Short-circuiting device and robot system including the same
A short-circuiting device according includes a short circuit that is electrically connected to a robot, the robot including a robotic arm and at least one motor, the robotic arm including at least one joint shaft that is provided with the respective at least one motor, the short circuit being provided separately from a robot controller configured to control the robot, the short circuit being configured to apply a dynamic brake to each motor.
1. A robot system, comprising:
a short-circuiting device that includes a short circuit mounting portion and a short circuit;
a robot with a robot mounting portion, a robotic arm, at least one motor and at least one non-excitation actuated electromagnetic brake provided for the respective at least one motor, the robotic arm including at least one joint shaft that is provided with the respective at least one motor; and
a robot controller that includes a robot controller mounting portion that is configured to be electrically connected to the robot mounting portion of the robot via the robot controller mounting portion, wherein:
the short circuit is electrically connected to the robot mounting portion of the robot via the short circuit mounting portion,
the short circuit is provided separately from the robot controller configured to control the robot,
the short circuit is configured to apply a dynamic brake to each motor,
the robot mounting portion is a common mounting portion that can be mounted to both of the short circuit mounting portion and the robot controller mounting portion such that the robot mounting portion can be separately electrically connected to either the short circuit mounting portion or the robot controller mounting portion but cannot be electrically connected to both the short circuit mounting portion and the robot controller mounting portion at a same time,
the short-circuiting device further comprises an auxiliary power supply configured to supply electric power to the non-excitation actuated electromagnetic brake when the non-excitation actuated electromagnetic brake is not supplied with electric power from a main power supply of the robot, and
the short-circuiting device is configured such that the auxiliary power supply supplies electric power to the non-excitation actuated electromagnetic brake in order to release the at least one non-excitation actuated electromagnetic brake while the short circuit applies the dynamic brake to each motor.
2. The robot system according to claim 1 , wherein the short-circuiting device further comprising an auxiliary power supply switch configured to switch whether or not to supply electric power to the non-excitation actuated electromagnetic brake by the auxiliary power supply.
3. The robot system according to claim 1 , wherein
the motor is a three-phase motor including three electrodes, and
the short circuit is configured to short-circuit two of, or all of, the three electrodes of the three-phase motor.
4. The robot system according to claim 1 , wherein
the short-circuiting device is configured to short-circuit electrodes of the motor by the short circuit at a same time as the short-circuiting device is mounted to the robot.
5. The robot system according to claim 1 , wherein the short-circuiting device further comprising a short-circuit switch configured to switch whether or not to short-circuit electrodes of the motor by the short circuit.