CN112737420B - Mechanical arm motor power-off braking method, system and readable storage medium - Google Patents
Mechanical arm motor power-off braking method, system and readable storage medium Download PDFInfo
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- CN112737420B CN112737420B CN202011594274.XA CN202011594274A CN112737420B CN 112737420 B CN112737420 B CN 112737420B CN 202011594274 A CN202011594274 A CN 202011594274A CN 112737420 B CN112737420 B CN 112737420B
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- 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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
- H02H7/0833—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors for electric motors with control arrangements
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Abstract
The invention discloses a method, a system and a readable storage medium for braking a mechanical arm motor in a power-off way, wherein the method comprises the following steps: detecting a voltage value of a motor power supply; judging whether the voltage value is larger than a preset voltage threshold value or not; if not, switching the state of the input end of the power supply to be a first state; if the motor is in the emergency stop state, judging whether the motor is in the emergency stop state or not; if the power supply is in the emergency stop state, the state of the input end of the switching power supply is the first state. By detecting the voltage and the emergency stop state and changing the state of the power input end, the falling speed of the mechanical arm can be effectively slowed down, and the mechanical arm and other devices are prevented from being damaged due to severe collision in the falling process. The invention can also carry out probability analysis of the emergency stop state through surrounding environment information, and adjust the detection frequency according to the probability, thereby reducing the possibility of damage of the mechanical arm in the emergency stop state.
Description
Technical Field
The present application relates to the field of automatic control, and more particularly, to a method, a system, and a readable storage medium for braking a mechanical arm motor in a power failure mode.
Background
The mechanical arm is an automatic mechanical device which is most widely and practically applied in the technical field of robots, and can see the figure in the fields of industrial manufacture, medical treatment, entertainment service, military, semiconductor manufacture, space exploration and the like. Although they differ in their morphology, they share a common feature of being able to receive instructions to accurately locate a point in three-dimensional (or two-dimensional) space for a job.
In the practical application process, unexpected power failure or emergency power failure is possibly caused, the motor loses driving capability after power failure, the mechanical arm can fall rapidly under the action of gravity, and safety accidents or damage to the mechanical arm or other equipment can occur in the falling process. In order to solve the above problems, a mechanical braking device is usually installed at a motor of the mechanical arm, and the mechanical arm is automatically braked after power failure to avoid falling. However, the scheme has a complex structure, occupies part of the space of the motor, and is difficult to realize in a motor with a small volume. Therefore, it is not desirable to design a solution capable of reducing the damage of the mechanical arm.
Disclosure of Invention
In order to solve at least one technical problem, the invention provides a method, a system and a readable storage medium for braking a mechanical arm motor in a power-off mode.
The first aspect of the invention provides a power-off braking method of a mechanical arm motor, comprising the following steps:
detecting a voltage value of a motor power supply;
judging whether the voltage value is larger than a preset voltage threshold value or not;
if not, switching the state of the input end of the power supply to be a first state;
if the motor is in the emergency stop state, judging whether the motor is in the emergency stop state or not;
if the power supply is in the emergency stop state, the state of the input end of the switching power supply is the first state.
In this scheme, still include:
and when the motor is judged to be in a non-emergency stop state, the state of the input end of the switching power supply is a second state.
In this scheme, judge whether the motor is in emergency stop state, specifically:
acquiring detection data of a sensor;
judging whether the detection data is not in a preset threshold range or not;
counting the number of the sensors which are not in a preset threshold range;
and if the number exceeds a preset number threshold, judging that the emergency stop state is realized.
In this scheme, the voltage threshold determining method includes:
acquiring a plurality of motor power supply voltage values and state information;
and analyzing according to the power supply voltage values and the state information of the plurality of motors to obtain an optimal voltage value serving as a voltage threshold.
In this scheme, still include:
acquiring surrounding environment information;
the environment information is sent to a server side;
the server side analyzes according to the surrounding environment information and calculates the probability of the motor in an emergency stop state;
and if the probability is larger than a preset probability threshold, sending warning information to the control end.
In this scheme, still include:
the control end receives the warning information;
the detection frequency of the sensor is increased.
