TW202013861A - Robot system - Google Patents

Abstract

A robot system is disclosed. The robot system comprises a base, at least one axis actuation module and a driving device. The base comprises an input power converting device. The input power converting device receives an input voltage through an input terminal of the input power converting, converts the input voltage and outputs a first voltage through an output terminal of the input power converting. The at least one axis actuation module is installed on the base and comprises an axis power converting device and a motor. The axis power converting device comprises an axis input terminal, a first output terminal and a second output terminal. The axis input terminal receives the first voltage. The axis power converting device converts the first voltage into and outputs a second voltage having a rated value at the first output terminal, and transmits the first voltage received by the axis input terminal to the second output terminal. The driving device is electrically connected with the motor and the first output terminal of the axis power converting device, and converts the second voltage to drive the motor to operate.

Description

Robot system

This case relates to the field of robots, especially a robot system that integrates power conversion devices and robots.

In recent years, with the vigorous development of mechanics, automation control and computer technology, robots, such as robotic arms, have been widely used in various industries. Robots can perform various highly repetitive tasks to provide high efficiency and complete stability Automated production and assembly.

Conventional robots usually use a set of power conversion devices to convert the received power and provide them to the robot body. The power conversion devices are installed in external electric control boxes that are independent of the robot body.

However, because the traditional robot needs to use a single set of power conversion devices installed in the external electric control box to supply power, the power conversion device requires a larger capacitor for voltage regulation, and also requires a larger heat dissipation area, which in turn causes the external electric control box The volume is relatively large, so the traditional robot will be difficult to move due to the large volume of the external electric control box. Furthermore, since the power devices in each rotatable axis actuation module (i.e. at the joint) of the traditional robot are connected in parallel to the bus bar connected to the output end of the external electric control box, and each joint axis The power device in the department does not have any voltage-stabilizing circuit. As a result, when the external electric control box transmits electrical energy to each axis actuation module, each axis actuation module will generate a voltage drop, resulting in some axis actuation modules. The voltage may be insufficient to operate normally.

What's more, traditional robots usually use energy-consuming components such as resistors to consume the regenerative energy generated by the motor in each axis actuation module. Therefore, traditional robots cannot effectively use the regenerative energy generated by the motor. In addition, when the motor in each axis actuation module is a low-voltage drive motor, the external electric control box must output a large driving current to the robot body while maintaining the same power. The department needs to use a power cord with a larger diameter, which leads to more complicated design and planning of the space and path for the conventional robot to set the power cord.

Therefore, it is necessary to develop a robot power supply system that integrates the power conversion device and the robot to solve the problems faced by the conventional technology.

This case is a robot power supply system, to solve the problem that the traditional robot needs to use a large external electric control box and it is difficult to move. Some axis actuation modules in the traditional robot may have insufficient voltage, and the traditional robot cannot effectively use the axis actuation module. The regenerative energy generated by the motor and the traditional robot need to make more complicated design and planning of the space and path for setting the power cord inside.

To achieve the above purpose, one of the broader implementation aspects of this case is to provide a robot system, which includes: a base, which includes an input power conversion device, a power input end of the input power conversion device receives an input voltage, and an input power conversion device is It is used to convert the input voltage and output the first voltage at the power output end of the input power conversion device; and at least one shaft actuation module is installed on the base and includes: a motor; the shaft power conversion device includes the shaft input End, first output end and second output end, the shaft input end of the shaft power conversion device receives the first voltage, and the shaft power conversion device is used to convert the first voltage to output a rated output at the first output end The second voltage of the value, and transmits the first voltage received at the input end of the shaft to the second output end; and the driving device is electrically connected to the first output end of the motor and the shaft power conversion device to connect the second voltage Converted to a third voltage to provide the motor for operation.

Some typical embodiments embodying the characteristics and advantages of this case will be described in detail in the description in the following paragraphs. It should be understood that this case can have various changes in different forms, and they all do not deviate from the scope of this case, and the descriptions and drawings therein are essentially used for explanation, not for limiting this case.

