CN110842916B - Industrial robot band-type brake control system - Google Patents
Industrial robot band-type brake control system Download PDFInfo
- Publication number
- CN110842916B CN110842916B CN201911000503.8A CN201911000503A CN110842916B CN 110842916 B CN110842916 B CN 110842916B CN 201911000503 A CN201911000503 A CN 201911000503A CN 110842916 B CN110842916 B CN 110842916B
- Authority
- CN
- China
- Prior art keywords
- band
- type brake
- substrate
- control system
- circuit
- 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.)
- Active
Links
- 239000000758 substrate Substances 0.000 claims abstract description 51
- 238000001514 detection method Methods 0.000 abstract description 8
- 238000010586 diagram Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of industrial robots, in particular to an industrial robot band-type brake control system which is applied to a robot body, wherein the robot body is provided with a control part and a driving part, the band-type brake control system comprises a band-type brake substrate arranged on the robot body, the band-type brake substrate is used for enabling the control part to acquire or disconnect the control authority of the driving part by switching the on-off state of a circuit of the band-type brake substrate, all release systems of the band-type brake are highly integrated on the band-type brake substrate, the band-type brake control of 6 shafts of the robot is realized by only one normally open reset switch, the number and the space of the switches are effectively reduced, and in addition, the detection feedback of the band-type brake substrate circuit is increased in the driving part, so that the band-type brake control system is allowed to be operated under the condition of not powering off, and the safety and the working efficiency are further improved.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to an industrial robot band-type brake control system.
Background
In the past, the brake function of robot prevents the rotation of motor shaft by the built-in stopper of servo motor, and then avoid the robot to receive the influence of gravity under the circumstances of outage suddenly and appear dropping the condition, under the general circumstances, the robot can set up extra brake release control system on the switch board or on the robot body because of safety consideration, when operating personnel is stranded by the robot or the robot is in the singular gesture and can't operate through the controller, at this moment, need brake release system to release the brake of each axle motor, promote the rotation of each axle, and then solve above-mentioned problem.
In recent years, developers optimally design a band-type brake release system of a robot, such as a mode of realizing six axes of 3 switch control through a decoding unit by adopting multi-joint band-type brake release integrated control of an industrial robot with the Chinese patent number 201820850616.1, but the scheme is complex in operation, and can not effectively protect a circuit by only relying on a relay, in addition, 3 switches of the robot with small load still occupy a large space, such as a band-type brake release control circuit of the industrial robot with the Chinese patent application number 201810529439.1, a charging power supply is added to avoid the condition that the band-type brake is released without power supply after power failure, however, the cost is increased due to the addition of the charging power supply, and the situation that the charging power supply is in power failure exists is also considered, and in addition, the designer needs to place the charging power supply in a limited space. Thus, great inconvenience is brought.
Disclosure of Invention
In order to solve the problems, the invention provides an industrial robot band-type brake control system.
The utility model provides an industrial robot band-type brake control system, is applied to the robot body, the robot body has control portion and drive division, including arranging the band-type brake base plate on the robot body, the band-type brake base plate is through switching self circuit on-off state for control portion obtains or breaks off the control authority to drive division.
The robot body comprises a base and an aviation plug board which is arranged on the base and used for installing the band-type brake base plate.
The air insert plate is provided with a fixed support used for installing the band-type brake base plate to prevent the band-type brake base plate from falling and being damaged under the condition that the robot body is carried or vibrated.
The fixing support is provided with a threaded stud with an internal thread through a through hole and a threaded stud with an internal thread through a blind hole in a riveting mode.
The outside of aviation picture peg be provided with the normally open reset switch that is used for controlling band-type brake base plate circuit's circuit break and access state.
Four sides of the fixing support are bent inwards by 90 degrees to avoid interference with an external part.
The volume of band-type brake base plate be less than the volume of fixed bolster.
The control circuit of the band-type brake substrate is connected in parallel with the control circuit of the driving part.
The band-type brake substrate comprises a first connector connected with the normally open reset switch, a second connector connected with the motor band-type brake, a relay for controlling the band-type brake substrate circuit and a diode of the protection circuit.
The normally open reset switch is provided with a red indicator lamp.
The beneficial effects of the invention are as follows: according to the invention, all release systems of the band-type brake are highly integrated on the band-type brake substrate, band-type brake control of 6 shafts of the robot is realized only through one normally-open reset switch, the number and space of the switches are effectively reduced, in addition, detection feedback to a band-type brake substrate circuit is added in a driving part, so that the band-type brake control system is allowed to be operated under the condition of no power failure, and the safety and the working efficiency are further improved.
