CN109760035B - Robot modular joint redundancy internal contracting brake device and safety detection method thereof - Google Patents
Robot modular joint redundancy internal contracting brake device and safety detection method thereof Download PDFInfo
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- CN109760035B CN109760035B CN201910171571.4A CN201910171571A CN109760035B CN 109760035 B CN109760035 B CN 109760035B CN 201910171571 A CN201910171571 A CN 201910171571A CN 109760035 B CN109760035 B CN 109760035B
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Abstract
The invention discloses a modular joint redundancy internal contracting brake device of a robot and a safety detection method thereof, and belongs to the field of robots. The normally closed band-type brake component is characterized in that a pressure sensor is additionally arranged in the normally closed band-type brake component and used for detecting whether the corresponding stop lever is in place or not, and the in-place condition of the first stop lever is accurately judged through accurately detecting the pressure change of the contact surface of the first stop lever and the first elastic rod, so that the problem of arm smashing caused by the fact that a joint rotating shaft is not locked due to clamping stagnation is avoided. Meanwhile, a dual-redundancy contracting brake assembly is arranged for the whole contracting brake device by utilizing the dual-redundancy contracting brake assembly of the normally closed contracting brake assembly and the normally open contracting brake assembly, and a safety control method is provided.
Description
Technical Field
The invention belongs to the field of robots, and particularly relates to a modular joint redundancy internal contracting brake device of a robot and a safety detection method thereof.
Background
With the implementation of the strategy of the machinofacture 2025, the cooperative robots of the man-machine blend type have developed into the well-spraying type, and the reliability and safety thereof are extremely important because of the need of the cooperation with the man. The reliability and safety of the modularized joint as the core component of the cooperative robot determine the reliability and safety of the cooperative robot, and the key of the safety of the modularized joint is the band-type brake system. In the prior art, a band-type brake assembly of a claw disc structure is mostly adopted, wherein an electromagnetic coil body, an elastic rod, a stop rod and a joint rotating shaft are connected, and the connection form of all components in the band-type brake assembly is disclosed in patent CN 206703056U; compared with the traditional standard band-type brake, the band-type brake assembly is low in cost, less in heat generation, low in noise and compact in structure, but the band-type brake has a very harsh risk, namely the arm is smashed due to clamping stagnation of the blocking rod of the band-type brake.
Disclosure of Invention
The invention provides a modular joint redundancy band-type brake device of a robot and a safety detection method thereof, aiming at solving the technical problem that arm smashing is easily caused by band-type brake blocking rod clamping stagnation in the prior art, and particularly provides an effective safety guarantee control method for ensuring the safety and reliability of the band-type brake device by adding a pressure sensor in an existing normally closed band-type brake assembly for detecting whether a corresponding blocking rod is in place or not, and simultaneously utilizing the normally closed band-type brake assembly and the normally open band-type brake assembly to arrange a double-redundancy safety control unit aiming at the whole band-type brake device and by utilizing the double-redundancy band-type brake assembly.
The invention provides a modular joint redundancy contracting brake device of a robot, which comprises a normally closed contracting brake component, a normally open contracting brake component and a claw disc, wherein the claw disc is fixedly connected to a joint rotating shaft; the first pressure sensor and the second pressure sensor are both in a film shape; the normally closed band-type brake assembly and the normally open band-type brake assembly are completely identical in structure, the normally closed band-type brake assembly is vertically turned over for 180 degrees in the vertical direction, and the normally open band-type brake assembly is obtained.
Taking the structure of the normally closed internal contracting brake assembly as an example, the first elastic rod is arranged in the first coil body, extends up and down, and can move under the excitation action of the first coil body; the first gear rod is located below the first elastic rod, a first pressure sensor is arranged between the lower surface of the first elastic rod and the upper surface of the first gear rod, the first pressure sensor is adhered to the upper surface of the first gear rod, the upper end of the first sleeve is sleeved on the outer side of the lower section of the first gear rod, and a first spring is vertically fixed between the lower surface of the first gear rod and the bottom surface inside the first sleeve. In the normally closed band-type brake assembly, a first coil body is installed outside a joint body through a screw, and a first sleeve is embedded and installed in the joint body; normally closed band-type brake subassembly is in the initial not electric state, and first pin blocks the rotation of claw dish, and first spring is in uncompressed state, and first bullet pole is in spacing on. In the normally open band-type brake assembly, a second coil body is installed in a joint body through a screw, and a second sleeve is installed outside the joint body; normally open band-type brake subassembly is under initial not electrified state, and the rotation of second pin does not block the claw dish, and the second spring is in uncompressed state, and the second bullet pole is in down spacing.