Please refer to FIG. 1 and FIG. 2, wherein FIG. 1 is a block diagram of the architecture of the robot system of the first preferred embodiment of the present case, and FIG. 2 is a three-dimensional schematic diagram of the robot system shown in FIG. 1. As shown in FIGS. 1 and 2, the robot system 1 in this embodiment may be, but not limited to, a robot arm, and includes a base 2 and at least one axis actuation module 3 mounted on the base 2. The base 2 includes an input power conversion device 20. The power input terminal 205 of the input power conversion device 20 is electrically connected to the input power supply 9. The input power conversion device 20 is used to convert the input voltage U provided by the input power supply 9 to further input power The power output terminal 206 of the conversion device 20 outputs a first voltage V1 (as shown in FIG. 4A).

The axis actuation module 3, for example, the six axis actuation modules 3 shown in FIGS. 1 and 2 respectively constitute the joints of the robot system 1, and each axis actuation module 3 can be actuated with another axis The modules are directly connected or connected through a connecting arm, and each axis actuation module 3 includes an axis power conversion device 30, a drive device 31, and a motor 32. The motor 32 is electrically connected to the driving device 31 and is driven by the driving device 31 to operate so that the corresponding joint can rotate. In this embodiment, the motor 32 can be composed of a non-hollow motor, so it does not have a hollow structure. The shaft power conversion device 30 includes a shaft input terminal 300, a first output terminal 301, and a second output terminal 302, wherein the shaft input terminal 300 receives the first voltage, and the first output terminal 301 is electrically connected to the driving device 31, and when When the shaft actuation module 3 corresponding to the shaft power conversion device 30 is connected to another shaft actuation module 3, the second output end 302 of the shaft power conversion device 30 can be connected to the shaft of the connected shaft actuation module 3 The shaft input end 300 of the power conversion device 30 is electrically connected. The shaft power conversion device 30 is used to convert the first voltage V1 to output the second voltage V2 that can maintain the rated value at the first output terminal 301, and bypass the shaft input terminal 300 (BYPASS) to the second output Terminal 302, so that the first voltage V1 received by the shaft input terminal 300 can be bypassed and transmitted to the second output terminal 302, which in turn provides the shaft input of the shaft power conversion device 30 of another shaft actuation module 3 connected端300。 End 300. The driving device 31 receives the second voltage V2 transmitted from the shaft power conversion device 30, and is used to convert the second voltage to a third voltage to provide the motor 32 for operation.

As can be seen from the above, the robot system 1 of the present embodiment is to install the input power conversion device 20 in the base 2 of the robot system 1 and the axis power conversion device 30 in the axis actuation module 3 of the robot system 1 to The input power conversion device 20 and the shaft power conversion device 30 are used to perform the related power conversion, thereby providing the power required for the operation of the robot system 1, that is, the robot system 1 actually integrates the power conversion device 20 and the robot, so the robot The system 1 does not need to additionally have an external electric control box for the power conversion device to be installed, so the robot system 1 is suitable for applications that need to be moved. In addition, since each axis actuation module 3 of the robot system 1 of this embodiment is provided with an axis power conversion device 30 to convert the received first voltage V1 into a second voltage V2 that can be maintained at a rated value Therefore, the shaft power conversion device 30 actually provides a voltage stabilizing function, so that each shaft actuating module 3 can have sufficient voltage to operate.

In the above embodiment, the first voltage V1 and the second voltage V2 are DC voltages, respectively, and the value of the first voltage V1 is higher than the value of the second voltage V2. In addition, the shaft input end 300 of the shaft power conversion device 30 of one of the plurality of shaft actuation modules 3 is electrically connected to the power output end 206 of the input power conversion device 20 to receive the input power conversion The first voltage V1 from the device 20, and the shaft input end 300 of the shaft power conversion device 30 of the remaining shaft actuation module 3 is electrically connected to the second output end 302 of the shaft actuation module 3 corresponding to the previous connection To receive the first voltage V1 transmitted from the second output terminal 302 of the shaft actuation module 3 corresponding to the previous connection. In addition, the input power conversion device 20 may include a power isolation element (not shown), such as a transformer, etc., and the shaft power conversion device 30 may not include a power isolation element.

