotor operates at normal rotating speed, which can lead to inefficient deceleration and potential equipment damage.
Innovation Solution
A robot system with a control section that calculates the speed of the rotation output based on detected angular position and uses a switch to turn on and off the coupling of a resistor equipment with the driving section in a time-series manner to control the regenerative braking force, ensuring targeted deceleration without damaging equipment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If regenerative braking is performed by a motor operating as a generator at normal rotating speed, then braking force is obtained, but the braking force cannot be effectively controlled leading to inefficient deceleration and potential equipment damage
Solution Approach 1:
The patent applies dynamics by making the braking force adjustable and controllable during operation. The control section dynamically adjusts the braking force magnitude based on robot state, transitioning from fixed braking force to variable braking force control, enabling effective braking force management at normal rotating speeds while preventing equipment damage
Solution Approach 2:
The patent changes the parameter of braking force from a fixed value determined solely by motor rotating speed to a controllable variable. The control section modifies braking force parameters based on robot state, allowing optimization of deceleration efficiency and equipment protection simultaneously
2Manufacturing precision
If regenerative braking is executed at timing when speed command indicates zero in emergency stop, then overrun amount from target position is reduced, but braking control during normal operation is insufficient
Solution Approach 1:
The patent applies preliminary action by preparing multiple braking force patterns (first, second, and third braking force patterns) in advance for different robot states. The control section selects and applies the appropriate braking force pattern before deceleration begins, ensuring optimal positioning accuracy and deceleration efficiency from the start of the braking process
Solution Approach 2:
The patent implements feedback by continuously monitoring robot state (current position, speed, acceleration) and adjusting braking force accordingly. The control section uses detected robot state to determine appropriate braking force magnitude, creating a closed-loop control system that maintains both positioning accuracy and deceleration efficiency
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach allows for controlled deceleration of the robot's movable sections, preventing equipment damage and improving the efficiency of regenerative braking by managing the braking force effectively.
Implementation Method 1
A braking force obtained by causing the motor to function as a generator is determined according to rotating speed of the motor at that time
Implementation Method 2
resistor equipment having electric resistance and coupled to the driving section
Data Source
AI summary
A robot system includes one or more combinations of a driving section configured to receive supply of electric power and generate a rotation output of an output shaft and receive supply of a rotating force to the output shaft and generate electric power, a movable section moved by the rotation output, a detecting section configured to detect an angular position of the output shaft, resistor equipment coupled to the driving section, and a switch that can turn on and off coupling of the resistor equipment and the driving section and a control section configured to control the robot system. The control section can execute first braking control targeting the driving section to which the electric power is not supplied, the first braking control calculating speed of the rotation output of the driving section based on an output of the detecting section and causing the switch to turn on and off the coupling of the resistor equipment and the driving section at timing determined in a time-series manner according to target deceleration of the driving section and the speed of the rotation output.