In the normally closed internal contracting brake assembly, the first elastic rod moves to the lower limit under the action of the magnetic force of the first coil body, and the first gear rod moves to the lower limit under the action of the downward thrust of the first elastic rod, so that the blocking of a claw disc is removed; the first gear rod moves to the upper limit under the action of the first spring to form the blocking of the claw disc, and the first elastic rod moves to the upper limit under the action of the pushing force of the first gear rod.
In the normally open band-type brake assembly, the second elastic rod moves to the upper limit under the action of the magnetic force of the second coil body, and the second blocking rod moves to the upper limit under the action of the upward thrust of the second elastic rod to form blocking to the claw disc; the second gear lever moves to the lower limit under the action of a second spring to release the blocking of the claw disc, and the second elastic lever moves to the lower limit under the action of the pushing force of the second gear lever.
The invention has the advantages that:
1. the band-type brake device provided by the invention is additionally provided with the first pressure sensor for detecting whether the first stop lever is in place or not on the basis of only containing the normally closed band-type brake assembly in the prior art, and the in-place condition of the first stop lever is accurately judged by accurately detecting the pressure change of the contact surface of the first stop lever and the first elastic rod, so that the arm smashing problem caused by the fact that the joint rotating shaft is not locked due to clamping stagnation is avoided.
2. Through the arrangement of the redundant normally-open contracting brake component and the safety detection method for the contracting brake device, after the normally-closed contracting brake component fails, the normally-open contracting brake component is utilized to ensure that the mechanical arm is not smashed, the safety of personnel and equipment is guaranteed, and the reliability of the contracting brake device is greatly improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a first perspective view of a modular joint redundancy brake device of a robot according to the present invention;
FIG. 2 is a structural cross-sectional view of the normally closed band-type brake assembly of the present invention;
FIG. 3 is a structural cross-sectional view of the upper half of the normally open band-type brake assembly of the present invention;
FIG. 4 is a schematic diagram of a modular joint redundancy brake device of a robot according to a second perspective of the invention;
FIG. 5 is a structural diagram of an implementation device of the safety detection method of the modular joint redundancy brake device of the robot;
fig. 6 is a flowchart of a safety detection method of the modular joint redundancy brake device of the robot.
In the figure:
1. a normally closed band-type brake assembly; 2. A first resilient lever; 3. A first coil body; 4. A first pressure sensor;
5. a first bar; 6. A first spring 7, a first sleeve; 8. A normally open band-type brake component;
9. a second elastic rod; 10. A second coil body; 11. A second pressure sensor; 12. A second bar;
13. a second spring 14, a second sleeve; 15. A joint rotation shaft; 16. A claw disk.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention.
As shown in fig. 1, fig. 2, fig. 3 and fig. 4, the invention provides a modular joint redundancy contracting brake device of a robot, the contracting brake device comprises a normally closed contracting brake assembly 1, a normally open contracting brake assembly 8 and a claw disc 16, the claw disc 16 is a six-claw disc, each claw has the same structure, the claw disc 16 is fixedly connected to a joint rotating shaft 15, the normally closed contracting brake assembly 1 comprises a first elastic rod 2, a first coil body 3, a first pressure sensor 4, a first gear rod 5, a first spring 6 and a first sleeve 7, the normally open contracting brake assembly 8 comprises a second elastic rod 9, a second coil body 10, a second pressure sensor 11, a second gear rod 12, a second spring 13 and a second sleeve 14; the first pressure sensor 4 and the second pressure sensor 11 are both in the form of a film; the normally closed band-type brake assembly 1 and the normally open band-type brake assembly 8 are identical in structure, the normally closed band-type brake assembly 1 is vertically turned over for 180 degrees in the up-down direction, the normally open band-type brake assembly 8 is obtained, and the normally closed band-type brake assembly 1 and the normally open band-type brake assembly 8 are located on the outer side of the joint rotating shaft 15 and are symmetrical about the center of the joint rotating shaft 15. The first gear lever 5 is of a T-shaped structure, the radial diameter of the upper half part is larger than that of the lower half part, the shortest length from the outer side of the upper half part of the first gear lever 5 to the center of the joint rotating shaft 15 is smaller than the length from the tail end of each claw of the claw disc 6 to the center of the joint rotating shaft 15, and the shortest length from the outer side of the lower half part of the first gear lever 5 to the center of the joint rotating shaft 15 is larger than the length from the tail end of each claw of the claw disc 6 to the center of the joint rotating shaft 15.