In the scheme, the first state is that the power supply input end of the motor is grounded, and the second state is that the power supply input end of the motor is connected with a power supply.
The invention also discloses a power-off braking system of the mechanical arm motor, which comprises a memory and a processor, wherein the memory comprises a power-off braking method program of the mechanical arm motor, and the power-off braking method program of the mechanical arm motor is executed by the processor to realize the following steps:
detecting a voltage value of a motor power supply;
judging whether the voltage value is larger than a preset voltage threshold value or not;
if not, switching the state of the input end of the power supply to be a first state;
if the motor is in the emergency stop state, judging whether the motor is in the emergency stop state or not;
if the power supply is in the emergency stop state, the state of the input end of the switching power supply is the first state.
In this scheme, still include:
and when the motor is judged to be in a non-emergency stop state, the state of the input end of the switching power supply is a second state.
In this scheme, judge whether the motor is in emergency stop state, specifically:
acquiring detection data of a sensor;
judging whether the detection data is not in a preset threshold range or not;
counting the number of the sensors which are not in a preset threshold range;
and if the number exceeds a preset number threshold, judging that the emergency stop state is realized.
In this scheme, the voltage threshold determining method includes:
acquiring a plurality of motor power supply voltage values and state information;
and analyzing according to the power supply voltage values and the state information of the plurality of motors to obtain an optimal voltage value serving as a voltage threshold.
In this scheme, still include:
acquiring surrounding environment information;
the environment information is sent to a server side;
the server side analyzes according to the surrounding environment information and calculates the probability of the motor in an emergency stop state;
and if the probability is larger than a preset probability threshold, sending warning information to the control end.
In this scheme, still include:
the control end receives the warning information;
the detection frequency of the sensor is increased.
In the scheme, the first state is that the power supply input end of the motor is grounded, and the second state is that the power supply input end of the motor is connected with a power supply.
A third aspect of the present invention discloses a computer readable storage medium, where the computer readable storage medium includes a power-off braking method program for a mechanical arm motor, where the power-off braking method program for a mechanical arm motor implements the power-off braking method steps for a mechanical arm motor according to any one of the above steps when the power-off braking method program for a mechanical arm motor is executed by a processor.
The invention discloses a power-off braking method, a power-off braking system and a readable storage medium for a mechanical arm motor. The invention can also carry out probability analysis of the emergency stop state through surrounding environment information, and adjust the detection frequency according to the probability, thereby reducing the possibility of damage of the mechanical arm in the emergency stop state.
Drawings
FIG. 1 shows a flow chart of a method for braking a mechanical arm motor in a power-off manner;
FIG. 2 shows a block diagram of a mechanical arm motor power-off braking system of the present invention.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, in the case of no conflict, the embodiments of the present application and the features in the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.
Fig. 1 shows a flow chart of a method for braking a mechanical arm motor in a power-off manner.
As shown in fig. 1, the invention discloses a power-off braking method of a mechanical arm motor, comprising the following steps:
s102, detecting a voltage value of a motor power supply;
s104, judging whether the voltage value is larger than a preset voltage threshold value or not;
s106, if not, switching the state of the input end of the power supply to be a first state;
s108, if the motor is in the emergency stop state, judging whether the motor is in the emergency stop state or not;
s110, if the power supply is in the emergency stop state, the state of the input end of the switching power supply is a first state.