Please refer to Figure 3A and Figure 3B, together with Figure 1 and Figure 2, where Figure 3A is a detailed circuit block and operating principle diagram of the shaft power conversion device shown in Figure 1, and Figure 3B is The operation principle diagram of the shaft power conversion device shown in FIG. 3A in another mode. As shown in the figure, the shaft power conversion device 30 includes a first buck converter 303. The first buck converter 303 is electrically connected between the shaft input terminal 300 and the first output terminal 301 of the shaft power conversion device 30. The first voltage V1 received from the input terminal 300 of the shaft is stepped down, and the second voltage V2 output as the rated value is sent to the first output terminal 301 (as shown in FIG. 3A), wherein the first stepped down The first voltage V1 received by the converter 303 may be provided by the input power conversion device 20 because the shaft input end 300 of the shaft power conversion device 30 is electrically connected to the output end 206 of the input power conversion device 20, or due to the shaft power The shaft input 300 of the conversion device 30 is electrically connected to the second output 302 of the shaft actuation module 3 corresponding to the previous connection and is provided by the second output 302 of the shaft actuation module 3 corresponding to the previous connection, and Since the first buck converter 303 of the shaft power conversion device 30 of each shaft actuation module 3 can step down the received first voltage V1 to output the second voltage V2 as the rated value, The first buck converter 303 can actually provide the function of voltage stabilization, so the shaft power conversion device 30 has a voltage stabilization function due to the setting of the first buck converter 303, so that each shaft actuation module 3 can There is enough voltage to operate. In addition, in other embodiments, as shown in FIGS. 3A and 3B, the shaft power conversion device 30 may further include a first boost converter 304, and the first boost converter 304 is electrically connected to the shaft power conversion device 3, between the shaft input terminal 300 and the first output terminal 301, and electrically connected to the second output terminal 302 of the shaft power conversion device 30, for receiving the first regenerative power E1 at the first output terminal 301, for example When the first regenerative electric energy E1 output by the driving device 31 due to the motor 32 during braking is DC, the first regenerative electric energy E1 is converted into the second regenerative electric energy E2 and is imported to the shaft of the shaft power conversion device 30 The input terminal 300 (as shown in FIG. 3B), thereby recovering the first regenerative electric energy E1, thereby effectively utilizing the regenerative energy generated by the motor 32. The voltage of the first regenerative electric energy E1 is relatively lower than the voltage of the second regenerative electric energy E2. In the above embodiment, when the first step-down converter 303 is operated, the first step-up converter 304 is not operated. On the contrary, when the first step-up converter 304 is operated, the first step-down converter 303 is not operated.

Please refer to Figures 4A and 4B, in conjunction with Figures 1 and 2, where Figure 4A is a detailed circuit block and operation principle diagram of the first embodiment of the input power conversion device shown in Figure 1, 4B FIG. 4 is a schematic diagram of the operation of the input power conversion device shown in FIG. 4A in another mode. As shown in the figure, in this embodiment, the input power supply 9 may be an AC power supply, such as a commercial power supply, etc., so the input voltage U is AC power. The input power conversion device 20 includes an AC/DC converter 200 and a second boost converter 201. The AC/DC converter 200 is electrically connected between the power input terminal 205 of the input power conversion device 20 and the second boost converter 201, and used to receive the power input terminal 205 of the input power conversion device 20. The input voltage U is converted into a transient DC voltage Vm and provided to the second boost converter 201. The second boost converter 201 is electrically connected between the AC/DC converter 200 and the power output terminal 206 of the input power conversion device 20. The second boost converter 201 is used to convert the transient DC voltage Vm to DC. A voltage V1 is output to the power output terminal 206 of the input power conversion device 20, wherein the voltage value of the first voltage V1 is equal to or greater than the transient DC voltage Vm (as shown in FIG. 4A). In other embodiments, as shown in FIGS. 4A and 4B, the input power conversion device 20 may further include a DC/AC converter 202. The DC/AC converter 202 is electrically connected to the power input terminal 205 of the input power conversion device 20 Between the power output terminal 206, the DC/AC converter 202 is used to receive the first boost from the shaft power conversion device 30 of the corresponding shaft actuation module 3 at the power output terminal 206 of the input power conversion device 20 The second regenerative electric energy E2 transmitted by the converter 304 is greater than a threshold, for example, greater than the first voltage V1, the second regenerative electric energy E2 is stepped down and converted into AC third regenerative electric energy E3, and then imported into the input power supply The power input terminal 205 of the conversion device 20 is further recovered by the input power supply 9 (as shown in FIG. 4B), thereby effectively recovering the second regenerated electric energy E2. In the above embodiment, when the AC/DC converter 200 and the second boost converter 201 operate, the DC/AC converter 202 does not operate, otherwise, when the DC/AC converter 202 operates, the AC/DC converter 200 and the second boost converter 201 do not operate.