Taking the structure of the normally closed internal contracting brake assembly 1 as an example, the first elastic rod 2 is installed in the first coil body 3 and extends up and down, and can move under the excitation action of the first coil body 3; the first gear lever 5 is positioned below the first elastic lever 2, a first pressure sensor 4 is arranged between the lower surface of the first elastic lever 2 and the upper surface of the first gear lever 5, and the first pressure sensor 4 is adhered to the upper surface of the first gear lever 5 and used for detecting the resistance value between the lower surface of the first elastic lever 2 and the upper surface of the first gear lever 5; the upper end of the first sleeve 7 is sleeved outside the lower section of the first shift lever 5, and the first spring 6 is vertically fixed between the lower surface of the first shift lever 5 and the bottom surface inside the first sleeve 7, as shown in fig. 2, preferably, two ends of the first spring 6 are vertically embedded into the first shift lever 5 and the first sleeve 7 respectively. In the normally closed band-type brake assembly 1, a first coil body 3 is installed outside a joint body through a screw, and a first sleeve 7 is installed in the joint body in an embedded mode; under the initial power-off state of the normally closed band-type brake assembly 1, the first blocking rod 5 blocks the rotation of the claw disc 16, the first spring 6 is in an uncompressed state, and the first elastic rod 2 is in an upper limit state. In the normally open band-type brake assembly 8, a second coil body 10 is installed in a joint body through screws, and a second sleeve 14 is installed outside the joint body; when the normally open brake assembly 8 is in an initial power-off state, the second blocking rod 12 does not block the rotation of the claw disc 16, the second spring 13 is in an uncompressed state, and the second elastic rod 9 is in a lower limit state.
In the normally closed internal contracting brake assembly 1, the first elastic rod 2 moves to the lower limit under the action of the magnetic force of the first coil body 3, the first gear rod 5 moves to the lower limit under the action of the downward thrust of the first elastic rod 2, and the blocking of the claw disc 16 is removed; the first gear lever 5 moves to the upper limit under the action of the first spring 6 to form the block to the claw disc 16, and the first elastic lever 2 moves to the upper limit under the action of the thrust of the first gear lever 5; whether the first gear lever 5 or the first elastic lever 2 is clamped or not is judged by using the resistance value detected by the first pressure sensor 4; the first sleeve 7 is used to support the first spring 6.
In the normally open internal contracting brake assembly 8, the second elastic rod 9 moves to the upper limit under the action of the magnetic force of the second coil body 10, and the second gear rod 12 moves to the upper limit under the action of the upward thrust of the second elastic rod 9 to form the blocking of the claw disc 16; the second gear lever 12 moves to the lower limit under the action of the second spring 13, the blocking of the claw disc 16 is released, and the second elastic lever 9 moves to the lower limit under the action of the thrust of the second gear lever 12; whether the second gear lever 12 or the second elastic lever 9 is stuck or not is judged by using the resistance value detected by the second pressure sensor 11; the second sleeve 14 is used to support the second spring 13.
The shapes of the normally open brake component 8 and the normally closed brake component 1 are preferably cylindrical, so that the joint body can be embedded conveniently.
