CN107877514A - A kind of flexible braking circuit, robot arm and robot for robot arm - Google Patents
A kind of flexible braking circuit, robot arm and robot for robot arm Download PDFInfo
- Publication number
- CN107877514A CN107877514A CN201710984004.1A CN201710984004A CN107877514A CN 107877514 A CN107877514 A CN 107877514A CN 201710984004 A CN201710984004 A CN 201710984004A CN 107877514 A CN107877514 A CN 107877514A
- Authority
- CN
- China
- Prior art keywords
- robot arm
- circuit
- phase
- robot
- flexible braking
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- 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
- B25J19/06—Safety devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Manipulator (AREA)
- Prostheses (AREA)
Abstract
Provided by the present invention for the flexible braking circuit of robot arm, the motor driver that is connected including magneto, by three-phase circuit with the magneto and with each circuitry phase is connected in the three-phase circuit relay, when the robot arm powers off, the contact of the relay closes automatically, each circuitry phase mutual conduction in the three-phase circuit, so as to make full use of rotating excitation field caused by magneto inside to be converted into the moment of torsion of opposite direction, to prevent hurtling down for arm, the purpose of safety precaution is played；When the robot arm is powered, the contact of the relay disconnects, and each circuitry phase is mutually breaking in the three-phase circuit, ensures the normal work of robot arm.In addition, present invention also offers a kind of robot arm and robot including flexible braking circuit.
Description
Technical field
The present invention relates to robotic technology field, more particularly, to a kind of flexible braking circuit for robot arm,
Robot arm and robot.
Background technology
With the development of science and technology the research application field of robot is constantly extending.Robotic manipulator is robot
Most representational complex component in system, it is that robot completes crawl operation and the basis with man-machine interaction, therefore its structure
The compact and versatility of design and flexibility are to realize the primary factor that arm is intelligently controlled, while the kinematic dexterity of mechanical arm,
The modularized design of security, stationarity and multi-freedom joint mechanism is a urgent problem.Evaluate robot fortune
The key of dynamic flexibility is robot shoulder joint, elbow joint, the design of carpal movement mechanism with multiple degrees of freedom, and security is embodied in
Whether shoulder pendulum joint can realize self-locking, and modularization makes joint compact and is conveniently replaceable.
Robot arm is in working condition at present, any position being likely to be in arm's reach, if unexpected dead electricity,
Arm can accelerate to fall under self gravitation effect, and cause certain danger to the facility in arm itself and scope and personnel.
The content of the invention
Have in view of that, it is necessary to the defects of existing for prior art, there is provided under one kind can prevent robot arm quick
The flexible braking circuit for robot arm fallen.
To achieve the above object, the present invention uses following technical proposals：
A kind of flexible braking circuit for robot arm, the robot arm include several joints, Mei Gesuo
State it is intra-articular be provided with the flexible braking circuit, the flexible braking circuit includes magneto, passes through three-phase circuit and institute
State magneto connection motor driver and with the relay that each circuitry phase is connected in the three-phase circuit, wherein：
When the robot arm powers off, the contact of the relay closes automatically, each phase in the three-phase circuit
Circuit mutual conduction；
When the robot arm is powered, the contact of the relay disconnects, each circuitry phase in the three-phase circuit
Mutually open circuit.
In some preferred embodiments, the quantity in the joint is 3-7.
On the other hand, present invention also provides one kind to be used for robot arm, including described flexible braking circuit.
In addition, present invention also provides a kind of robot, described robot arm.
The present invention the advantages of using above-mentioned technical proposal is：
On the one hand, provided by the present invention for the flexible braking circuit of robot arm, including magneto, three-phase is passed through
Motor driver that circuit is connected with the magneto and with each circuitry phase is connected in the three-phase circuit relay
Device, when the robot arm powers off, the contact of the relay closes automatically, each circuitry phase phase in the three-phase circuit
Mutually conducting, so as to make full use of rotating excitation field caused by magneto inside to be converted into the moment of torsion of opposite direction, to prevent hand
Arm hurtles down, and plays the purpose of safety precaution；When the robot arm is powered, the contact of the relay disconnects,
Each circuitry phase is mutually breaking in the three-phase circuit, ensures the normal work of robot arm.