In the above embodiment, since the input power conversion device 20 includes the second boost converter 201, the voltage value of the transient DC voltage Vm is raised to the first voltage V1, and the first voltage V1 can be provided to each axis. The shaft power conversion device 30 of the movable module 3 is subsequently converted by the shaft power conversion device 30 into a relatively low voltage second voltage V2. Therefore, although the motor 32 of the robot system 1 in this case still uses a low voltage motor, Since the input power conversion device 20 has boosted the input voltage U first, most of the power cords present in the robot system 1 in this case can be composed of power cords with a smaller diameter, for example, in the input power conversion The power cord between the device 20 and the shaft actuation module 3, and the power cord between the shaft actuation module 3 and the shaft actuation module 3, for example, assuming the motor power in the shaft actuation module Both are 400W. If the low voltage supplied by the traditional robot to the axis actuation module is 48V, the current needs to be 8.33Amp. Therefore, the power cord of the traditional robot must use a wire with a solid conductor diameter of about 1.2950 mm. However, in this case, the The setting of the two boost converter 201 can increase the first voltage provided to the shaft actuation module 3 to, for example, 156V, so the current needs to be about 2.56Amp, so most of the power cords of the robot system 1 in this case can be used The wire diameter of the solid conductor is about 0.7240 mm. It can be seen that the diameter of the power cord of the robot system 1 in this case is reduced from 1.2950 mm to 0.7240 mm compared to the power cord of the traditional robot, that is, the wire diameter is reduced by 44.09 % [(1.295-0.724)/1.295], and if a motor with higher power is used, the gap between the diameter of the power cord of the robot system 1 in this case and the diameter of the power cord of the traditional robot will be larger, so The robot system 1 in this case can use a power line with a small wire diameter, which makes the internal space of the robot system 1 in this case and the path for setting the power line relatively simple.

Please refer to Figures 5A and 5B, in conjunction with Figures 1 and 2, where Figure 5A is a detailed circuit block and operation principle diagram of the second embodiment of the input power conversion device shown in Figure 1, 5B FIG. 5 is a schematic diagram of the operation of the input power conversion device shown in FIG. 5A in another mode. As shown in the figure, in this embodiment, the input power source 9 may be an energy storage battery and provide an input voltage U that is DC. The input power conversion device 20 includes a third boost converter 203. The third boost converter 203 is electrically connected between the power input terminal 205 and the power output terminal 206 of the input power conversion device 20, and is used to convert the input voltage received through the power input terminal 205 of the input power conversion device 20 U is converted into a first voltage V1 and output to the power output terminal 206 of the input power conversion device 20 (as shown in FIG. 5A), wherein the voltage value of the first voltage V1 is equal to or greater than the input voltage U. In other embodiments, as shown in FIGS. 5A and 5B, the input power conversion device 20 may further include a second buck converter 204, and the second buck converter 204 is electrically connected to the input power conversion device 20. Between the power input terminal 205 and the power output terminal 206, the second buck converter 204 is used to receive the shaft power conversion device 30 of the corresponding shaft actuation module 3 received by the power output terminal 206 of the input power conversion device 20 The second regenerative electric energy E2 transmitted from the first boost converter 304 is greater than a threshold value, for example, greater than the first voltage V1, the second regenerative electric energy E2 is converted into DC third regenerative electric energy E3, and the input is input The power input terminal 205 of the power conversion device 20 further charges the input power 9 (as shown in FIG. 5B), thereby effectively recovering the second regenerative electric energy E2. In the above embodiment, when the third boost converter 203 is operating, the second buck converter 204 does not operate. Conversely, when the second buck converter 204 is operating, the third boost converter 203 does not operate.