The robot modular joint redundancy internal contracting brake device has the working process as follows:
as shown in fig. 1, in an initial state, both the normally closed brake component 1 and the normally open brake component 8 are not powered, the first blocking rod 5 of the normally closed brake component 1 blocks rotation of the pawl disc 16, and the second blocking rod 12 of the normally open brake component 8 does not block rotation of the pawl disc 16. After the normally closed band-type brake assembly 1 is electrified, the first coil body 3 is excited, the first elastic rod 2 pushes the first stop lever 5 to move downwards to a lower limit position, the first stop lever 5 stops the claw disc 16, and then the joint rotating shaft 15 is stopped; when the normally closed brake assembly 1 loses power, the first blocking rod 5 moves upwards due to the restoring force of the first spring 6, and the first blocking rod 5 blocks the rotation of the claw disc 16, so that the joint rotating shaft 15 is blocked from rotating. After the normally open band-type brake assembly 8 is electrified, the second coil body 10 is excited, the second elastic rod 9 pushes the second blocking rod 12 to move upwards to the upper limit position, and the second blocking rod 12 blocks the rotation of the claw disc 16, so that the joint rotating shaft 15 is blocked from rotating; when the normally open brake component 8 loses power, the second stop lever 12 moves downwards due to the restoring force of the second spring 13, the blocking of the claw disc 16 by the second stop lever 12 is released, and the blocking of the joint rotating shaft 15 is further released.
The invention also provides a safety detection method of the modular joint redundancy brake device of the robot, which specifically comprises the following steps of:
step one, the upper computer sends a shutdown and shaft locking instruction to the control unit, and the control unit controls the servo module to further control the joint rotating shaft to operate and decelerate to a shutdown state and then maintain an enabling state.
Step two, the normally closed internal contracting brake driving circuit is controlled to interrupt power supply to a first coil body in the normally closed internal contracting brake assembly, and the normally closed internal contracting brake assembly is changed from power on to power off; the electromagnetic force of the first coil body acting on the first elastic rod disappears, and the first stop lever moves upwards under the action of the restoring force of the first spring to form the blocking of the claw disc.
Feeding back the resistance value of the first pressure sensor to the control unit by the normally closed band-type brake in-place feedback circuit, and detecting whether the first stop lever moves upwards to the place by the control unit; through sampling, if the resistance value of the first pressure sensor slowly rises and becomes large (samples need to be collected according to specific sensors and then used for identification) and a stable high resistance value is maintained, the first gear lever moves upwards to a proper position, the joint rotating shaft is locked, the control unit controls the servo module to be out of the enable state, and a shaft locking instruction is completed and fed back to the upper computer; through sampling, if the resistance value of the first pressure sensor suddenly rises and becomes larger (the rising slope of the resistance value has obvious gradient change relative to the slow rising and increasing), the clamping stagnation is judged, and if the resistance value of the first pressure sensor is kept stable and high resistance value is maintained, the first gear rod does not move upwards in place, the clamping stagnation of the first gear rod is judged, and the step four is carried out.
Fourthly, the control unit controls the normally open brake driving circuit to supply power to a second coil body in the normally open brake assembly, and the normally open brake assembly is changed from power loss to power gain; the second coil body acts on the second elastic rod, and the second elastic rod pushes the second stop rod to move upwards to form blocking of the claw disc.
Feeding back the resistance value of the second pressure sensor to the control unit by the normally open band-type brake in-place feedback circuit, and detecting whether the second stop lever moves upwards in place by the control unit; through sampling, if the resistance value of the second pressure sensor slowly rises and becomes large and maintains a stable high resistance value, the second gear lever moves upwards to a proper position, the joint rotating shaft is locked, the control unit controls the servo module to be out of the enable state, and a shaft locking instruction is completed and fed back to the upper computer; through sampling, if the resistance value of the second pressure sensor suddenly rises and becomes larger and maintains a stable high resistance value, the second gear lever does not move upwards in place, the second gear lever is judged to be blocked, and the step six is carried out.
And step six, the control unit controls the servo module to maintain the enabling state and feeds the enabling state back to the upper computer.