On the other hand, compared with prior art, the flexible braking circuit for robot arm of the application offer,
Certain resistance can be provided to eliminate danger, rather than it is locked, other work such as teaching etc. can be normally carried out；It is meanwhile soft
Property braking circuit is installed on the intra-articular of mechanical arm, and closely, cost is relatively low for structure.
Brief description of the drawings
Fig. 1 is the circuit diagram of the flexible braking circuit provided in an embodiment of the present invention for robot arm.
Fig. 2 is the structural representation of robot arm provided in an embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained all other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Referring to Fig. 1, be the circuit diagram of the flexible braking circuit 10 provided by the present invention for robot arm, bag
Include magneto 110, the motor driver 120 being connected by three-phase circuit with the magneto 110 and with the three-phase
The relay 130 of each circuitry phase connection in circuit.
Referring to Fig. 2, the structural representation of the robot arm 20 provided for one embodiment of the invention, it includes several
Joint 210, each it is provided with the flexible braking circuit 10 in the joint 210, it will be understood that motor driver 120 drives
Magneto 110 is rotated, and corresponding action is done in joint 210 under the drive of magneto 110.
In some preferred embodiments, the quantity in the joint of the robot arm 20 is 3-7.In the present embodiment
In, the robot arm 20 includes joint 210, joint 220 and joint 230.
It is appreciated that if the vertical height in a certain joint is 1.2 meters in robot arm 20, the joint is with base
Centered on, with 1.2 meters be radius in the range of, do corresponding motion by the instruction of program and the needs of operating mode；If in Fig. 2 positions
20 unexpected dead electricity of robot arm is put, under gravity G drive, the magneto 110 in joint 220, joint 203 revolves at a high speed
Turn, the inside of magneto 110 produces rotating excitation field.
It is appreciated that when the robot arm 20 powers off, the contact of the relay 130 closes automatically, described three
Each circuitry phase mutual conduction, makes each circuitry phase mutually connect to form closed-loop path in circuitry phase；Under gravity G drive, close
Magneto 110 in section rotates at a high speed, the moment of torsion that rotating excitation field is converted into opposite direction is produced, so as to prevent the machine
Human arm 20 hurtles down, and plays the purpose of safety precaution.
It is appreciated that in 20 normal power-up of robot arm, the contact of the relay 130 disconnects, described three
Each circuitry phase is mutually breaking in circuitry phase, the normal work of robot arm 20.
In addition, present invention also offers a kind of robot arm and robot for including above-mentioned flexible braking circuit.
Provided by the present invention for the flexible braking circuit of robot arm, when the robot arm 20 powers off, institute
The contact for stating relay 130 closes automatically, each circuitry phase mutual conduction in the three-phase circuit, so as to make full use of forever
Rotating excitation field caused by inside magneto is converted into the moment of torsion of opposite direction, to prevent hurtling down for arm, plays safety precaution
Purpose；When the robot arm 20 is powered, the contact of the relay 130 disconnects, each phase in the three-phase circuit
Circuit is mutually breaking, ensures the normal work of robot arm 20.
Provided by the present invention for the flexible braking circuit 10 of robot arm, it is possible to provide certain resistance is endangered to eliminate
Danger, rather than it is locked, other work such as teaching etc. can be normally carried out；Meanwhile the flexible braking circuit 10 is installed on machinery
Arm it is intra-articular, closely, cost is relatively low for structure.
Certainly the flexible braking circuit for robot arm of the present invention can also have a variety of conversion and remodeling, not office
It is limited to the concrete structure of above-mentioned embodiment.In a word, protection scope of the present invention should include those for ordinary skill
Obviously convert or substitute and retrofit for personnel.