The invention can control the power input end of the motor to enter the state according to the state of the power supply voltage and the emergency stop state of the mechanical arm, so as to achieve the aim of power-off and braking of the mechanical arm. Firstly, detecting the voltage value of a motor power supply, wherein the voltage value can be detected by adopting a voltage detection device built in a mechanical arm. And then judging whether the voltage value is larger than a preset voltage threshold, wherein the preset voltage threshold can be set by a person skilled in the art according to actual needs and experience and can also be dynamically changed. If the voltage is not greater than the preset value, the mechanical arm possibly drops, and the state of the input end of the switching power supply is set to be a first state. If the voltage is larger than the preset voltage threshold, whether the power supply is in the emergency stop state is continuously judged, and if the power supply is in the emergency stop state, the state of the input end of the power supply is switched to be a first state. And when the motor is judged to be in a non-emergency stop state, the state of the input end of the switching power supply is a second state. The first state is that the power supply input end of the motor is grounded, and the second state is that the power supply input end of the motor is connected with a power supply. That is, when the power supply voltage is higher than the set threshold and is not in a sudden stop state, the power supply input end of the motor is connected to the power supply, the motor is powered, and the system can work normally. When the power supply voltage is lower than a set threshold value or in an emergency stop state, the power supply input end of the motor is grounded, and at the moment, if the mechanical arm falls, induced voltage generated on the motor in the falling process forms a loop through the power supply input end of the motor, the ground and the motor coil, and current forms a reaction force through the motor coil to play a role in braking. By the method, the falling speed of the mechanical arm can be effectively slowed down, and the mechanical arm and other devices are prevented from being damaged due to severe collision in the falling process.
According to the embodiment of the invention, the judging whether the motor is in the emergency stop state specifically comprises:
acquiring detection data of a sensor;
judging whether the detection data is not in a preset threshold range or not;
counting the number of the sensors which are not in a preset threshold range;
and if the number exceeds a preset number threshold, judging that the emergency stop state is realized.
The mechanical arm may be further provided with different sensors, such as a gyroscope sensor, an acceleration sensor, an angle sensor, and a speed sensor, and the state of the mechanical arm may be directly or indirectly determined by the sensors. Firstly, acquiring detection data of a sensor, and judging whether the detection data of the sensor falls within a preset threshold range, wherein the threshold range can be a numerical range section set by a person skilled in the art according to actual needs or experience, and the corresponding numerical range section can be set for each sensor in different categories or different positions. If the number of the sensors is not within the preset threshold range, counting the number of the corresponding sensors, and if the number exceeds the threshold value, indicating that the mechanical arm is in an emergency stop state at the moment; if the number does not exceed the number threshold, it may be considered that the scram state is not present. When the power supply is in the emergency stop state, the switching of the power supply input end is required.
According to the embodiment of the invention, the voltage threshold determining method comprises the following steps:
acquiring a plurality of motor power supply voltage values and state information;
and analyzing according to the power supply voltage values and the state information of the plurality of motors to obtain an optimal voltage value serving as a voltage threshold.
It should be noted that the voltage threshold may be dynamically changed, and may be obtained by analyzing according to historical data. Firstly, a plurality of motor power supply voltage values and state information are acquired, wherein the motor power supply voltage values can be acquired directly through a voltage detection module, the state information is the state of the mechanical arm under the condition of the voltage values, and the state information can comprise various information, such as voltage, sensors, damage and the like. After the above-described pieces of information are acquired, data analysis can be performed to obtain an optimal voltage value, and the optimal voltage value is used as a voltage threshold. It is worth mentioning that the more data is acquired, the more accurate the analysis result will be.
According to an embodiment of the present invention, further comprising:
acquiring surrounding environment information;
the environment information is sent to a server side;
the server side analyzes according to the surrounding environment information and calculates the probability of the motor in an emergency stop state;
and if the probability is larger than a preset probability threshold, sending warning information to the control end.
When the mechanical arm works, the environmental factors determine the working state of the mechanical arm. For example, the mechanical arm in the outdoor severe environment is more likely to be suddenly stopped, and the mechanical arm may be damaged. The invention can also carry out probability analysis of the emergency stop state through surrounding environment information, and adjust the detection frequency according to the probability, thereby reducing the possibility of damage of the mechanical arm in the emergency stop state. Firstly, surrounding environment information is acquired firstly, wherein the surrounding environment information can comprise information such as position, weather, temperature and humidity, voltage stability and the like. And then the acquired information is sent to a server side, and the server side calculates according to the acquired information, and can adopt cloud calculation, edge calculation and other modes. The probability of sudden stop under this environmental condition can be obtained by calculation. If the probability is larger than the preset probability threshold, the probability indicates that the risk of sudden stop is likely to exist, warning information is sent to the control end, and the control end performs corresponding control. It is worth mentioning that the probability threshold may be set by a person skilled in the art according to actual needs or experience.