As shown in fig. 5, the present invention further provides an implementation apparatus of the safety detection method, where the implementation apparatus includes an upper computer module and a driver module, where the driver module specifically includes a control unit (CPU), a normally closed brake in-place feedback circuit, a normally closed brake driving circuit, a servo module for controlling the operation of a joint rotating shaft, a normally open brake driving circuit, and a normally open brake in-place feedback circuit; the upper computer is used for sending a control instruction to the control unit and receiving a feedback signal of the control unit. The control unit controls the enabling of the servo module according to a control instruction of the upper computer, controls the normally closed band-type brake driving circuit to supply power to the first coil body, and controls the normally open band-type brake driving circuit to supply power to the second coil body. The normally closed band-type brake in-place feedback circuit is used for feeding back the resistance value of the first pressure sensor to the control unit, and the normally open band-type brake in-place feedback circuit is used for feeding back the resistance value of the second pressure sensor to the control unit. The control unit judges the clamping stagnation states of the two gear rods according to the two resistance values respectively and feeds the clamping stagnation states back to the upper computer.
The safety detection method of the modular joint redundancy band-type brake device of the robot is not limited to a pressure sensor by detecting whether the gear lever or the elastic lever is clamped or not, and other modes can be adopted.
Claims (2)
1. The robot modular joint redundancy band-type brake device comprises a normally closed band-type brake component, a normally open band-type brake component and a claw disc, wherein the claw disc is fixedly connected to a joint rotating shaft, and the normally closed band-type brake component and the normally open band-type brake component are both positioned on the outer side of the joint rotating shaft and are centrosymmetric about the joint rotating shaft; the normally closed band-type brake assembly and the normally open band-type brake assembly are completely the same in structure, and the normally closed band-type brake assembly is vertically turned over for 180 degrees in the vertical direction, so that the normally open band-type brake assembly is obtained;
taking the structure of the normally closed brake assembly as an example, the normally closed brake assembly comprises a first elastic rod, a first coil body, a first pressure sensor, a first stop rod, a first spring and a first sleeve, and the normally open brake assembly comprises a second elastic rod, a second coil body, a second pressure sensor, a second stop rod, a second spring and a second sleeve;
the first elastic rod is arranged in the first coil body, extends out up and down, and moves under the excitation action of the first coil body; the first gear rod is positioned below the first elastic rod, a first pressure sensor is arranged between the lower surface of the first elastic rod and the upper surface of the first gear rod, the first pressure sensor is adhered to the upper surface of the first gear rod, the upper end of the first sleeve is sleeved outside the lower section of the first gear rod, and a first spring is vertically fixed between the lower surface of the first gear rod and the bottom surface of the interior of the first sleeve; in the normally closed band-type brake assembly, a first coil body is installed outside a joint body through a screw, and a first sleeve is embedded and installed in the joint body; when the normally closed brake assembly is in an initial power-off state, the first blocking rod blocks the rotation of the claw disc, the first spring is in an uncompressed state, and the first elastic rod is in an upper limit state; in the normally open band-type brake assembly, a second coil body is installed in a joint body through a screw, and a second sleeve is installed outside the joint body; when the normally open brake component is in an initial power-off state, the second blocking rod does not block the rotation of the pawl disc, the second spring is in an uncompressed state, and the second elastic rod is in a lower limiting state;
the first gear lever is of a T-shaped structure, the radial diameter of the upper half part is larger than that of the lower half part, the shortest length from the outer side of the upper half part of the first gear lever to the center position of the joint rotating shaft is smaller than the length from the tail end of each claw of the claw disc to the center position of the joint rotating shaft, and the shortest length from the outer side of the lower half part of the first gear lever to the center position of the joint rotating shaft is larger than the length from the tail end of each claw of the claw disc to the center position;
two ends of the first spring are vertically embedded into the first stop lever and the first sleeve respectively;
the normally open brake component and the normally closed brake component are cylindrical in shape;
the first pressure sensor and the second pressure sensor are both in a film shape;
the method is characterized by comprising the following steps:
step one, the upper computer sends a shutdown and shaft locking instruction to the control unit, and the control unit controls the servo module to further control the joint rotating shaft to operate and decelerate to a shutdown state and then maintain an enabling state;
