# US 11,305,438 B2 · Robot control device, robot, and robot system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,305,438 B2 - Document ID: US11305438B2 - Status: Granted - Kind: B2 - Application number: 16/140,729 - Filed: 2018-09-25 - Published: 2019-03-28 - Granted: 2022-04-19 - Earliest claimed: 2017-09-27 - Assignees: Seiko Epson Corporation - Applicants: Seiko Epson Corporation - Inventors: Takema Yamazaki - Web page: https://patentgrep.com/patent/US11305438B2 ## CPC - B25J 19/0029: {arranged within the different robot elements} - B25J 9/1674: {characterised by safety, monitoring, diagnostic} - H02K 11/02: for suppression of electromagnetic interference - H02M 1/12: Arrangements for reducing harmonics from AC input or output - H02P 3/22: by short-circuit or resistive braking - H02P 27/08: with pulse width modulation - G05B 2219/45083: Manipulators, robot - H02M 1/126: {using passive filters} - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - H02K: DYNAMO-ELECTRIC MACHINES (dynamo-electric relays H01H53/00; conversion of DC or AC input power into surge output power {H03K3/53}) - H02M: APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF (transformers H01F; dynamo-electric converters H02K47/00; controlling transformers, reactors or choke coils, control or regulation of electric motors, generators or dynamo-electric converters H02P) - H02P: CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract A robot control device that controls a robot including a motor, the robot control device comprising: a power converter that is connected to the motor by a power line and converts supplied power to power to be supplied to the motor; a brake that brakes the motor by short-circuiting the power lines, and an inductance element that is provided on the power line and positioned closer to the power converter side than a connection point between the brake and the power line. ## Claims ### Claim 1 A robot control device that controls a robot including a motor, the robot control device comprising: a power converter that is connected to the motor by a power line and converts supplied power to power to be supplied to the motor; a brake that is connected to the power line by a brake line, the brake being configured to brake the motor by short-circuiting the power line, a connection point between the brake line and the power line being provided between the power converter and the motor; a current detector being provided on the power line between the power converter and the connection point; and an inductance element that is provided on the power line between the current detector and the connection point and positioned closer to the power converter than the connection point between the brake line and the power line. ### Claim 2 (depends on 1) The robot control device according to claim 1, further comprising: a detector that detects an abnormality, wherein the brake short-circuits the power lines in a case where the detector detects an abnormality. ### Claim 3 (depends on 2) The robot control device according to claim 2, wherein the power converter further includes a plurality of switching elements, and turns switches of the plurality of switching elements OFF in a case where the detector detects the abnormality. ### Claim 4 (depends on 2) The robot control device according to claim 2, wherein the detector is integrated with the power converter. ### Claim 5 (depends on 2) The robot control device according to claim 2, wherein the power converter, the detector, the brake, and the inductance element are mounted on the same substrate. ### Claim 6 (depends on 1) The robot control device according to claim 1, wherein the brake short-circuits the power lines in a case where a voltage supplied to the brake becomes equal to or less than a predetermined value. ### Claim 7 (depends on 1) The robot control device according to claim 1, wherein the motor includes a motor driven by a multi-phase alternating current. ### Claim 8 A robot that is controlled by a robot control device, the robot comprising: a power converter that is connected to the motor by a power line and converts supplied power to power to be supplied to the motor; a brake that is connected to the power line by a brake line, the brake being configured to brake the motor by short-circuiting the power line, a connection point between the brake line and the power line being provided between the power converter and the motor; a current detector being provided on the power line between the power converter and the connection point; and an inductance element that is provided on the power line between the current detector and the connection point and positioned closer to the power converter than the connection point between the brake line and the power line. ### Claim 9 (depends on 8) The robot according to claim 8, further comprising: a detector that detects an abnormality, wherein the brake short-circuits the power lines in a case where the detector detects an abnormality. ### Claim 10 (depends on 9) The robot according to claim 9, wherein the power converter further includes a plurality of switching elements, and turns switches of the plurality of switching elements OFF in a case where the detector detects the abnormality. ### Claim 11 (depends on 9) The robot according to claim 9, wherein the detector is integrated with the power converter. ### Claim 12 (depends on 9) The robot according to claim 9, wherein the power converter, the detector, the brake, and the inductance element are mounted on the same substrate. ### Claim 13 (depends on 8) The robot according to claim 8, wherein the brake short-circuits the power lines in a case where a voltage supplied to the brake becomes equal to or less than a predetermined value. ### Claim 14 A robot system comprising: a robot including a motor; and a robot control device that controls the robot, wherein the robot control device includes a power converter that is connected to the motor by a power line and converts supplied power to power to be supplied to the motor, a brake that is connected to the power line by a brake line, the brake being configured to brake the motor by short-circuiting the power line, a current detector provided on the power line between the power converter and the connection point, and an inductance element that is provided on the power line between the current detector and the connection point and positioned closer to the power converter than a connection point between the brake line and the power line, wherein the connection point between the brake and the power line is provided between the power converter and the motor. ### Claim 15 (depends on 14) The robot system according to claim 14, further comprising: a detector that detects an abnormality, wherein the brake short-circuits the power lines in a case where the detector detects an abnormality. ### Claim 16 (depends on 15) The robot system according to claim 15, wherein the power converter further includes a plurality of switching elements, and turns switches of the plurality of switching elements OFF in a case where the detector detects the abnormality. ### Claim 17 (depends on 15) The robot system according to claim 15, wherein the detector is integrated with the power converter. ### Claim 18 (depends on 15) The robot system according to claim 15, wherein the power converter, the detector, the brake, and the inductance element are mounted on the same substrate. ### Claim 19 (depends on 14) The robot system according to claim 14, wherein the brake short-circuits the power lines in a case where a voltage supplied to the brake becomes equal to or less than a predetermined value.