According to an embodiment of the present invention, further comprising:
the control end receives the warning information;
the detection frequency of the sensor is increased.
It should be noted that, after receiving the warning information, the control end can improve the detection frequency of the sensor in order to timely react to the state of the mechanical arm, and can detect the state of the mechanical arm more quickly by improving the detection frequency of the sensor, so that emergency response can be performed quickly, and the risk of damage to the mechanical arm is reduced.
FIG. 2 shows a block diagram of a mechanical arm motor power-off braking system of the present invention.
As shown in fig. 2, the invention discloses a power-off braking system 2 of a mechanical arm motor, which comprises a memory 21 and a processor 22, wherein the memory comprises a power-off braking method program of the mechanical arm motor, and the power-off braking method program of the mechanical arm motor realizes the following steps when being executed by the processor:
detecting a voltage value of a motor power supply;
judging whether the voltage value is larger than a preset voltage threshold value or not;
if not, switching the state of the input end of the power supply to be a first state;
if the motor is in the emergency stop state, judging whether the motor is in the emergency stop state or not;
if the power supply is in the emergency stop state, the state of the input end of the switching power supply is the first state.
The invention can control the power input end of the motor to enter the state according to the state of the power supply voltage and the emergency stop state of the mechanical arm, so as to achieve the aim of power-off and braking of the mechanical arm. Firstly, detecting the voltage value of a motor power supply, wherein the voltage value can be detected by adopting a voltage detection device built in a mechanical arm. And then judging whether the voltage value is larger than a preset voltage threshold, wherein the preset voltage threshold can be set by a person skilled in the art according to actual needs and experience and can also be dynamically changed. If the voltage is not greater than the preset value, the mechanical arm possibly drops, and the state of the input end of the switching power supply is set to be a first state. If the voltage is larger than the preset voltage threshold, whether the power supply is in the emergency stop state is continuously judged, and if the power supply is in the emergency stop state, the state of the input end of the power supply is switched to be a first state. And when the motor is judged to be in a non-emergency stop state, the state of the input end of the switching power supply is a second state. The first state is that the power supply input end of the motor is grounded, and the second state is that the power supply input end of the motor is connected with a power supply. That is, when the power supply voltage is higher than the set threshold and is not in a sudden stop state, the power supply input end of the motor is connected to the power supply, the motor is powered, and the system can work normally. When the power supply voltage is lower than a set threshold value or in an emergency stop state, the power supply input end of the motor is grounded, and at the moment, if the mechanical arm falls, induced voltage generated on the motor in the falling process forms a loop through the power supply input end of the motor, the ground and the motor coil, and current forms a reaction force through the motor coil to play a role in braking. By the method, the falling speed of the mechanical arm can be effectively slowed down, and the mechanical arm and other devices are prevented from being damaged due to severe collision in the falling process.
According to the embodiment of the invention, the judging whether the motor is in the emergency stop state specifically comprises:
acquiring detection data of a sensor;
judging whether the detection data is not in a preset threshold range or not;
counting the number of the sensors which are not in a preset threshold range;
and if the number exceeds a preset number threshold, judging that the emergency stop state is realized.
The mechanical arm may be further provided with different sensors, such as a gyroscope sensor, an acceleration sensor, an angle sensor, and a speed sensor, and the state of the mechanical arm may be directly or indirectly determined by the sensors. Firstly, acquiring detection data of a sensor, and judging whether the detection data of the sensor falls within a preset threshold range, wherein the threshold range can be a numerical range section set by a person skilled in the art according to actual needs or experience, and the corresponding numerical range section can be set for each sensor in different categories or different positions. If the number of the sensors is not within the preset threshold range, counting the number of the corresponding sensors, and if the number exceeds the threshold value, indicating that the mechanical arm is in an emergency stop state at the moment; if the number does not exceed the number threshold, it may be considered that the scram state is not present. When the power supply is in the emergency stop state, the switching of the power supply input end is required.