Claims (4)
1. a kind of flexible braking circuit for robot arm, the robot arm includes several joints, each described
It is intra-articular to be provided with the flexible braking circuit, it is characterised in that the flexible braking circuit includes magneto, passes through three-phase
Motor driver that circuit is connected with the magneto and with each circuitry phase is connected in the three-phase circuit relay
Device, wherein：
When the robot arm powers off, the contact of the relay closes automatically, each circuitry phase in the three-phase circuit
Mutual conduction；
When the robot arm is powered, the contact of the relay disconnects, and each circuitry phase is mutual in the three-phase circuit
Open circuit.
2. the flexible braking circuit according to claim 1 for robot arm, it is characterised in that the number in the joint
Measure as 3-7.
3. one kind is used for robot arm, it is characterised in that including the flexible braking circuit described in claim 1.
4. a kind of robot, it is characterised in that including the robot arm described in claim 3.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710984004.1A CN107877514A (en) | 2017-10-20 | 2017-10-20 | A kind of flexible braking circuit, robot arm and robot for robot arm |
| CN201810512080.7A CN108673504A (en) | 2017-10-20 | 2018-05-25 | A kind of flexible braking circuit, robot arm and robot for robot arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710984004.1A CN107877514A (en) | 2017-10-20 | 2017-10-20 | A kind of flexible braking circuit, robot arm and robot for robot arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107877514A true CN107877514A (en) | 2018-04-06 |
Family
ID=61781812
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710984004.1A Pending CN107877514A (en) | 2017-10-20 | 2017-10-20 | A kind of flexible braking circuit, robot arm and robot for robot arm |
| CN201810512080.7A Pending CN108673504A (en) | 2017-10-20 | 2018-05-25 | A kind of flexible braking circuit, robot arm and robot for robot arm |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810512080.7A Pending CN108673504A (en) | 2017-10-20 | 2018-05-25 | A kind of flexible braking circuit, robot arm and robot for robot arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN107877514A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108673504A (en) * | 2017-10-20 | 2018-10-19 | 深圳市睿科智联科技有限公司 | A kind of flexible braking circuit, robot arm and robot for robot arm |
| CN111619591A (en) * | 2020-06-09 | 2020-09-04 | 南京康尼电子科技有限公司 | Train platform compensator control method and device |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04199406A (en) * | 1990-11-29 | 1992-07-20 | Tokico Ltd | Robot system |
| JP3409090B2 (en) * | 1993-09-30 | 2003-05-19 | 豊田工機株式会社 | Robot start / stop device |
| JP4233571B2 (en) * | 2006-01-04 | 2009-03-04 | ファナック株式会社 | Robot controller |
| CN201038813Y (en) * | 2007-04-03 | 2008-03-19 | 何国炎 | Electric bicycle regenerative charger |
| US9114536B2 (en) * | 2012-04-13 | 2015-08-25 | Rethink Robotics, Inc. | Electronic emergency-stop braking circuit for robotic arms |
| CN107877514A (en) * | 2017-10-20 | 2018-04-06 | 深圳市睿科智联科技有限公司 | A kind of flexible braking circuit, robot arm and robot for robot arm |
-
2017
- 2017-10-20 CN CN201710984004.1A patent/CN107877514A/en active Pending
-
2018
- 2018-05-25 CN CN201810512080.7A patent/CN108673504A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108673504A (en) * | 2017-10-20 | 2018-10-19 | 深圳市睿科智联科技有限公司 | A kind of flexible braking circuit, robot arm and robot for robot arm |
| CN111619591A (en) * | 2020-06-09 | 2020-09-04 | 南京康尼电子科技有限公司 | Train platform compensator control method and device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108673504A (en) | 2018-10-19 |
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| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180406 |
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| WD01 | Invention patent application deemed withdrawn after publication |