step two, the normally closed internal contracting brake driving circuit is controlled to interrupt power supply to a first coil body in the normally closed internal contracting brake assembly, and the normally closed internal contracting brake assembly is changed from power on to power off; the electromagnetic force of the first coil body acting on the first elastic rod disappears, and the first stop lever moves upwards under the action of the restoring force of the first spring to form the block to the claw disc;
feeding back the resistance value of the first pressure sensor to the control unit by the normally closed band-type brake in-place feedback circuit, and detecting whether the first stop lever moves upwards to the place by the control unit; through sampling, if the resistance value of the first pressure sensor slowly rises and becomes large and maintains a stable high resistance value, the first gear lever moves upwards to a proper position, the joint rotating shaft is locked, the control unit controls the servo module to be out of the enable state, and a shaft locking instruction is completed and fed back to the upper computer; through sampling, if the resistance value of the first pressure sensor suddenly rises and becomes larger and maintains a stable high resistance value, the first gear lever does not move upwards in place, the first gear lever is judged to be blocked, and the fourth step is executed;
fourthly, the control unit controls the normally open brake driving circuit to supply power to a second coil body in the normally open brake assembly, and the normally open brake assembly is changed from power loss to power gain; the second coil body acts on a second elastic rod which pushes a second stop rod to move upwards to form a barrier for the claw disc;
feeding back the resistance value of the second pressure sensor to the control unit by the normally open band-type brake in-place feedback circuit, and detecting whether the second stop lever moves upwards in place by the control unit; through sampling, if the resistance value of the second pressure sensor slowly rises and becomes large and maintains a stable high resistance value, the second gear lever moves upwards to a proper position, the joint rotating shaft is locked, the control unit controls the servo module to be out of the enable state, and a shaft locking instruction is completed and fed back to the upper computer; through sampling, if the resistance value of the second pressure sensor suddenly rises and becomes larger and maintains a stable high resistance value, the second gear lever does not move upwards in place, the second gear lever is judged to be blocked, and the sixth step is executed;
and step six, the control unit controls the servo module to maintain the enabling state and feeds the enabling state back to the upper computer.
2. The implementation device of the safety detection method of the modular robot joint redundant band-type brake device according to claim 1, wherein the implementation device comprises an upper computer module and a driver module, wherein the driver module specifically comprises a control unit, a normally closed band-type brake in-place feedback circuit, a normally closed band-type brake driving circuit, a servo module for controlling the operation of a joint rotating shaft, a normally open band-type brake driving circuit, and a normally open band-type brake in-place feedback circuit; the upper computer is used for sending a control instruction to the control unit and receiving a feedback signal of the control unit; the control unit controls the enabling of the servo module according to a control instruction of the upper computer, controls the normally closed band-type brake driving circuit to supply power to the first coil body, and controls the normally open band-type brake driving circuit to supply power to the second coil body; the normally closed band-type brake in-place feedback circuit is used for feeding back the resistance value of the first pressure sensor to the control unit, and the normally open band-type brake in-place feedback circuit is used for feeding back the resistance value of the second pressure sensor to the control unit; the control unit judges the clamping stagnation states of the two gear rods according to the two resistance values respectively and feeds the clamping stagnation states back to the upper computer.
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| CN201910171571.4A CN109760035B (en) | 2019-03-07 | 2019-03-07 | Robot modular joint redundancy internal contracting brake device and safety detection method thereof |
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| CN111283663A (en) * | 2020-03-05 | 2020-06-16 | 埃夫特智能装备股份有限公司 | A articulated motor band-type brake system of integration for cooperating robot |
| CN111590546B (en) * | 2020-05-15 | 2021-11-02 | 配天机器人技术有限公司 | Robot band-type brake releasing method, robot and device with storage function |
| CN114378798B (en) * | 2020-10-20 | 2024-12-13 | 苏州艾利特机器人有限公司 | A method for detecting abnormality of brakes of multi-joint robots |
| CN112605984A (en) * | 2020-12-25 | 2021-04-06 | 深圳市越疆科技有限公司 | Firing pin type band-type brake device of mechanical arm joint, mechanical arm joint and mechanical arm |
| CN113427497B (en) * | 2021-06-25 | 2022-12-09 | 深圳市同川科技有限公司 | Cooperative robot band-type brake control device and control method thereof |
| CN113427478A (en) * | 2021-06-28 | 2021-09-24 | 深圳市越疆科技有限公司 | Brake system and detection method thereof, mechanical arm and robot |
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