According to the embodiment of the invention, the voltage threshold determining method comprises the following steps:
acquiring a plurality of motor power supply voltage values and state information;
and analyzing according to the power supply voltage values and the state information of the plurality of motors to obtain an optimal voltage value serving as a voltage threshold.
It should be noted that the voltage threshold may be dynamically changed, and may be obtained by analyzing according to historical data. Firstly, a plurality of motor power supply voltage values and state information are acquired, wherein the motor power supply voltage values can be acquired directly through a voltage detection module, the state information is the state of the mechanical arm under the condition of the voltage values, and the state information can comprise various information, such as voltage, sensors, damage and the like. After the above-described pieces of information are acquired, data analysis can be performed to obtain an optimal voltage value, and the optimal voltage value is used as a voltage threshold. It is worth mentioning that the more data is acquired, the more accurate the analysis result will be.
According to an embodiment of the present invention, further comprising:
acquiring surrounding environment information;
the environment information is sent to a server side;
the server side analyzes according to the surrounding environment information and calculates the probability of the motor in an emergency stop state;
and if the probability is larger than a preset probability threshold, sending warning information to the control end.
When the mechanical arm works, the environmental factors determine the working state of the mechanical arm. For example, the mechanical arm in the outdoor severe environment is more likely to be suddenly stopped, and the mechanical arm may be damaged. The invention can also carry out probability analysis of the emergency stop state through surrounding environment information, and adjust the detection frequency according to the probability, thereby reducing the possibility of damage of the mechanical arm in the emergency stop state. Firstly, surrounding environment information is acquired firstly, wherein the surrounding environment information can comprise information such as position, weather, temperature and humidity, voltage stability and the like. And then the acquired information is sent to a server side, and the server side calculates according to the acquired information, and can adopt cloud calculation, edge calculation and other modes. The probability of sudden stop under this environmental condition can be obtained by calculation. If the probability is larger than the preset probability threshold, the probability indicates that the risk of sudden stop is likely to exist, warning information is sent to the control end, and the control end performs corresponding control. It is worth mentioning that the probability threshold may be set by a person skilled in the art according to actual needs or experience.
According to an embodiment of the present invention, further comprising:
the control end receives the warning information;
the detection frequency of the sensor is increased.
It should be noted that, after receiving the warning information, the control end can improve the detection frequency of the sensor in order to timely react to the state of the mechanical arm, and can detect the state of the mechanical arm more quickly by improving the detection frequency of the sensor, so that emergency response can be performed quickly, and the risk of damage to the mechanical arm is reduced.
A third aspect of the present invention discloses a computer readable storage medium, where the computer readable storage medium includes a power-off braking method program for a mechanical arm motor, where the power-off braking method program for a mechanical arm motor implements the power-off braking method steps for a mechanical arm motor according to any one of the above steps when the power-off braking method program for a mechanical arm motor is executed by a processor.
According to the power-off braking method, system and readable storage medium for the mechanical arm motor, disclosed by the invention, the state of the power input end is changed by detecting the voltage and the emergency stop state, so that the falling speed of the mechanical arm can be effectively slowed down, and the mechanical arm and other devices are prevented from being damaged due to severe collision in the falling process. The invention can also carry out probability analysis of the emergency stop state through surrounding environment information, and adjust the detection frequency according to the probability, thereby reducing the possibility of damage of the mechanical arm in the emergency stop state.
In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above described device embodiments are only illustrative, e.g. the division of the units is only one logical function division, and there may be other divisions in practice, such as: multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. In addition, the various components shown or discussed may be coupled or directly coupled or communicatively coupled to each other via some interface, whether indirectly coupled or communicatively coupled to devices or units, whether electrically, mechanically, or otherwise.
The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units; can be located in one place or distributed to a plurality of network units; some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present invention may be integrated in one processing unit, or each unit may be separately used as one unit, or two or more units may be integrated in one unit; the integrated units may be implemented in hardware or in hardware plus software functional units.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the above method embodiments may be implemented by hardware related to program instructions, and the foregoing program may be stored in a computer readable storage medium, where the program, when executed, performs steps including the above method embodiments; and the aforementioned storage medium includes: a mobile storage device, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk or an optical disk, or the like, which can store program codes.