Please refer to FIG. 6, which is a block diagram of the architecture of the robot system of the second preferred embodiment of the present invention. As shown in FIG. 6, in this embodiment, the architecture and operating principle of the robot system 1 are similar to the architecture and operating principle of the robot system 1 shown in FIG. 1, so only the same symbols are used to represent components The structure and actions are similar and will not be repeated here. Compared with the motor 32 of each axis actuation module 3 of the robot system 1 shown in FIG. 1 does not have a hollow structure, the motor 32' of each axis actuation module 3 of the robot system 1 of this embodiment is composed of The hollow motor is composed of, so the motor 32 includes a first hollow structure 320 ′. The first hollow structure 320 ′ is used to accommodate at least one wire, such as a power line and/or a signal line, etc. As illustrated in FIG. 6, the first The hollow structure 320' can accommodate between the second output end 302 of the shaft power conversion device 30 corresponding to itself and the shaft input end 300 of the shaft power conversion device 30 of another shaft actuation module 3 connected power cable. Of course, in other embodiments, the driving device 31' may include a flexible circuit board, and the flexible circuit board may be bent into a hollow ring structure or a semi-ring structure, so that the driving device 31' uses the central structure of the flexible circuit board. It has a second hollow structure 310' and is used for accommodating at least one wire material, such as a power line and/or a signal line, etc. As illustrated in FIG. 6, the second hollow structure 310' can accommodate an electrical connection corresponding to itself The power line between the second output end 302 of the shaft power conversion device 30 and the shaft input end 300 of the shaft power conversion device 30 of the other shaft actuation module 3 connected.

To sum up, this case is a robot system, which is to set the input power conversion device in the base of the robot system, and the axis power conversion device in the axis actuation module of the robot system for separate use The input power conversion device and the axis power conversion device are used to perform the related power conversion, thereby providing the power required for the operation of the robot system. Therefore, the robot system does not need to additionally provide an external electric control box, so that the robot system can be easily moved. In addition, since each axis actuation module of the robot system in this case is provided with an axis power conversion device to convert the received first voltage into a second voltage that can be maintained at a rated value, the axis power conversion device can Provide voltage stabilization function, so that each axis actuation module can have enough voltage to operate. In addition, since the shaft power conversion device of the robot system in this case includes a first boost converter, and the input power conversion device includes a DC/AC converter or a second buck converter, the first boost converter is used, and The DC/AC converter or the second step-down converter is used to effectively recover the regenerative electric energy generated by the motor. What's more, because the robot system in this case first converts the received input voltage into a relatively high-voltage first voltage by the input power conversion device, and can provide it to the axis power conversion device of each axis actuation module, Subsequently, the shaft power conversion device converts the first voltage to a relatively low voltage second voltage, so most of the power cords existing in the robot system of this case can be composed of power cords with a smaller wire diameter. The internal space of the robot system and the route of setting the power cord are relatively simple.

1: Robot system 2: Base 20: Input power conversion device 200: AC/DC converter 201: Second boost converter 202: DC/AC converter 203: Third boost converter 204: Second buck Converter 205: Input end of input power conversion device 206: Output end of input power conversion device 3: Shaft actuation module 30: Shaft power conversion device 300: Input end of shaft power conversion device 301: No. of shaft power conversion device An output terminal 302: the second output terminal 303 of the shaft power conversion device: the first buck converter 304: the first boost converter 31, 31': the driving device 32, 32': the motor 320': the first hollow structure 310': second hollow structure 9: input power supply U: input voltage V1: first voltage V2: second voltage Vm: transient DC voltage E1: first regenerated electrical energy E2: second regenerated electrical energy E3: third regenerated electrical energy

Figure 1 is a block diagram of the architecture of the robot system of the first preferred embodiment of the case; Figure 2 is a schematic diagram of the three-dimensional structure of the robot system shown in Figure 1; Figure 3A is a shaft power conversion shown in Figure 1 Detailed circuit block and operation principle diagram of the device; Figure 3B is the operation principle diagram of the shaft power conversion device shown in Figure 3A in another mode; Figure 4A is the input power conversion device shown in Figure 1 Detailed circuit block and operation principle diagram of the first embodiment; FIG. 4B is an operation principle diagram of the input power conversion device shown in FIG. 4A in another mode; FIG. 5A is an illustration of FIG. 1 Detailed circuit block and operation principle diagram of the second embodiment of the input power conversion device; FIG. 5B is the operation principle diagram of the input power conversion device shown in FIG. 5A in another mode; FIG. 6 is the first A block diagram of the architecture of the robot system of the second preferred embodiment.

1: Robot system

2: base

20: Input power conversion device

205: Power input terminal of input power conversion device

206: Power output terminal of input power conversion device

3: Shaft actuation module

30: Shaft power conversion device

300: shaft input end of shaft power conversion device

301: The first output end of the shaft power conversion device

302: The second output end of the shaft power conversion device

31: Drive

32: Motor

9: input power

Claims (9)

A robot system includes: a base including an input power conversion device, a power input terminal of the input power conversion device receives an input voltage, the input power conversion device is used to convert the input voltage, and the input A power output end of a power conversion device outputs a first voltage; and at least one axis actuation module is installed on the base and includes: a motor; a axis power conversion device including a axis input end and a first output End and a second output end, the shaft input end of the shaft power conversion device receives the first voltage, and the shaft power conversion device is used to convert the first voltage to output a quota at the first output end A second voltage of a fixed value, and bypassing the shaft input end of the shaft power conversion device to the second output end, so that the first voltage received by the shaft input end of the shaft power conversion device is transmitted to The second output terminal; and a driving device, electrically connected to the motor and the first output terminal of the shaft power conversion device, for converting the second voltage to a third voltage for the motor to operate . The robot system as described in item 1 of the patent application, wherein the first voltage and the second voltage are direct currents, respectively, and the value of the first voltage is greater than the value of the second voltage. The robot system as described in item 2 of the patent application scope, wherein the robot system includes a plurality of the axis actuation modules, one of the plurality of axis actuation modules, the axis power conversion of the axis actuation module The shaft input end of the device is electrically connected to the power output end of the input power conversion device to receive the first voltage, and the shaft input end of the shaft power conversion device of each of the remaining shaft actuation modules is electrically It is connected to the second output end of the corresponding previous axis actuation module. The robot system as described in item 2 of the patent application scope, wherein the shaft power conversion device includes a first step-down converter electrically connected between the shaft input end and the first output end of the shaft power conversion device , For stepping down the first voltage received by the shaft power conversion device to output the second voltage to the first output terminal. The robot system as described in item 2 of the patent application scope, wherein the shaft power conversion device includes a first boost converter electrically connected between the shaft input end and the first output end of the shaft power conversion device , For converting the first regenerative electric energy into a second regenerative electric energy when the first output end receives a first regenerative electric energy. The robot system as described in item 5 of the patent application scope, wherein the input voltage is alternating current, and the input power conversion device includes a DC/AC converter electrically connected to the power input end of the input power conversion device and Between the power output terminals, for receiving at the power output terminal of the input power conversion device from the first boost converter of the shaft power conversion device of the corresponding shaft actuation module When the second regenerative electric energy is greater than a threshold value, the second regenerative electric energy is converted into an alternating current, a third regenerative electric energy, and imported into the power input end of the input power conversion device to provide one of the input voltages Input power to recycle. The robot system as described in item 5 of the patent application scope, wherein the input voltage is provided by an energy storage battery, and the input power conversion device includes a second step-down converter electrically connected to the input power conversion device Between the power input end and the power output end, and used to receive the first liter of the shaft power conversion device of the shaft actuation module received by the power output end of the input power conversion device When the second regenerative electric energy transmitted by the voltage converter is greater than a threshold, the second regenerative electric energy is converted into a third regenerative electric energy of direct current, and is imported into the power input end of the input power conversion device to Charge the energy storage battery. The robot system as described in item 2 of the patent application scope, wherein the input voltage is AC power, and the input power conversion device includes an AC/DC converter and a second boost converter, the AC/DC converter is an electric power Connected between the power input end of the input power conversion device and the second boost converter, and used to convert the input voltage received by the input power conversion device into a transient DC voltage, the second boost The voltage converter is electrically connected between the AC/DC converter and the power output end of the input power conversion device to convert the transient DC voltage to the first voltage for output to the input power conversion device The power output terminal, wherein the voltage value of the first voltage is equal to or greater than the transient DC voltage. The robot system as described in item 2 of the patent application scope, wherein the input voltage is direct current, and the input power conversion device includes a third boost converter that is electrically connected to the power input end of the input power conversion device and Between the power output terminals and used to convert the input voltage received by the input power conversion device into the first voltage and output to the power output terminal of the input power conversion device, wherein the first voltage The voltage value is equal to or greater than the input voltage.

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