Drawings
The invention will be further described with reference to the drawings and examples.
FIG. 1 is a schematic block diagram of a control system of the present invention;
FIG. 2 is a schematic perspective view of the present invention;
FIG. 3 is a schematic diagram of an assembled perspective structure of a band-type brake base plate and a fixed bracket of the invention;
fig. 4 is a schematic perspective view of a fixing bracket according to the present invention;
FIG. 5 is a schematic view of a band-type brake substrate of the present invention;
fig. 6 is a circuit diagram of the band-type brake substrate of the present invention.
Detailed Description
The present invention will be further described in the following to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the present invention easy to understand.
As shown in fig. 1 to 6, an industrial robot band-type brake control system is applied to a robot body 1, the robot body 1 is provided with a control part 6 and a driving part 5, and comprises a band-type brake substrate 33 arranged on the robot body 1, wherein the band-type brake substrate 33 is used for switching on/off states of circuits of the band-type brake substrate 33, so that the control part 6 obtains or disconnects control authority of the driving part 5.
The robot body 1 comprises a base 11 and an aviation plug board 3 which is arranged on the base 11 and used for installing a band-type brake base plate 33.
When the circuit of the band-type brake substrate 33 is in a passage state, the driving part 5 detects the control circuit and feeds back the control circuit to the control part 6, and the control part 6 receives the passage signal and then disconnects the control authority of the driving part 5.
When the circuit of the band-type brake substrate 33 is in a broken state, the control part 6 obtains the control authority to the driving part 5 according to the signal fed back by the driving part 5.
The control unit 6 is a controller, and the driving unit 5 is a driver.
The robot body 1 also comprises a joint assembly arranged on the base 11, a motor assembly 2 arranged in the base 11 and a cable 4 used for connecting the robot body 1 and the driving part 5.
The cable 4 is disposed inside the robot body 1, and connects the motor 2 to an external driving unit 5 to form a main control circuit.
The aviation plug board 3 is provided with a fixed bracket 32 for installing the band-type brake substrate 33 to prevent the band-type brake substrate 33 from falling off and being damaged under the condition that the robot body 1 is carried or subjected to vibration.
The fixing bracket 32 is provided with a through hole with an internal thread stud 322 and a blind hole with an internal thread stud 321 in a riveting mode, the through hole with the internal thread stud 322 is used for fixing the fixing bracket 32 and the aviation plug 3, and the blind hole with the internal thread stud 321 is used for fixing the band-type brake substrate 33 on the fixing bracket 32.
The outside of the aviation plug board 3 is provided with a normally open reset switch 31 for controlling the open and the closed states of a circuit of the band-type brake substrate 33.
Four sides of the fixing support 32 are bent inwards by 90 degrees to avoid interference with external parts.
The volume of the band-type brake substrate 33 is smaller than that of the fixed support 32, and the band-type brake substrate 33 fixed in the fixed support 32 can be isolated from an external cable 4 or a component in order to ensure the stability of the band-type brake substrate 33.
The control circuit of the band-type brake substrate 33 is connected in parallel with the control circuit of the driving part 5.
The band-type brake substrate 33 comprises a first connector 331 connected with the normally open reset switch 31, a second connector 332 connected with the band-type brake substrate 33, a relay 333 for controlling the circuit of the band-type brake substrate 33 and a diode 334 for protecting a circuit, wherein the band-type brake at the position refers to the band-type brake of the J1 shaft motor 21 to the J6 shaft motor 26, band-type brake wires for leading out the J1 shaft motor 21 to the J6 shaft motor 26 from the cable 4 are connected with the second connector 332 in parallel, the relay 333 for controlling the circuit of the band-type brake substrate 33 is connected with the second connector 333, and the two band-type brakes are controlled by the 1 relay 333, and 3 relays are adopted.
As shown in fig. 1 and 6, the diode 334 is connected to two ends of the coil of the relay 333 to counteract the reverse electromotive force for protection, and each motor connecting line is connected with a freewheeling diode, and the relay 333 includes three double-open double-close relays.
The normally open reset switch 31 is provided with a red indicator light.