Alternatively, the above-described integrated units of the present invention may be stored in a computer-readable storage medium if implemented in the form of software functional modules and sold or used as separate products. Based on such understanding, the technical solutions of the embodiments of the present invention may be embodied in essence or a part contributing to the prior art in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in the embodiments of the present invention. And the aforementioned storage medium includes: a removable storage device, ROM, RAM, magnetic or optical disk, or other medium capable of storing program code.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims. .
Claims (5)
1. The power-off braking method for the mechanical arm motor is characterized by comprising the following steps of:
detecting a voltage value of a motor power supply;
judging whether the voltage value is larger than a preset voltage threshold value or not;
if not, switching the state of the input end of the power supply to be a first state;
if the motor is in the emergency stop state, judging whether the motor is in the emergency stop state or not;
if the power supply is in the emergency stop state, the state of the input end of the switching power supply is a first state;
the judging whether the motor is in an emergency stop state or not specifically comprises the following steps:
acquiring detection data of a sensor;
judging whether the detection data is not in a preset threshold range or not;
counting the number of the sensors which are not in a preset threshold range;
if the number exceeds a preset number threshold, judging that the emergency stop state is achieved;
the voltage threshold determining method comprises the following steps:
acquiring a plurality of motor power supply voltage values and state information;
analyzing according to the power supply voltage values and the state information of the plurality of motors to obtain an optimal voltage value serving as a voltage threshold;
when the motor is judged to be in a non-emergency stop state, the state of the input end of the switching power supply is a second state;
the first state is that the power supply input end of the motor is grounded, and the second state is that the power supply input end of the motor is connected with a power supply.
2. The method for power-off braking of a mechanical arm motor according to claim 1, further comprising:
acquiring surrounding environment information;
the environment information is sent to a server side;
the server side analyzes according to the surrounding environment information and calculates the probability of the motor in an emergency stop state;
and if the probability is larger than a preset probability threshold, sending warning information to the control end.
3. The method for power-off braking of a mechanical arm motor according to claim 2, further comprising:
the control end receives the warning information;
the detection frequency of the sensor is increased.
4. The mechanical arm motor power-off braking system is characterized by comprising a memory and a processor, wherein the memory comprises a mechanical arm motor power-off braking method program, and the mechanical arm motor power-off braking method program is executed by the processor to realize the following steps:
detecting a voltage value of a motor power supply;
judging whether the voltage value is larger than a preset voltage threshold value or not;
if not, switching the state of the input end of the power supply to be a first state;
if the motor is in the emergency stop state, judging whether the motor is in the emergency stop state or not;
if the power supply is in the emergency stop state, the state of the input end of the switching power supply is a first state;
the judging whether the motor is in an emergency stop state or not specifically comprises the following steps:
acquiring detection data of a sensor;
judging whether the detection data is not in a preset threshold range or not;
counting the number of the sensors which are not in a preset threshold range;
if the number exceeds a preset number threshold, judging that the emergency stop state is achieved;
the voltage threshold determining method comprises the following steps:
acquiring a plurality of motor power supply voltage values and state information;
analyzing according to the power supply voltage values and the state information of the plurality of motors to obtain an optimal voltage value serving as a voltage threshold;
when the motor is judged to be in a non-emergency stop state, the state of the input end of the switching power supply is a second state;
the first state is that the power supply input end of the motor is grounded, and the second state is that the power supply input end of the motor is connected with a power supply.
5. A computer readable storage medium, wherein the computer readable storage medium includes a power-off braking method program of a mechanical arm motor, and when the power-off braking method program of the mechanical arm motor is executed by a processor, the power-off braking method steps of the mechanical arm motor are implemented according to any one of claims 1 to 3.
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| CN105302122A (en) * | 2015-11-25 | 2016-02-03 | 王钦普 | Hybrid power stand test emergency stop method |
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| JP5883319B2 (en) * | 2012-03-13 | 2016-03-15 | アスモ株式会社 | Motor control device |
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