DK3356091T3 - Ledindretning - Google Patents

Ledindretning Download PDF

Info

Publication number
DK3356091T3
DK3356091T3 DK16781683.4T DK16781683T DK3356091T3 DK 3356091 T3 DK3356091 T3 DK 3356091T3 DK 16781683 T DK16781683 T DK 16781683T DK 3356091 T3 DK3356091 T3 DK 3356091T3
Authority
DK
Denmark
Prior art keywords
link device
link
Prior art date
Application number
DK16781683.4T
Other languages
English (en)
Inventor
Björn Pietsch
Tim Rokahr
Sami Haddadin
Original Assignee
Franka Emika Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Franka Emika Gmbh filed Critical Franka Emika Gmbh
Application granted granted Critical
Publication of DK3356091T3 publication Critical patent/DK3356091T3/da

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0004—Braking devices
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/0016—Control of angular speed of one shaft without controlling the prime mover
    • H02P29/0022—Controlling a brake between the prime mover and the load
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
    • H02P29/0241—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being an overvoltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
    • H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
    • H02P3/08—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing a DC motor
    • H02P3/12—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing a DC motor by short-circuit or resistive braking
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
    • H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
    • H02P3/18—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an AC motor
    • H02P3/22—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an AC motor by short-circuit or resistive braking
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D63/00—Brakes not otherwise provided for; Brakes combining more than one of the types of groups F16D49/00 - F16D61/00
    • F16D63/006—Positive locking brakes
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
    • H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
    • H02P3/08—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing a DC motor
    • H02P3/16—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing a DC motor by combined electrical and mechanical braking
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
    • H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
    • H02P3/18—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an AC motor
    • H02P3/26—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an AC motor by combined electrical and mechanical braking

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Stopping Of Electric Motors (AREA)
  • Control Of Electric Motors In General (AREA)
DK16781683.4T 2015-09-30 2016-09-23 Ledindretning DK3356091T3 (da)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015116609.7A DE102015116609A1 (de) 2015-09-30 2015-09-30 Gelenkeinrichtung
PCT/EP2016/072649 WO2017055180A1 (de) 2015-09-30 2016-09-23 Gelenkeinrichtung

Publications (1)

Publication Number Publication Date
DK3356091T3 true DK3356091T3 (da) 2019-10-14

Family

ID=57136820

Family Applications (1)

Application Number Title Priority Date Filing Date
DK16781683.4T DK3356091T3 (da) 2015-09-30 2016-09-23 Ledindretning

Country Status (9)

Country Link
US (1) US10357886B2 (da)
EP (1) EP3356091B1 (da)
JP (1) JP2018532602A (da)
KR (1) KR102059538B1 (da)
CN (1) CN108349094B (da)
DE (1) DE102015116609A1 (da)
DK (1) DK3356091T3 (da)
SG (1) SG11201802185WA (da)
WO (1) WO2017055180A1 (da)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202019102591U1 (de) 2019-05-08 2019-05-29 Franka Emika Gmbh Bremsvorrichtung für eine Antriebseinrichtung eines Roboters
DE102019112024B4 (de) * 2019-05-08 2022-04-14 Franka Emika Gmbh Verfahren zur Steuerung von Bremsvorrichtungen in einem Robotersystem sowie Roboter
DE102019112029B4 (de) * 2019-05-08 2022-04-21 Franka Emika Gmbh Verfahren zur Steuerung von Bremsvorrichtungen in einem Robotersystem sowie Roboter
DE102019112023B4 (de) * 2019-05-08 2022-04-21 Franka Emika Gmbh Bremsvorrichtung für eine Antriebseinrichtung eines Roboters
CN111482988A (zh) * 2020-06-08 2020-08-04 浙江大学昆山创新中心 一种机器人关节模组刹车装置
EP4256213B1 (en) 2020-12-07 2026-02-11 Abb Schweiz Ag Brake device, industrial robot and method

Family Cites Families (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3522337A1 (de) * 1985-06-22 1987-02-05 Bosch Gmbh Robert Robotergelenk mit einem elektrischen antriebsmotor
JP2856253B2 (ja) * 1988-06-02 1999-02-10 株式会社明電舎 ロボット用ブレーキ制御装置
JPH0223080A (ja) * 1988-07-08 1990-01-25 Meidensha Corp ロボットの制動方式
JP3077183B2 (ja) * 1990-10-11 2000-08-14 ソニー株式会社 ロボット数値制御装置の非常停止装置
US5327055A (en) * 1993-03-08 1994-07-05 International Business Machines Corporation Mechanical brake hold circuit for an electric motor
JP3409090B2 (ja) * 1993-09-30 2003-05-19 豊田工機株式会社 ロボットの起動停止装置
DE19753304A1 (de) * 1997-12-02 1999-06-10 Scintilla Ag Vorrichtung zur Arretierung einer Welle
CH708995B1 (de) * 2004-03-19 2015-06-30 Belimo Holding Ag Reduktionsgetriebe eines elektrisch betriebenen Stellglieds.
PL1996376T3 (pl) 2006-03-03 2016-12-30 Programowalny robot i interfejs użytkownika
EP1857229B1 (en) * 2006-05-16 2009-07-15 Abb Ab A control system for an industrial robot
CN101207349B (zh) * 2006-12-22 2014-05-07 海德堡印刷机械股份公司 用于印刷机的安全的电制动装置
JP4970079B2 (ja) * 2007-02-22 2012-07-04 株式会社ソディック 工作機械
DE102007059492B4 (de) 2007-12-11 2018-06-28 Kuka Deutschland Gmbh Industrieroboter
DE102008021671B4 (de) 2008-04-30 2013-04-11 Kuka Laboratories Gmbh Verfahren und Vorrichtung zur Überwachung eines Manipulators
JP5458768B2 (ja) * 2009-09-17 2014-04-02 株式会社デンソーウェーブ ロボット制御装置および制御方法
US9114536B2 (en) * 2012-04-13 2015-08-25 Rethink Robotics, Inc. Electronic emergency-stop braking circuit for robotic arms
DE102013013875A1 (de) 2013-08-20 2015-02-26 Kuka Laboratories Gmbh Verfahren zum Steuern eines Roboters
DE102014222678A1 (de) 2014-11-06 2016-05-12 Kuka Roboter Gmbh Verfahren und System zum Stillsetzen von Achsen eines Industrieroboters

Also Published As

Publication number Publication date
KR20180091814A (ko) 2018-08-16
WO2017055180A1 (de) 2017-04-06
CN108349094B (zh) 2021-03-23
CN108349094A (zh) 2018-07-31
EP3356091A1 (de) 2018-08-08
SG11201802185WA (en) 2018-04-27
JP2018532602A (ja) 2018-11-08
US20180272545A1 (en) 2018-09-27
KR102059538B1 (ko) 2019-12-27
EP3356091B1 (de) 2019-07-10
US10357886B2 (en) 2019-07-23
DE102015116609A1 (de) 2017-03-30

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