All release systems of the band-type brake are highly integrated on the band-type brake substrate 33, band-type brake control of 6 shafts of the robot is realized only through one normally-open reset switch 31, the number and space of the switches are effectively reduced, in addition, detection feedback to a circuit of the band-type brake substrate 33 is added in a driving part, the band-type brake control system is allowed to be operated under the condition of no power failure, and safety and working efficiency are further improved.
The control unit 6 is provided outside the robot body 1, communicates with the driving unit 5, and controls the driving unit 5 to drive the motor 2 forward and backward.
The driving part 5 drives the motor 2 to rotate according to the instruction of the control part 6, so as to drive the J1 shaft motor 21 to the J6 shaft motor 26 to move, meanwhile, the driving part 5 also detects a control loop of the band-type brake substrate 33, namely, a detection circuit is arranged in the driver 5, the detection circuit at least comprises a detection resistor, current detection is carried out by using the detection resistor, a detected signal is fed back to the control part 6, and the control part 6 judges whether the control authority of the driving part 5 can be acquired according to the signal.
The joint assembly includes a second joint part 12, a third joint part 13, a fourth joint part 14, a fifth joint part 15, and a sixth joint part 16, which are provided on the base 11 and are connected in order.
The motor assembly 2 comprises a J1 shaft motor 21, a J2 shaft motor 22, a J3 shaft motor 23, a J4 shaft motor 24, a J5 shaft motor 25 and a J6 shaft motor 26 which are matched with the driving part 5 to realize the action.
The control circuit of the band-type brake substrate 33 is connected in parallel with the control circuit of the driving part 5.
When the circuit of the band-type brake substrate 33 is in the on state, and the driving unit 5 detects the on state, the control unit 6 feeds back the signal to the control unit 6, and the control unit 6 disconnects the control authority of the driver 5, and the robot body 1 cannot be operated by the teach pendant 7.
Contacts of the relay 333 are connected with BK+ of the J1-axis motors 21 to 26, BK-of the J1-axis motors 21 to 26 are connected with a low-level circuit, and through holes 335 for fixing the band-type brake substrate 33 on the aviation plug 3 through screws are further formed in the band-type brake substrate 33.
The normally open reset switch 31 is provided with a red indicator lamp which plays a role of a safety mark.
When the operator presses the normally open reset switch 31, at this time, the circuit of the band-type brake substrate 33 is in a passage state, the band-type brake of the motor 2 is released, when the operator releases the normally open reset switch 31, the circuit of the band-type brake substrate 33 is in an open state, the band-type brake of the motor 2 is closed, and the operation safety is ensured.
The application method of the invention comprises the following steps: when the robot body 1 is abnormal in work or is trapped by an operator in the working process, the operator is required to press the normally open reset switch 31 on the base 11 of the robot body 1, when the operator presses the normally open reset switch 31, a red indicator lamp on the normally open reset switch 31 is on, the base 11 of the robot body 1 and the band-type brake of the motor 2 from the second joint part 12 to the sixth joint part 16 are opened, the motor 2 of the robot body 1 starts to fall under the influence of gravity, the other operator is required to rotate the base 11 from the output end and the second joint part 12 to the sixth joint part 16 for a light-load robot, at the moment, the driving part 5 detects that a circuit of the band-type brake substrate 33 is in a passage state, signals are fed back to the control part 6, the control part 6 can disconnect the control authority of the driving part 5, the robot body 1 cannot be operated through the demonstrator 7, the safety is ensured, the operator can loosen the normally open reset switch 31 after the standby robot body 1 is restored from the singular position or the trapped operator is relieved, the motor 2 of the robot body 1 is closed, and the control part 6 resumes the control authority of the driving part 5 through the demonstrator 7.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. An industrial robot band-type brake control system is applied to robot body (1), robot body (1) has control portion (6) and drive portion (5), its characterized in that: the band-type brake comprises a band-type brake substrate (33) arranged on a robot body (1), wherein the band-type brake substrate (33) is used for enabling a control part (6) to acquire or disconnect control authority of a driving part (5) by switching on/off states of circuits of the band-type brake substrate; the robot body (1) comprises a base (11) and an aviation plug board (3) which is arranged on the base (11) and used for installing a band-type brake substrate (33); the outside of the aviation plug board (3) is provided with a normally open reset switch (31) for controlling the open-circuit and the pass-through states of a circuit of the band-type brake substrate (33); the control circuit of the band-type brake substrate (33) is connected in parallel with the control circuit of the driving part (5); the band-type brake substrate (33) comprises a first connector (331) connected with the normally-open reset switch (31), a second connector (332) connected with the band-type brake substrate (33), a relay (333) for controlling a circuit of the band-type brake substrate (33) and a diode (334) for protecting the circuit.
2. The industrial robot band-type brake control system according to claim 1, wherein: the navigation plugboard (3) is provided with a fixed bracket (32) for installing the band-type brake substrate (33) to prevent the band-type brake substrate (33) from falling off and being damaged under the condition that the robot body (1) is carried or vibrated.
3. An industrial robot band-type brake control system according to claim 2, wherein: the fixing support (32) is provided with a threaded stud (322) with internal threads through holes and a threaded stud (321) with internal threads blind holes in a riveting mode.
4. An industrial robot band-type brake control system according to claim 2, wherein: four sides of the fixing support (32) are bent inwards by 90 degrees to avoid interference with an external part.
5. An industrial robot band-type brake control system according to claim 2, wherein: the volume of the band-type brake substrate (33) is smaller than that of the fixed support (32).
6. The industrial robot band-type brake control system according to claim 1, wherein: the normally open reset switch (31) is provided with a red indicator lamp.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911000503.8A CN110842916B (en) | 2019-10-21 | 2019-10-21 | Industrial robot band-type brake control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911000503.8A CN110842916B (en) | 2019-10-21 | 2019-10-21 | Industrial robot band-type brake control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110842916A CN110842916A (en) | 2020-02-28 |
| CN110842916B true CN110842916B (en) | 2024-08-16 |
Family
ID=69597195
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911000503.8A Active CN110842916B (en) | 2019-10-21 | 2019-10-21 | Industrial robot band-type brake control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110842916B (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN211590116U (en) * | 2019-10-21 | 2020-09-29 | 埃夫特智能装备股份有限公司 | Industrial robot band-type brake control system |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06329014A (en) * | 1993-03-24 | 1994-11-29 | Sumitomo Electric Ind Ltd | Anti-lock control device |
| CN103955160A (en) * | 2014-05-08 | 2014-07-30 | 安徽埃夫特智能装备有限公司 | Safety protection module for industrial robot |
| CN104678859B (en) * | 2015-02-11 | 2017-09-26 | 北京配天技术有限公司 | Industrial robot teaching device and its emergency triggering method |
| CN108736767A (en) * | 2018-05-29 | 2018-11-02 | 珠海格力电器股份有限公司 | Band-type brake release control circuit of industrial robot |
-
2019
- 2019-10-21 CN CN201911000503.8A patent/CN110842916B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN211590116U (en) * | 2019-10-21 | 2020-09-29 | 埃夫特智能装备股份有限公司 | Industrial robot band-type brake control system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110842916A (en) | 2020-02-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8099193B2 (en) | Control system for an industrial robot | |
| CN101517259B (en) | Actuator arrangement for a motor vehicle clutch | |
| CN104416582A (en) | Method for controlling a robot | |
| CN111240258A (en) | Industrial robot and emergency stop device thereof | |
| CN108927804B (en) | Composite robot control system and robot | |
| CN113829384A (en) | Arm joint module and arm thereof | |
| CN110842916B (en) | Industrial robot band-type brake control system | |
| CN211590116U (en) | Industrial robot band-type brake control system | |
| SG163606A1 (en) | Power controller assembly and method | |
| CN214450872U (en) | Redundant braking system, automatic driving system and vehicle | |
| US6498448B2 (en) | Motor break releasing device | |
| CN210534570U (en) | Industrial robot control system and industrial robot | |
| KR20130025199A (en) | Device and method for articulated robot | |
| JP5970713B2 (en) | Robot controller | |
| CN210573348U (en) | Multi-type special equipment antenna running-in general control console | |
| CN2711986Y (en) | Intelligent control box for motor | |
| CN112388667B (en) | Robot joint shaft driving structure, robot and control method thereof | |
| CN211163953U (en) | Scram control device and robot | |
| CN218510283U (en) | Electromagnetic valve driving circuit capable of monitoring action current | |
| CN113021332B (en) | Industrial robot control system and control equipment | |
| JP7192065B1 (en) | relay protection system | |
| CN219926045U (en) | Mechanical arm grabbing system | |
| EP4105118A1 (en) | Braking unit | |
| CN112825464B (en) | Excitation control device configured with multi-network redundancy | |
| WO2021117815A1 (en) | Safety signal output device, mounting member, safety system, and method for disabling monitoring |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |